Safety Precautions On Adjustment Of Servo Gains - YASKAWA SGMJV User Manual

6 Adjustments

6.1.4 Safety Precautions on Adjustment of Servo Gains

<Example>
Analog monitor output at n.
When multiplier is set to × 1:
-6000

6.1.4 Safety Precautions on Adjustment of Servo Gains

• If adjusting the servo gains, observe the following precautions.
• Do not touch the rotating section of the motor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the emergency-stop circuit works correctly.
• Make sure that a trial run has been performed without any trouble.
• Install a safety brake on the machine.
Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set-
tings before starting to adjust the servo gains.
(1) Overtravel Function
Set the overtravel function. For details on how to set the overtravel function, refer to 5.2.3 Overtravel.
(2) Torque Limit
Calculate the torque required to operate the machine. Set the torque limits so that the output torque will not be
greater than required. Setting the torque limits can reduce the amount of shock applied to the machine in col-
lisions and other cases.
For details, refer to 5.8.1 Internal Torque Limit, and 5.8.2 External Torque Limit.
(3) Excessive Position Error Alarm Level
The excessive position error alarm is a protective function that will be enabled when the servo drive is used in
position control mode.
For the optimum setting, the servomotor will be stopped after the error occurs if the servomotor performs
unpredictably after receiving a reference.
The position error is the difference between the position reference and the actual position. The position error
can be calculated from the position loop gain and the motor speed with the following equation.
Position Error =
• Excessive Position Error Alarm Level (Pn520 [reference unit])
Pn520
∗
Refer to 5.4.3 Electronic Gear.
6-8
00 (motor speed setting)
Analog monitor
output voltage V
+6 V
+6000
Motor speed
min -1
-6 V
-1
Motor Speed [min ]
60
-1
Max. Motor Speed [min ]
60
When multiplier is set to × 10:
-800 -600
-10 V
Note: Linear effective range: within ± 8V
Encoder resolution: 16-bit
CAUTION
Encoder Resolution*
Pn102 (1/s)
Encoder Resolution*
×
Pn102 (1/s)
Analog monitor
output voltage V
+10 V
+8 V
+6 V
Motor speed
+600 +800
min
-6 V
-8 V
(1.2 to 2)
-1