Panasonic MINAS A6 Multi Series Technical Reference page 220

7.4 Setup of gain pre-adjustment protection
Before starting gain adjustment, set the following parameters based on the conditions of use, to assure
safe operation.
Setup of over-travel inhibit input
By inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented.
Refer to interface specification, positive/negative direction overtravel inhibit input (POT/NOT). Set the
following parameters which are related to overtravel inhibit input.
 Pr 5.04 Setup of over-travel inhibit input
 Pr 5.05 Sequence at over-travel inhibit
Setup of torque limit
By limiting motor maximum torque, damage caused by failure or disturbance such as bite of the
machine and collision will be minimized. To uniformly limit maximum torque by using the parameter Pr
0.13 1st torque limit, first set Pr 5.21 Selection of torque limit to 0 or 1.
If the torque limit setup is lower than the value required during the actual application, the following two
protective features will be triggered: over-speed protection when overshoot occurs, and excess positional
deviation protection when response to the command delays.
By allocating the torque in-limit output (TLC) of interface specification to the output signal, torque limit
condition can be detected externally.
Setup of over-speed protection
Generates Err 26.0 Over-speed protection when the motor speed is excessively high.
Default setting is the applicable motor over-speed level.
If your application operates below the motor maximum speed, set Pr 5.13 Setup of over-speed level by
using the formula below.
 Pr 5.13 Setup of over-speed level = Vmax x (1.2 to 1.5)
Vmax: motor maximum speed [r/min] in operating condition
Factor in ( ) is margin to prevent frequent activation of over-speed protection.
When running the motor at a low speed during initial adjustment stage, setup the overspeed protection
by multiplying the adjusting speed by a certain margin to protect the motor against possible oscillation.
Setup of the excess positional deviation protection
During the position control or full-closed control, this function detects potential excessive difference
between the positional command and motor position and issues Err 24.0"Excess positional deviation
protection".
Excess positional deviation level can be set to Pr 0.14 "Position deviation excess setup". The deviation
can be detected through command positional deviation [pulse (command unit)] and encoder positional
deviation [pulse (encoder unit)], and one of which can be selected by Pr 5.20 "Position setup unit select".
(See the control block diagram.)
Because the positional deviation during normal operation depends on the operating speed and gain
setting, fill the equation below based on your operating condition and input the resulting value to Pr 0.14.
Protective Functions
7-36