6-7-6
Overtravel (OT)
When a movement limit point is passed through, there is the risk of mechanical failure or accident. For
this reason, the movement limit point can be detected by the hardware and input digitally as an over-
travel (OT) signal. OT detection causes a deceleration stop for the time set in Deceleration T
ime for
Forced Stop (H56) and then servos change to a locked state. When Over Travel Forced Stop Opera-
tion Selection (d280) = 1, a deceleration stop is performed and then the Er6 alarm is generated. Plus
side overtravel “FOT” and minus side overtravel “ROT” can be allocated independently
. The overtravel
signal is enabled (NC contact is made) when it is OFF, for safety reasons. When an overtravel is de-
tected, overtravel detection signal “OT-OUT” is output as a digital output.
Parameter
No.
Function name Data
Default da-
ta
Unit
E01 to E05
E98
E99
Input Terminal [DI1] Func-
tion Selection to Input Ter-
minal [DI7] Function Se-
lection
139 (1139): Forward rotation driving pro-
hibited “FOT”
- -
140 (1140): Reverse rotation driving pro-
hibited “ROT”
d280
Over Travel Forced Stop
Operation Selection
0: Servo lock after deceleration stop
0 -
1: Er6 fault occurs after deceleration
stop
6-7-7
Software OT
With overtravel (OT), the movement limit point is basically detected by the hardware. However, the lim-
it point position can be set by number of pulses as a software OT
. The limit point position can be set in
two directions independently by + software OT and - software OT. Operation when a software OT is
detected can be selected in Overtravel Function Selection (d222). When an OT limit point does not
exist, for example, on a rotating body
, leave parameter d222 at its default value (= 0).
Parameter
No.
Function name Data Default data Unit
d222
Overtravel Function Selec-
tion
0: Invalid/Infinite rotation
1: Valid (Positioning at OT position
at over traveling), normal PTP
2: Valid (Immediately stopped at
over traveling), normal PTP
0 -
d225
Software Overtravel Detec-
tion Position in the Positive
Direction (MSB)
−268435455 to 268435455
(MSB: -4,096 to 4,095, LSB: 0 to
65,535)
268435455
-
d226
Software Overtravel Detec-
tion Position in the Positive
Direction (LSB)
d227
Software Overtravel Detec-
tion Position in the Nega-
tive Direction (MSB)
−268435455 to 268435455
(MSB: -4,096 to 4,095, LSB: 0 to
65,535)
-268435455 -
d228
Software Overtravel Detec-
tion Position in the Nega-
tive Direction (LSB)
6 Vector Control and Applied Functions
6-43
M1 Series Standard Type User's Manual (I669)
6-7 Position Control
6
6-7-6 Overtravel (OT)
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