Panasonic minas a4 series Instruction Manual page 261

3) Cautions
• This function is not a protection against the abnormal position command.
• When this software limit protection is activated, the motor decelerates and stops according to Pr68
(Sequence at alarm).
The work (load) may collide to the machine end and be damaged depending on the load during this
deceleration, hence set up the range of Pr26 including the deceleration movement.
• This software limit protection will be invalidated during the trial run and frequency characteristics func-
tioning of the PANATERM
4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the motor with Pr26
since no position command is entered. When the load enters to the Err34 occurrence range (oblique
line range), software limit protection will be activated.
Motor
Err34 occurrence range
(2) When the load moves to the right (at Servo-ON),
When the position command to the right direction is entered, the motor movable range will be ex-
panded by entered position command, and the movable range will be the position command input
range + Pr26 setups in both sides.
Motor
Err34 occurrence range
(3) When the load moves to the left (at Servo-ON),
When the position command to the left direction, the motor movable range will be expanded further.
Motor
Err34 occurrence range
5) Condition under which the position command input range is cleared
The position command input range will be 0-cleared under the following conditions.
• when the power is turned on.
• while the position deviation is being cleared (Deviation counter clear is valid, Pr66 (Sequence at over-
travel inhibition) is 2 and over-travel inhibition input is valid.)
• At the starting and the finishing of the normal auto-gain tuning.
®
.
Load
Pr26 Pr26
Motor
Err34 occurrence range
movable
range
Position command
input range
Pr26
Motor movable range
Load
Position command
input range
Pr26
Motor movable range
[When in Trouble]
Load
Pr26
Err34 occurrence range
Pr26
Err34 occurrence range
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