Precautions To Ensure Safe Tuning; Torque Limit Settings; Setting The Position Deviation Overflow Alarm Level - YASKAWA E-S Series Product Manual

8.3

Precautions to Ensure Safe Tuning

 Observe the following precautions when you perform tuning.
• Do not touch the rotating parts of the motor during the SERVO ON state.
• 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.
Perform the following settings in a way that is suitable for tuning.
8.3.1

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.
5.4.3 Torque Limit Selection on page 5-25
8.3.2

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.
Position deviation [reference units] =
Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units]
Maximum motor speed [min
Pn520 >
*1.
Refer to the following section for details.
5.4.2 Electronic Gear Settings on page 5-23
*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.
The underlined coefficient "× (1.2 to 2)" adds a margin to prevent an A.D00 alarm (Position Deviation Overflow)
from occurring too frequently.
CAUTION
-1
Motor speed [min ]
60
-1 ] Encoder resolution
×
60
Pn102 [0.1/s]/10

8.3 Precautions to Ensure Safe Tuning

Encoder resolution *1
Pn210
× ×
Pn102 [0.1/s]/10 *2
Pn20E
*1
Pn210
*3
× ×
(1.2 to 2)
*2
Pn20E

8.3.1 Torque Limit Settings

8
8-5