YASKAWA E-V-MD Series - Page 109

7 Operation
7.3.2 Overtravel
7-6
(2) Overtravel Function Setting
You can use Pn590 and Pn591 to enable or disable the overtravel function.
If the overtravel function is not used, no wiring for overtravel input signals will be required.
• A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 5.3
I/O Signal Assignments for details.
(3) Servomotor Stopping Method When Overtravel is Used
There are two servomotor stopping methods when an overtravel is used.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.
• A servomotor under torque control cannot be decelerated to a stop. Coast status is maintained after the ser-
vomotor coasts to a stop.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 7.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
Parameter Meaning When Enabled Classification
Pn590
n.0

[Factory
setting]
P-OT signal assignment disabled.
After restart Setup
n.1
P-OT signal assigned. Positive drive is enabled
when the signal is low.
n.2
P-OT signal assigned. Positive drive is enabled
when the signal is high.
Pn591
n.0

[Factory
setting]
N-OT signal assignment disabled.
After restart Setup
n.1
N-OT signal assigned. Positive drive is enabled
when the signal is low.
n.2
N-OT signal assigned. Positive drive is enabled
when the signal is high.
Parameter Stop Method
Mode After
Stopping
When Enabled Classification
Pn001
n.02
[Factory setting]
Coast Coast
After restart Setup
n.1
Deceleration to a
stop
Zero clamp
n.2 Coast