Panasonic MINAS A6 Multi Series Technical Reference page 221

7.4Setup of gain pre-adjustment protection
 When Pr 5.20 = 0 (detection through command positional deviation)
 Pr 0.14 (Setup of positional deviation excess) = Vc / Kp x (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 excess positional deviation protection
 When Pr 5.20 = 1 (detection through encoder positional deviation and full-closed position
deviational)
 Pr 0.14 (Setup of positional deviation excess) = Ve / Kp x (1.2 to 2.0)
Ve: maximum operation frequency [pulse/s] in encoder unit or external scale unit
Kp: position loop gain [1/s]
Factor in ( ) is margin to prevent frequent activation of excess positional deviation protection

When switching position loop gain Kp, select the smallest value for calculation.

When switching from the velocity control to position control, position deviation correcting
function is used, which will increase calculation value and error. To cope with these
problems, increase the margin.
Setup of motor working range
During the position control or full-closed control(Not supported), this function detects the motor position
which exceeds the revolutions set to Pr 5.14 Motor working range setup, and issues Err 34.0 Software
limit protection.
For details, refer to "6.2 Motor working range setup function".
Hybrid deviation excess error protection setup
At the initial operation with full-closed control, operation failure may occur due to reverse connection of
external scale or wrong external scale division ratio.
To indicate this type of defect, Err25.0 "Hybrid deviation excess error protection" is issued when the
deviation of motor position (encoder unit) and load position (external scale unit) exceed Pr3.28 "Hybrid
deviation excess setup."
For details, refer to "4.5.3 Setting of hybrid deviation excess".
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