8.3 Precautions to Ensure Safe Tuning
8.3.3 Setting the Position Deviation Overflow Alarm Level
8-9
8
T
uning
Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units]
•
Rotary Servomotors
•
Linear Servomotors
*1.
Refer to the following section for details.
*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.
To check the setting of Pn102 on the Digital Operator, change the parameter display setting to display all parameters
(Pn00B = n.
1).
*4.
The underlined coefficient “
×
(1.2 to 2)” adds a margin to prevent an A.d00 alarm (Position Deviation Overflow)
from occurring too frequently.
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 uses a Rotary Servomotor with a maximum motor speed of
6,000 and an encoder resolution of 16,777,216 (24 bits). Pn102 is set to 400.
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
Related Alarms
Related Warnings
Pn520
(2520
hex)
Position Deviation Overflow Alarm Level
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
1 to 1,073,741,823
1 reference unit
5,242,880
Immediately Setup
Pn51E
(251E
hex)
Position Deviation Overflow Warning Level
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
10 to 100
1%
100
Immediately
Setup
Alarm Number
Alarm Name
Alarm Meaning
A.d00
Position Deviation
Overflow
This alarm occurs if the position deviation exceeds the setting of
Pn520 (2520 hex) (Position Deviation Overflow Alarm Level).
Warning Number
Warning Name
Warning Meaning
A.900
Position Deviation
Overflow
This warning occurs if the position deviation exceeds the specified
percentage (Pn520 × Pn51E/100).
Pn520 >
×
×
60
Pn102 [0.1/s]/10
*2, *3
×
Denominator
Numerator
(1.2 to 2)
*4
Encoder resolution
*1
Maximum motor speed [min
-1
]
Pn520 >
Pn102 [0.1/s]/10
*2, *3
×
×
Denominator
Numerator
(1.2 to 2)
*4
Linear encoder pitch [μm]/1,000
Resolution
Maximum motor speed [mm/s]
×
Denominator
Numerator
=
1
16
Pn520 =
2,621,440
2
2
6,000
60
16,777,216
400/10
1
16
=
= 5,242,880 (default setting of Pn520)
Position
Position
