Panasonic MINAS A5-series Operating Instructions Manual page 288

2. Setup of gain pre-adjustment protection
4) Setup of the excess positional deviation protection
During the position control or full-closed control, this function detects potential exces-
sive difference between the positional command and motor position and issues Err24.0
Excess positional deviation protection.
Excess positional deviation level can be set to Pr0.14 Setup of positional deviation
excess. 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 Pr5.20 Position setup unit select. (See the control block dia-
gram.)
Default setting is 100000[pulse (command unit)].
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 Pr0.14.
• When Pr5.20 = 0 (detection through command positional deviation)
Note 1) When switching position loop gain Kp, select the smallest value for calculation.
Note 2) When using the positional command filter and damping control, add the
• When Pr5.20 = 1 (detection through encoder positional deviation,
full-closed positional deviation)
Note 3) When switching position loop gain Kp, select the smallest value for calculation.
Note 4) When Pr5.20 = 1, setups of positional command filter and damping control have
Related page
P.4-10 (Pr0.14), P4-47 (Pr5.20)
5) Setup of motor working range
During the position control or full-closed control, this function detects the motor posi-
tion which exceeds the revolutions set to Pr5.14 Motor working range setup, and is-
sues Err34.0 Motor working range protection.
Related page
P.4-15 (Pr5.14)
6-16
Pr0.14 Setup of positional deviation excess = 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 excess positional deviation
protection.
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])
Pr0.14 Setup of positional deviation excess = 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]
no effect.