Panasonic A4P Series instruction manual When no position command is entered Servo-ON status

[When in Trouble]

3)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 SV.Pr68 (Error response action).

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 SV.Pr26 including the deceleration movement.

•This software limit protection will be invalidated during the trial run and frequency characteristics func- tioning of the PANATERM®.

4)Example of movement

(1)When no position command is entered (Servo-ON status),

The motor movable range will be the travel range which is set at both sides of the motor with SV.Pr26 since no position command is entered. When the load enters to the Err34 occurrence range (oblique line range), software limit protection will be activated.

Motor	Load
	SV.￿ SV.￿
	Pr26	Pr26
Err34 occurrence range	Motor￿		Err34 occurrence range
	movable￿
	range

(2)When the load moves to the right (at Servo-ON),

When the position command to the right direction is entered, the motor movable range will be ex- panded by entered position command, and the movable range will be the position command input range + SV.Pr26 setups in both sides.

Motor	Load			When
SV.￿	Position command￿	SV.￿
Pr26	input range	Pr26		in
Err34 occurrence range	￿		Err34 occurrence range	Trouble
	Motor movable range

(3)When the load moves to the left (at Servo-ON),

When the position command to the left direction, the motor movable range will be expanded further.

Motor	Load
	SV.￿	Position command￿	SV.￿
	Pr26	input range	Pr26
Err34 occurrence range		￿	Err34 occurrence range
		Motor movable range

5)Condition under which the position command input range is cleared

The position command input range will be 0-cleared under the following conditions.

•When the power is turned on.

•When the homing is completed.

•At the starting and the finishing of the normal auto-gain tuning.

171