YASKAWA SGD7S series User Manual

5.12 Overtravel and Related Settings
5.12.4 Overtravel Warnings
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5.12.4 Overtravel Warnings
You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the
servo is ON. This allows the SERVOPACK to notify the host controller with a warning even
when the overtravel signal is input only momentarily. An alarm occurs only if overtravel occurs
while the servo is ON. An overtravel warning will not be detected when the servo is OFF, even if
overtravel occurs.
The following parameter is set for this function.
A timing chart for warning detection is provided below.
Pn30A
=
Maximum speed
Operating speed
Actual
deceleration time
Actual deceleration time
Operating speed
Maximum speed
× Deceleration time (Pn30A)
1. The occurrence of an A.9A0 warning will not stop the motor or have any affect on host control-
ler motion operations. The next step (e.g., the next motion or command) can be executed
even if an overtravel warning exists.
However, depending on the processing specifications and programming for warnings in the
host controller, operation may be affected when an overtravel warning occurs (e.g., motion
may stop or not stop). Confirm the specifications and programming in the host controller.
2. When overtravel occurs, the SERVOPACK will perform stop processing for overtravel. There-
fore, when an A.9A0 warning occurs, the Servomotor may not reach the target position speci-
fied by the host controller. Check the feedback position to make sure that the axis is stopped
at a safe position.
Parameter Meaning When Enabled Classification
Pn00D
n.0
(default setting)
Do not detect overtravel warnings.
Immediately Setup
n.1 Detect overtravel warnings.
Important
Servo ON/OFF status
OFF
ON
Overtravel signal
Disabled
Enabled Disabled
Enabled Disabled
Normal status
Warning status for 1 s
Normal status
The warning is automatically cleared.
(P-OT or N-OT signal)
Overtravel warning (A.9A0)
A warning is not detected
because the servo is OFF.

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL