Mitsubishi MR-J4-10A Instruction Manual page 533

15. USING A LINEAR SERVO MOTOR
(a) Position deviation error detection
Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to
1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 50 mm. Change the set value as necessary.
(b) Speed deviation error detection
Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to
5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 1000 mm/s. Change the set value as necessary.
(c) Thrust deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 15.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Change the set value as necessary.
(d) Detecting multiple deviation errors
When [Pr. PL04] is set as follows, multiple deviation errors can be detected. For the error detection
methods, refer to (1) (a), (b), (c) of this section.
[Pr. PL04]
1
Position deviation error detection enabled
[Pr. PL04]
2
Speed deviation error detection enabled
[Pr. PL04]
4
Thrust deviation error detection enabled
[Pr. PL04]
Setting Position deviation
value error detection
1
2
3
4
5
6
7
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Speed deviation Thrust deviation
error detection error detection