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4. Servo Adjustment
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4-6-3 Collision detection
Collision detection quickly detects a collision of the motor shaft, and decelerates and stops the motor.
This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an
abnormal state from occurring. Impact at a collision will not be prevented by using this collision
detection function, so this function does not necessarily guarantee that the machine tool will not be
damaged or that the machine accuracy will be maintained after a collision. The same caution as during
regular operation is required to prevent the machine from colliding.
(1) Collision detection method 1
The required torque for the command is estimated from the position command issued from the NC,
and the disturbance torque is obtained from the difference with the actual torque. When this
disturbance torque exceeds the collision detection level set with the parameters, the motor will
decelerate to a stop with a torque 80% (standard) value of the motor's maximum torque. After
decelerating to a stop, alarm 58 or 59 will occur, and the system will stop.
The collision detection level for rapid traverse (G0) is set with SV060: TLMT. The collision
detection level for cutting feed (G1) is set to 0 to 7-fold (SV35.clG1) based on the collision
detection level for rapid traverse. When clG1 is set to 0, collision detection method 1 will not
function during cutting feed. If SV060 is set to 0, all collision detection (including methods 1 and 2)
will not function.
Collision detection level setting parameter Detected alarm
During rapid traverse
(During G0 feed)
SV060 Alarm 58
During cutting feed
(During G1 feed)
SV060 × c1G1 (SV035) Alarm 59
Alarm detection range for collision detection method 1
CAUTION
The collision detection function does not guarantee safety or machine
accuracy when a collision occurs. Thus, the same caution as during regular
operation is required to prevent the machine from colliding.
Speed command
(r/min)
0
Estimated torque
(stall%)
0
3000
200
100
-200
-100
-3000
Unbalance torque
(SV032)
G0 collision detection
level (SV060)
Collision detection method 1,
detection range
(alarm 58/59)
Frictional torque
(SV045)
G1 feed
(
cuttin
g
feed
)
G0 feed
(
ra
p
id traverse
)
G1 collision detection
level
(
SV060×clG1
)