4) vibration detection function, Rotation – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual

Page 213

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6 Adjustments

6.1.4 Safety Precautions on Adjustment of Servo Gains

6-10

Under these conditions, the following equation is used to calculate the maximum limit (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

Related Alarm

(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

Pn520 =

2621440 × 2

5242880 (The factory setting of Pn520)

×

× 2

×

6000

60

1048576

400/10

1

1

=

=

Rotation

Pn520

Excessive Position Error Alarm Level

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

1 to 1073741823

1 reference unit

5242880

Immediately

Setup

Alarm Dis-

play

Alarm Name

Meaning

A.d00

Position Error Overflow

Position errors exceeded parameter Pn520.

Position

Pn526

Excessive Position Error Alarm Level at Servo ON

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

1 to 1073741823

1 reference unit

5242880

Immediately

Setup

Position

Pn528

Excessive Position Error Warning Level at Servo ON

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

10 to 100

1%

100

Immediately

Setup

Pn529

Speed Limit Level at Servo ON

Classification

Setting Range

Setting Unit

Factory Setting

When Enabled

0 to 10000

1 min

-1

10000

Immediately

Setup

Position

Position

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