Panasonic MINAS A6N Series, Руководство по эксплуатации

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6-43 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
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 excessive
difference between the position command and motor position and issues Err24.0 ”Position
deviation excess protection”.
Excess position deviation level can be set by Pr0.14 “Position deviation excess setting.”
The detection position can be selected from command position deviation [pulse (command
unit)] and encoder position deviation [pulse (encoder unit)] or full-closed deviation [pulse
(external scale unit)] in Pr5.20 “Position setting unit selection”. (See the control block diagram)
Default is set to 100000 [pulse (command unit)].
Because the position deviation during normal operation depends on the operating speed
and gain setting, fill the values obtained from the equation below based on your operating
condition and input the resulting value to Pr0.14.
4-1) In case two degree-of-freedom is set to valid (Pr6.47 bit 0 = 1)
■
For Pr5.20 = 0 (Detection by command position deviation)
Using command positional deviation (after filter) (Pr7.23 bit14=0)
* In this case, the position deviation cannot be obtained through calculation formu-
la. Set the value including allowance, by estimating the maximum value of com-
mand position deviation (Pmax) from the actual operation waveform that could be
used.
Pr 0.14“Setup of positional deviation excess” = Vc / Kp × (1.2 to 2.0)
Factor in ( ) is margin to prevent frequent activation of excess positional deviation protection
Using command positional deviation (before filter) (Pr7.23 bit14=1)
.
• For Pr5.20 = 1 (Detection by encoder position deviation or full-closed position deviation)
Pr0.14 “Setup of positional deviation excess” = (P1 + P2 + P3 + P4) × (1.2 to 2.0)
Factor in ( ) is margin to prevent frequent activation of excess positional deviation
protection.
Position command smoothing (second-order) accumulator pulse count:
P1 = Vc ×(set value for Pr2.22 / 10000)×2
Position command FIR filter accumulator pulse count :
P2 = Vc ×(set value for Pr2.23 / 10000) / 2
Adjustment filter accumulator pulse count : P3 = Vc × (set value for Pr6.48 / 10000)
Damping filter accumulator pulse count : P4 = Vc / (π × damping frequency [Hz])
. • Vc : maximum frequency of positional command pulse [pulse (command unit)/s]
. • Damping frequency is 1/10 of the set values for Pr2.14 (first), Pr2.16 (second), Pr2.18
(third) and Pr2.20 (fourth) and is calculated only when the set values are effective. In
case multiple damping controls are valid, P4 shall be calculated for each damping filter
and P4 shall be the total of the calculated values.