Panasonic Minas-LIQI Series Technical Reference page 70

４） Position deviation excess protection
Err24.0 "Position deviation excess protection" is generated by detecting the excessive deviation between
position command and motor position during the position or full closed control.
The excessive position deviation level can be set up in Pr0.14 "Position deviation excess setup". Also,
the detection position can be selected from the command position deviation [pulse (per command basis)]
and the encoder position deviation [pulse (per encoder basis)] in Pr5.20 "Position setup unit select". (Refer
to control block diagram)
By default, 100000 [pulse (command unit)] is established.
Because the position deviation in normal operation can change according to working speed and gain set-
ting, set Pr0.14 to the value calculated from the expression below based on the customer's operating con-
dition.
(ア) Pr5.20=0 (detected by command position deviation)
Note 1: To change the position loop gain Kp, calculate the gain by using the minimum value.
Pr0.14 "Position deviation excess setup" = Vc/Kp  (1.2 to 2.0)
Vc : aximum frequency [pulse (command unit)/s] of the position command pulse
Kp : Position loop gain [1/s]
The coefficient enclosed in parentheses is a margin for avoiding the frequent occurrence of position deviation
excess protection.
Note 2: To use a position command filter or a damping control, add the value below.
Position command smoothing filter: Vc  filtering constant [s]
Position command FIR filter: Vc  filtering constant [s] / 2
damping control: Vc / (π  damping frequency [Hz])
■ Pr5.20=1 (detected by encoder and full closed position deviations ):
Pr0.14 "Position deviation excess setup" = Ve/Kp  (1.2 to 2.0)
Ve : aximum operating frequency [pulse/s] per encoder or full closed basis
Kp :Position loop gain [1/s]
Note 3: To change the position loop gain Kp, calculate the gain by using the minimum value.
Note 4: When Pr5.20=1, the position command filter or damping control setting does not impact
on it.
5) Motor working range
During the position or full closed control, Err34.0 "Software limit protection" is generated by detecting
that the motor exceeded the preset position range by more than the rotation amount established in Pr5.14
"Motor working range setup".
For more information, refer to 6-3 "Motor Movement Range Setting."
Motor Business Unit, Appliances Company, Panasonic Corporation
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