Mitsubishi Electric MR-J4 Instruction Manual page 610

16. USING A DIRECT DRIVE MOTOR
(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 16.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to
2000 r/min), [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 100 r/min. Change the set value as necessary.
(c) Torque deviation error detection level
Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 16.1, 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]
2
Speed deviation error detection enabled
[Pr. PL04]
4
Torque 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 Torque deviation
error detection error detection