6-30
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, ll 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)
Pr0.14 “Excessive position deviation setting” = (P1 + P2 + P3 + P4) x (1.2 to 2.0)
Coefcients in parenthesis are allowances to prevent frequent triggering of exces-
sive position deviation protection
Position command smoothing accumulator pulse count: P1 = Vc × (set value for Pr2.22 / 10000) x 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])
* 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
.•
For Pr5.20 = 1 (Detection by encoder position deviation or full-closed position deviation)
* In this case, the position deviation cannot be obtained through calculation
formula. Set the value including allowance, by estimating the maximum value
of encoder position deviation or full-closed position deviation (Pmax) from the
actual operation waveform that could be used.
Pr0.14 “Excessive position deviation setting” = Pmax × (1.2 to 2.0)
Note 1) Measure with the smallest value when switching position loop gain Kp.
Note 2)
Setting of command filter and damping control will not have any effect in case Pr 5.20 = 1.
2. Setup of gain pre-adjustment protection
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