9 Adjustments
9.1.4 Safety Precautions on Adjustment of Servo Gains
9-8
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) Excessive Position Error Alarm Level at Servo ON
If the SV_ON command is received when position errors remain in the error counter, the servomotor will
move to return to the home position and change the value of position errors to zero. To prevent the servomotor
from moving suddenly, select the appropriate level for the excessive position error alarm level at servo ON
(Pn526) to restrict operation of the servomotor.
Related Parameters
Related Alarms
When an alarm occurs, refer to
11 Inspection, Maintenance, and Troubleshooting
and take the corrective
actions.
Pn520 =
2621440
×
2
5242880 (The factory setting of Pn520)
×
×
2
6000
60
1048576
40
=
=
Pn520
(2102h:2)
Excessive Position Error Alarm Level
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1073741823
1 reference unit
5242880
Immediately
Setup
Alarm
Display
Alarm Name
Meaning
A.d00
Position Error Overflow
Position errors exceeded parameter Pn520.
Position
Pn526
(2103h:1)
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
(2103h:2)
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
(2103h:3)
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
Alarm
Display
Alarm Name
Meaning
A.d01
Position Error Overflow
Alarm at Servo ON
The position error is greater than the set value of Pn526.
A.d02
Position Error Overflow
Alarm by Speed Limit at
Servo ON
When the position error remain in the error counter, Pn529 limits the speed
if the SV_ON command is received. If Pn529 limits the speed in such a
state, this alarm occurs when position references are input and the number of
position errors exceeds the value set for the excessive position error alarm
level (Pn520).
