Precautions To Ensure Safe Tuning; Overtravel Settings; Torque Limit Settings; Setting The Position Deviation Overflow Alarm Level - YASKAWA SGD7C-***AMAA*** Product Manual

8.3 Precautions to Ensure Safe Tuning

8.3.1 Overtravel Settings

8.3

Precautions to Ensure Safe Tuning

Perform the following settings in a way that is suitable for tuning.
8.3.1

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 section for details.
5.11 Overtravel Function and Settings on page 5-28
8.3.2

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 section for details.
5.23 Selecting the Torque Limits on page 5-69
8.3.3

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
• Linear Servomotors
Po ition deviation [reference unit ] =
8-8
 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.
Po ition deviation [reference unit ] =
CAUTION
Motor peed [min -1 ] Encoder Re olution
×
60
Pn102 [0.1/ ]/10
Motor peed [mm/ ]
×
*2, *3
Pn102 [0.1/ ]/10 Linear encoder pitch [μm]/1,000
*1
Pn210
×
*2, *3
Pn20E
Re olution Pn210
×
Pn20E