Panasonic MINAS A6 Series, Technical Reference

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6.2Motor working range setup function
6-3
6.2 Motor working range setup function
If the motor with respect to the position command input range exceeds the motor operating range that is
set by Pr5.14"Motor working range setup", it can be alarm stop at the Err34.0 "motor movable range set
protection"
The allowable motor operating range is calculated internally by the driver module under the following
formula:

Positive direction allowable motor range = Positive direction position command input range + Pr5.14

Negative direction allowable motor range = Negative direction position command input range - Pr5.14
In case the actual motor position for judgment exceeds this range, Err34.0 "motor movable range set
protection" will be detected.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the software limit works:
Control Mode

Position control mode and Full-closed control mode.
Others

Should be in servo-on condition.

Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run
smoothly.
Cautions

This function is not a protection against the abnormal position command.

When this software limit protection is activated, the motor decelerates and stops according to 605Eh/685Eh
(Fault reaction option code).The work (load) may collide to the machine end and be damaged depending on
the load during this deceleration, hence set up the range of Pr 5.14 including the deceleration movement.

When changing the control mode (for the purpose of only to control velocity or torque), do not use this
function. Instead, use software limit function or drive inhibit input.

When any of the following values ([encoder pulse] or [external scale pulse]) managed internally in the driver
module, exceeds -2
31
to 2
31
-1, Err34.0 "motor movable range set protection" detection process will be
invalidated’. (Note)
-
Position command input range
-
Actual motor position for judgment
-
Motor movable range

In case any of the following conditions are satisfied, the position command input range and the actual motor
position for judgment managed inside the driver module will be cleared and Err34.0 "Motor movable range
setting error protection" detection process will be invalidated.
-
When the control power is turned on
-
Servo-OFF state
-
Velocity control state or torque control state
-
During frequency response measurement using setup support software (PANATERM for Multi).
-
During the time position deviation is cleared (When an EMS state transitions from Init to PreOP,
decelerated stop from alarm, etc.).
-
When position information is initialized.When absolute clear by Setup support software (PANATERM for
Multi) etc.
-
Pr5.14 = 0
-
In Full-closed control mode,when Pr5.14 satisfies the following formula (when the value of Pr5.14
converted into external pulse units exceeds 2
31
-1). (Note)
Pr5.14 > ((2 31 -1) * Pr3.24 * 10) / (Encoder resolution * Pr3.25)
-
When clearing position deviation during deceleration to stop due to over-travel inhibit input
-
When returning to home
(Note) However, when Err34.0 detection processing is invalid, Err34.0 can be generated by setting the following setting to valid.
Pr6.97 “Function expansion setup 3”
bit2 Expansion of Allowable motor operating range abnormal protection 0: Invalid, 1: Valid