Inspection, Maintenance - YASKAWA UAK series User Manual

9 Adjustments
9.1.4 Safety Precautions on Adjustment of Servo Gains
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 increase the excessive position error alarm level
(Pn520).
Related Parameter
Pn520
(2102h:2)
Related Alarm
Alarm
Display
A.d00
(4) Excessive Position Error Alarm Level at Servo ON
If the SV_ON command is received when position errors remain in the error counter, the servomotor will
move to return to the home position and change the value of position errors to zero. To prevent the servomotor
from moving suddenly, select the appropriate level for the excessive position error alarm level at servo ON
(Pn526) to restrict operation of the servomotor.
Related Parameters
Pn526
(2103h:1)
Pn528
(2103h:2)
Pn529
(2103h:3)
Related Alarms
Alarm
Display
A.d01
A.d02
When an alarm occurs, refer to 11 Inspection, Maintenance, and Troubleshooting and take the corrective
actions.
9-8
6000 1048576
× × 2
60 40
2621440 × 2
=
5242880 (The factory setting of Pn520)
=
Excessive Position Error Alarm Level
Setting Range Setting Unit
1 to 1073741823 1 reference unit
Alarm Name
Position Error Overflow
Excessive Position Error Alarm Level at Servo ON
Setting Range Setting Unit
1 to 1073741823 1 reference unit
Excessive Position Error Warning Level at Servo ON
Setting Range Setting Unit
10 to 100
Speed Limit Level at Servo ON
Setting Range Setting Unit
0 to 10000
Alarm Name
Position Error Overflow
Alarm at Servo ON
Position Error Overflow
Alarm by Speed Limit at
Servo ON
Position
Factory Setting
5242880
Position errors exceeded parameter Pn520.
Factory Setting
5242880
Factory Setting
1% 100
Factory Setting
-1
10000
1 min
The position error is greater than the set value of Pn526.
When the position error remain in the error counter, Pn529 limits the speed
if the SV_ON command is received. If Pn529 limits the speed in such a
state, this alarm occurs when position references are input and the number of
position errors exceeds the value set for the excessive position error alarm
level (Pn520).
When Enabled
Immediately
Meaning
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Meaning
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup