YASKAWA SGD7S series Product Manual page 75

5.3 Precautions to Ensure Safe Tuning
5.3.3 Setting the Position Deviation Overflow Alarm Level
Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units]
• Rotary Servomotors
Pn520 >
• Linear Servomotors
Pn520 >
*1.
Refer to the following manual for details.
*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.
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
Pn520
Pn51E
Related Alarms
Alarm Number
A.d00
5-8
Maximum motor speed [min
60
Maximum motor speed [mm/s]
*2, *3
Pn102 [0.1/s]/10
Σ Σ
-7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.:
SIEP S800001 28)
6,000 16,777,216
 
60 400/10
2,621,440  2
=
= 5,242,880 (default setting of Pn520)
Position Deviation Overflow Alarm Level
Setting Range
1 to 1,073,741,823 1 reference unit
Position Deviation Overflow Warning Level
Setting Range
10 to 100
Alarm Name
Position Deviation
Overflow
*1
-1 ] Encoder resolution
× ×
*2, *3
Pn102 [0.1/s]/10
Resolution
×
Linear encoder pitch [μm]/1,000
1
 2
16
Setting Unit Default Setting
5,242,880
Setting Unit Default Setting
1% 100
This alarm is displayed when the position deviation exceeds the set-
ting of Pn520 (Position Deviation Overflow Alarm Level).
Pn210
*4
×
(1.2 to 2)
Pn20E
Pn210
×
×
(1.2 to 2)
Pn20E
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Alarm Meaning
*4
Pn210 1
=
Pn20E 16
Classification
Setup
Classification
Setup