Mitsubishi MELFA CR1D Instruction Manual page 361

Parameter
Parameter
name
Optimum JADL
acceleration/
deceleration
adjustment rate
Impact Detection COL
Note that this
parameter cannot
be used together
with the multi-
mechanism control
function.
Detection level COLLVL
Detection level COLLVLJG
during jog
operation
No. of arrays
No. of characters
Real value 8 Set the initial value (value at power ON) of the acceleration/deceleration
adjustment rate (%) during optimum acceleration/deceleration. It is the
rate applied to the acceleration/deceleration speed calculated by optimum
acceleration/deceleration control. In the RV-SD series, high-speed
operation can be performed by setting this value to a larger value.
However, if the robot is operated continuously for a certain period of time
at high speed, overload and overheat errors may occur. Lower the setting
value if such errors occur.
In the RV-SD series, the initial values have been set so as to prevent
overload and overheat errors from occurring.
They are applied to both the deceleration and acceleration speeds.
* What is an overload error?
An overload error occurs when the load rate reaches a certain
value in order to prevent the motor from being damaged by heat
from high-speed rotation.
* What is an overheat error?
An overheat error occurs when the temperature reaches a certain
value in order to prevent the position detector from being damaged
by heat from high-speed rotation.
Note) This function is valid only in the RV-SD series.
Integer 3
Define whether the impact detection function can/cannot be used,
and whether it is enabled/disabled immediately after power ON.
Element 1: The impact detection function can (1)/cannot (0) be
used.
Element 2: Enable (1)/disable (0) as the initial state at automatic
operation.
Element 3: Enable (1)/disable (0)/NOERR mode (2) during jog
operation
The NOERR mode does not issue an error even if impact is
detected. It only turns off the servo. Use the NOERR mode if it is
difficult to operate because of frequently occurred errors when an
impact is detected. The specification depends on the setting for jog
operation (element 3) in cases other than program operation
(including position jump and step feed).
Integer 8
Set the initial value of the detection level (sensitivity) of each joint
axis during automatic operation.
Setting range: 1 to 500, unit: % * If a value exceeding the setting
range is specified, the closest value allowed within the range is
used instead.
Real value 8 Set the detection level (sensitivity) during jog operation (including
pause status) for each joint axis. Unit: %
Decrease the value to increase the detection level (sensitivity).
Increase the value if an impact detection error occurs even though
no impact is detected during jog operation.
Setting range: 1 to 500, unit: %
* If a value exceeding the setting range is specified, the closest
value allowed within the range is used instead.
5Functions set with parameters
Details explanation Factory setting
RV-3SD/3SDJ/
3SDB/3SDJB series
100,100,100,100,
100,100,100,100
(%)
RV-6SD/12SD
50,50,50,50,
50,50,50,50(%)
RV-6SDL/12SDL
35,35,35,35,
35,35,35,35(%)
RV-SD series is
0,0,1
RH-SDH series is
1,0,1
200,200,200,200,
200,200,200,200
The standard is
200,200,200,200,20
0,200,200,200, but
it varies with
models.
Movement parameter 5-348