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What is AL520 fault/alarm in LXM28 Servo Drive

The principle of AL520 is: every time when LXM28A gets new target position it will automatically check the speed required for following this command is lower than the velocity limitation.
In other words:
ΔP/ΔT<VLIM (After unit conversion into counts per second)
ΔP = New target position - previous target position
ΔT = CANMotion cycle time interval
VLIM = P-155
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