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5 Servo Adjustment
MITSUBISHI CNC
(2) Collision detection method 2
When the current command reaches the motor's maximum current, the motor will decelerate and stop at a torque
80% (standard value) of the motor's maximum torque. After decelerating to a stop, alarm 5A will occur, and the
system will stop. If the acceleration/deceleration time constant is short and incorrect detections easily occur during
normal operation, lengthen the acceleration/ deceleration time constant and adjust so that the current is not
saturated (does not reach the maximum current) during acceleration.
If the acceleration/deceleration time constant cannot be lengthened, set parameter SV035/bitB (SSF4.c12n) to 1 to
ignore collision detection method 2.
(3) Retracting torque
In each collision detection method, impact after a collision is reduced by generating the retracting torque after the
collision is detected.
The retracting torque is a torque 70% to 100% which is set with SV035: SSF4/cltq (bit8, bit9) based on the current
of the motor maximum ability.
POINT
1. Always validate SHG control when using the collision detection function, or when carrying out SV059 setting value
operation.
2. Provide an allowance in the detection level setting to prevent incorrect detections.
3. All collision detection functions will be disabled when SV60 is set to 0.
4. Collision detection method 2 will function if a value other than 0 is set in SV060. Note that the detection can be ignored
by setting the parameter (SV035/bitB).
5. The torque estimated gain (SV059) must be readjusted when there are changes in the encoder replacement following
maintenance, etc., in the encoder resolution, or in the position control system such as encoder loop gain (PGN), etc.
(closed loop control and semi-closed loop has been changed).
6. The retracting torque generated when a collision is detected outputs the motor maximum torque. If the torque limitation is
required in order to protect the machine, set "SV035 : SSF4/cltq (bit8, bit9)".
