YASKAWA SGD7S-1R9D Product Manual page 267

Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units]
• Rotary Servomotors
Maximum motor speed [min
Pn520 >
60
• Linear Servomotors
Maximum motor speed [mm/s]
Pn520 >
Pn102 [0.1/s]/10
*1.
Refer to the following section for details.
5.14 Setting Unit Systems on page 5-42
*2.
When model following control (Pn140 = n.1) is enabled, use the setting of Pn141 (Model Following Control
Gain) instead of the setting of Pn102 (Position Loop Gain).
*3.
To check the setting of Pn102 on the Digital Operator, change the parameter display setting to display all parameters
(Pn00B = n.1).
*4.
The underlined coefficient "× (1.2 to 2)" adds a margin to prevent an A.d00 alarm (Position Deviation Overflow)
from occurring too frequently.
If you set a value that satisfies the formula, an A.d00 alarm (Position Deviation Overflow) should
not occur during normal operation.
If the Servomotor operation does not agree with the reference, position deviation will occur, an
error will be detected, and the motor will stop.
The following calculation example uses a Rotary Servomotor with a maximum motor speed of
6,000 and an encoder resolution of 16,777,216 (24 bits). Pn102 is set to 400.
6,000 16,777,216

Pn520 =
60 400/10
2,621,440  2
=
= 5,242,880 (default setting of Pn520)
If the acceleration/deceleration rate required for the position reference exceeds the tracking
capacity of the Servomotor, the tracking delay will increase and the position deviation will no
longer satisfy the above formulas. If this occurs, lower the acceleration/deceleration rate so
that the Servomotor can follow the position reference or increase the position deviation over-
flow alarm level.
Related Parameters
Position Deviation Overflow Alarm Level
Pn520
(2520 Setting Range
hex)
1 to 1,073,741,823
Position Deviation Overflow Warning Level
Pn51E
(251E Setting Range
hex)
10 to 100
Related Alarms
Alarm Number Alarm Name
Position Deviation
A.d00
Overflow
Related Warnings
Warning Number Warning Name
Position Deviation
A.900
Overflow
8.3.3 Setting the Position Deviation Overflow Alarm Level
*1
-1
] Encoder resolution
×
*2, *3
Pn102 [0.1/s]/10
Resolution
×
*2, *3
Linear encoder pitch [μm]/1,000
1
 2

16
Setting Unit Default Setting
1 reference unit 5,242,880
Setting Unit Default Setting
1%
This alarm occurs if the position deviation exceeds the setting of
Pn520 (2520 hex) (Position Deviation Overflow Alarm Level).
This warning occurs if the position deviation exceeds the specified
percentage (Pn520 × Pn51E/100).
8.3 Precautions to Ensure Safe Tuning
Denominator
*4
× ×
(1.2 to 2)
Numerator
Denominator
×
×
(1.2 to 2)
Numerator
When Enabled
Immediately
When Enabled
100 Immediately
Alarm Meaning
Warning Meaning
*4
Denominator 1
=
Numerator 16
Position
Classification
Setup
Position
Classification
Setup
8-9
8