YASKAWA E-S Series Product Manual page 182

8.3 Precautions to Ensure Safe Tuning
8.3.2 Setting the Position Deviation Overflow Alarm Level
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 motor will stop.
The following calculation example shows how to calculate the value of Pn520 based on the fol-
lowing values for Pn102, Pn210, and Pn20E. The example uses a Servomotor with a maximum
motor speed of 6,000 and an encoder resolution of 1,024 (10 bits).
Pn102 is set to 400.
Therefore,
Pn520 =
If the acceleration/deceleration rate required for the position reference exceeds the tracking
capacity 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 over-
flow alarm level.
Related Parameters
Pn520
Related Alarms
Alarm Number
A.D00
8-6
Pn210
=
Pn20E
6,000 1,024
 
60 400/10
2,560  2
=
= 5,120
Position Deviation Overflow Alarm Level
Setting Range Setting Unit
1 to 1,073,741,823 1 reference unit
Alarm Name
Position Deviation
Overflow Alarm
1
1
1
 2
1
Default Setting
25,600
This alarm is displayed when the position deviation exceeds the set-
ting of Pn520 (Position Deviation Overflow Alarm Level).
When Enabled
Immediately
Alarm Meaning
Classification
Setup