Panasonic MINAS A6 Series Operating Instructions Manual page 403

2. Setup of gain pre-adjustment protection
4-2) In case two degree-of-freedom control is invalid (Pr6.47 bit 0 = 0)
• For Pr5.20 = 0 (detection through command position deviation),
Pr0.14 "Position deviation excess setting" = Vc/Kp × (1.2 to 2.0)
Vc: Maximum frequency of positional command pulse [pulse (command unit)/s]
Kp: Position loop gain [1/s]
Factor in ( ) is margin to prevent frequent activation of position deviation excess protection.
Note 3) When switching position loop gain Kp, select the smallest value for calculation.
Note 4) When using the positional command filter and damping control, add the following values.
Positional command smoothing filter: Vc × Filter time constant [s]
Positional command FIR filter: Vc × Filter time constant [s]/2
Damping control: Vc/(π × Damping frequency [Hz])
.• For Pr5.20 = 1 (Detection through encoder position deviation and full-closed position deviation)
Pr0.14 "Position deviation excess setting" = Ve/Kp × (1.2 to 2.0)
Ve: Maximum operation frequency [pulse/s] in encoder unit or full-closed unit
Kp: Position loop gain [1/s]
Note 5) NOTE 3) When switching position loop gain Kp, select the smallest value for calculation.
Note 6) When Pr5.20 = 1, setups of positional command filter and damping control have no effect.
Related page
P.4-14 (Pr0.14)，P.4-58 (Pr5.20)
5) Motor working range setup
During the position control or full-closed control, this function detects the motor posi-
tion which exceeds the revolutions set to Pr5.14 Allowable motor operating range set-
ting, and issues Err34.0 Motor working range limit protection.
For details, see 6-3 Motor working range setup functions.
Related page
P.4-56 (Pr5.14)
6) Hybrid deviation excess error protection setup
At the initial operation with full-closed control, operation failure may occur due to re-
verse connection of external scale or wrong external scale division ratio.
To indicate this type of defect, Err25.0 "Hybrid deviation excess error protection" is is-
sued when the deviation of motor position (encoder unit) and load position (external
scale unit) exceed Pr3.28 "Hybrid deviation excess setting."
For details, see 4-5-3 Setting of hybrid deviation excess.
Related page
P.4-38 (Pr3.28)
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