YASKAWA SGD7S Product Manual page 263

8.3 Precautions to Ensure Safe Tuning
8.3.3 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 section 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 Servomotor 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 capac-
ity 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 overflow alarm level.
Related Parameters
Pn520
Pn51E
Related Alarms
Alarm Number
A.d00
Related Warnings
Warning Number
A.900
8-8
Maximum motor speed [min
60
Maximum motor speed [mm/s]
*2, *3
Pn102 [0.1/s]/10
5.14 Electronic Gear Settings on page 5-40
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
Warning 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 occurs if the position deviation exceeds the setting of
Pn520 (Position Deviation Overflow Alarm Level).
This warning occurs if the position deviation exceeds the specified
percentage (Pn520 × Pn51E/100).
Pn210
*4
×
(1.2 to 2)
Pn20E
Pn210
×
×
(1.2 to 2)
Pn20E
When Enabled
Immediately
When Enabled
Immediately
Alarm Meaning
Meaning
*4
Pn210 1
=
Pn20E 1
Classification
Setup
Classification
Setup