Servo Error Range; Drift Offset (#1401, #1601, #1801) - YASKAWA MOTIONPACK-110 Descriptive Information

5.6.5 SERVO ERROR RANGE (#1555, #1755, #1955) 1 _ SET VALUE=_ 16777216
For the purpose of checking for faulty servo system, these parameters are set to the position
lag values that are not likely to be exceeded when the servo system is in order. Parameters
#1555, #1755 and #1955 are for X-, Y- and Z-axes, respectively. The setting unit "1" is 1
pulse (feedback pulse after 4 multipliers).
When the position lag pulse exceeds the set value, an alarm [No.57, 58, 59: SERVO
ERROR] occurs. Normally, these parameters are set to twice the position deviation pulse
obtained from the position loop gain as follows:
(Example)
In the case of the example under Par. 5.6.4, since _ = 4000, double this value, 8000 is set as
the servo error range.
NOTE
The number of position lag pulses can be seen in the curren_ value display
POSITION ERROR on the CRT control station. See Par. 7.2.3.
5.6.6 POSITION SETTING RANGE (#1406, #1606, #1806) 1 G SET VALUE<_-: 127
These parameters are used to set the permissible range of position lag pulses for
positioning completion judgement. Where the movement command for positioning
completion hold, such as G00, is executed, after the assignment of motion pulses, it holds
until the position pulse lag caused by servo delay comes within this parameter setting value.
And then, next command (next block in MEM operation) is executed.
Near the goal posit_on, as the number of position lag pulses decreases, the moving
speed slows down and the final stopping will be late. To obtain a reasonably short stopping
time, the number of permissible position lag pulses should be set at the maximum value
permitted by the accuracy requirement.
The setting unit "1" represents 1 pulse (feedback pulse after 4 multipliers). When
the parameter is set to P, the position setting range is +_P (pulses). Parameters #1406, #1606
and #1806 are for X-, Y- and Z-axes.
B
Set value = Max. allowable error (_t m) × A
5.6.7 DRIFT OFFSET (#1401, #1601, #1801)
These parameters are used to make available the zero drift offset function of servo including
D/A output section in axis module. If "1" is set, the offset function is available. If "0" is
set, the offset function is not available.
Normally, set to "1." Only during zero-point adjustment of Servopack with axis
module, set to "0."
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