*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 Servomotor 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.
Fig. 223: Position Deviation Overflow Alarm Level - Rotary Servomotors - Calculation
Example - Formula 1
Pn520 =
2,621,440 ´ 2
´
´ 2
6,000
60
16,777,216
400/10
´
1
16
=
=
5,242,880 (default setting of Pn520)
Fig. 224: Position Deviation Overflow Alarm Level - Rotary Servomotors - Calculation
Example - Formula 2
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 devi-
ation will no longer satisfy the above formulas. If this occurs, lower the acceleration/decel-
eration rate so that the Servomotor can follow the position reference or increase the posi-
tion deviation overflow alarm level.
Position Deviation Overflow Alarm Level
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn520 1 to
1,073,741,82
3
1 reference
unit
5,242,880 Immediately Setup
(applies to Position Control)
Position Deviation Overflow Warning Level
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn51E 10 to 100 1% 100 Immediately Setup
(applies to Position Control)
Alarm Number Alarm Name Alarm Meaning
A.d00 Position Devia-
tion Overflow
This alarm occurs if the position deviation exceeds
the setting of Pn520 (Position Deviation Overflow
Alarm Level).
Related Parameters
Related Alarms
Sigma-7 Series SERVOPACKs
Tuning
Precautions to Ensure Safe Tuning > Setting the Position Deviation Overflow Alarm Level
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 301
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