Precautions To Ensure Safe Tuning; Overtravel Settings; Torque Limit Settings; Setting The Position Deviation Overflow Alarm Level - YASKAWA SGD7S series Product Manual

5.3

Precautions to Ensure Safe Tuning

 Observe the following precautions when you perform tuning.
• Do not touch the rotating parts of the motor when the servo is ON.
• Before starting the Servomotor, make sure that an emergency stop can be performed at any
time.
• Make sure that trial operation has been successfully performed without any problems.
• Provide an appropriate stopping device on the machine to ensure safety.
Perform the following settings in a way that is suitable for tuning.
5.3.1

Overtravel Settings

Overtravel settings are made to force the Servomotor to stop for a signal input from a limit
switch when a moving part of the machine exceeds the safe movement range.
Refer to the following manual for details on the I/O trace function.
Σ Σ
-7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP
S800001 28)
5.3.2

Torque Limit Settings

You can limit the torque that is output by the Servomotor based on calculations of the torque
required for machine operation. You can use torque limits to reduce the amount of shock
applied to the machine when problems occur, such as collisions or interference. If the torque
limit is lower than the torque that is required for operation, overshooting or vibration may occur.
Refer to the following manual for details.
Σ Σ
-7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP
S800001 28)
5.3.3

Setting the Position Deviation Overflow Alarm Level

The position deviation overflow alarm is a protective function that is enabled when the SERVO-
PACK is used in position control.
If the alarm level is set to a suitable value, the SERVOPACK will detect excessive position devi-
ation and will stop the Servomotor if the Servomotor operation does not agree with the refer-
ence.
The position deviation is the difference between the position reference value and the actual
position.
You can calculate the position deviation from the position loop gain (Pn102) and the motor
speed with the following formula.
• Rotary Servomotors
Position deviation [reference units] =
• Linear Servomotors
Position deviation [reference units] =
CAUTION
Motor speed [min -1 ]
Encoder resolution
×
60
Pn102 [0.1/s]/10
Motor speed [mm/s]

*2, *3
Linear encoder pitch [m]/1,000
Pn102 [0.1/s]/10

5.3 Precautions to Ensure Safe Tuning

5.3.1 Overtravel Settings

*1
Pn210
×
*2, *3
Pn20E
Resolution
Pn210

Pn20E
5
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