YASKAWA SGMJV User Manual page 203

Position Loop Gain
Pn102
Setting Range
10 to 20000
Set the level to a value that satisfies these equations, and no alarm will be generated during normal operation.
The servomotor will be stopped, however, if the servomotor runs unpredictably after a reference is input or if
a position error in accordance with the value set in Pn520 occurs. At the end of the equation, a coefficient is
× (1.2 to 2).
shown as
"
actual operation of the servomotor.
If the servomotor's maximum number of rotations is 6000 min
tion of 20-bit (1048576), the setting of Pn520 is calculated as shown with the following equation.
6000 1048576
Pn520 = ×
60
= 2621440 × 2
5242880 (The factor setting of Pn520)
=
If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo-
tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to
satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that
the servomotor can perform at the requested speed or raise the allowable level of the position errors.
Related Parameter
Excessive Position Error Alarm Level
Setting Range
Pn520
1 to 1073741823
30
(2 -1)
Related Alarm
Alarm
Alarm Name
Display
Position Error Pulse
A.d00
Overflow
(4) Vibration Detection Function
Set the vibration detection function to an appropriate value. For details on how to set the vibration detection
function, refer to 7.16 Vibration Detection Level Initialization (Fn01B)
Setting Unit
0.1 /s
This coefficient is used to add a margin that prevents a faulty alarm from occurring in
"
× 2
40
Setting Unit
1 reference unit
Position error pulses exceeded parameter Pn520.
6.1 Adjustments and Basic Adjustment Procedure
Speed Position
Factory Setting When Enabled
400 Immediately
-1
and Pn102 equals 40 with an encoder resolu-
Position
Factory Setting When Enabled
5242880 Immediately
Alarm Contents
Classification
Tuning
Classification
Setup
6
6-9