YASKAWA Sigma-V Series User Manual page 221

6 Adjustments
6.1.4 Safety Precautions on Adjustment of Servo Gains
Under these conditions, the following equation is used to calculate the maximum limit (Pn520).
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
Related Alarm
Alarm
Display
A.d00
(4) Vibration Detection Function
Set the vibration detection function to an appropriate value with the vibration detection level initialization
(Fn01B). For details on how to set the vibration detection function, refer to 7.16 Vibration Detection Level
Initialization (Fn01B).
(5) Excessive Position Error Alarm Level at Servo ON
If position errors remain in the error counter when turning ON the servomotor power, the servomotor will
move and this movement will clear the counter of all position errors. Because the servomotor will move sud-
denly and unexpectedly, safety precautions are required. To prevent the servomotor from moving suddenly,
select the appropriate level for the excessive position error alarm level at servo ON (Pn526) to restrict opera-
tion of the servomotor.
Related Parameters
Pn526
Pn528
Pn529
6-10
6000 1048576 1
× ×
60 400/10 1
= 2621440 × 2
5242880 (The factory setting of Pn520)
=
Excessive Position Error Alarm Level
Setting Range
1 to 1073741823
Alarm Name
Position Error Overflow
Excessive Position Error Alarm Level at Servo ON
Setting Range
1 to 1073741823
Excessive Position Error Warning Level at Servo ON
Setting Range
10 to 100
Speed Limit Level at Servo ON
Setting Range
0 to 10000
× 2
Rotation
Setting Unit Factory Setting
1 reference unit 5242880
Position errors exceeded parameter Pn520.
Setting Unit Factory Setting
1 reference unit 5242880
Setting Unit Factory Setting
1% 100
Setting Unit Factory Setting
-1
10000
1 min
Position
When Enabled
Immediately
Meaning
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup