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MDS-D-SVJ3/SPJ3 Series Instruction Manual
4-7 Protective functions
(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.
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.
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 detector
replacement following maintenance, etc., in the detector resolution, or in the position control
system such as detector 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)".
CAUTION
POINT