6 Adjustments6.1.4 Safety Precautions on Adjustment of Servo Gains6-8Analog monitor output at n.00 (motor speed setting)6.1.4 Safety Precautions on Adjustment of Servo GainsYaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set-tings before starting to adjust the servo gains.(1) Overtravel FunctionSet the overtravel function. For details on how to set the overtravel function, refer to 5.2.3 Overtravel.(2) Torque LimitCalculate the torque required to operate the machine. Set the torque limits so that the output torque will not begreater than required. Setting the torque limits can reduce the amount of shock applied to the machine in col-lisions and other cases.For details, refer to 5.8.1 Internal Torque Limit, and 5.8.2 External Torque Limit.(3) Excessive Position Error Alarm LevelThe excessive position error alarm is a protective function that will be enabled when the servo drive is used inposition control mode.For the optimum setting, the servomotor will be stopped after the error occurs if the servomotor performsunpredictably after receiving a reference.The position error is the difference between the position reference and the actual position. The position errorcan be calculated from the position loop gain and the motor speed with the following equation.• Excessive Position Error Alarm Level (Pn520 [reference unit])∗ Refer to 5.4.3 Electronic Gear.+6 V-6 V-600+600+8 V-8 V-800+800+10 V CRRTQZ-10 VCRRTQZ+6 V-6 V-6000+6000Analog monitoroutput voltage =V?Analog monitoroutput voltage=V?When multiplier is set to × 1: When multiplier is set to × 10:Motor speed=min-1?Motor speed=min -1?Note: Linear effective range: within ± 8VEncoder resolution: 16-bitCAUTION• If adjusting the servo gains, observe the following precautions.• Do not touch the rotating section of the motor while power is being supplied to the motor.• Before starting the servomotor, make sure that the emergency-stop circuit works correctly.• Make sure that a trial run has been performed without any trouble.• Install a safety brake on the machine.Position Error = Motor Speed [min ]-160Encoder Resolution*Pn102 (1/s)Pn520 㧪 × (1.2 to 2)Max. Motor Speed [min ]-160Encoder Resolution*Pn102 (1/s)
