Mitsubishi Electric MR-D30 Instruction Manual page 76

4. SAFETY OBSERVATION FUNCTION
When switching power on for the first time, follow this section to make a startup.
"[GF]" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". "[B]" means "MR-J4-
_B_(-RJ) Servo Amplifier Instruction Manual". "[A]" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction
Manual".
Wiring check of servo amplifier
Wiring check of MR-D30
Surrounding environment check
Parameter check
Safety observation function
activation setting
Test operation of the servo motor
alone in test operation mode
Cancellation of STO by inputting
STO command
Test operation of the servo motor
alone by commands
Test operation with the servo
motor and machine connected
Gain adjustment
Parameter setting (actual operation)
Password setting
Parameter inspection
Operation check of safety
observation function
Actual operation
Stop
Check whether the servo amplifier and servo motor are wired
correctly using visual inspection, DO forced output function, etc.
Check whether MR-D30 is wired correctly using visual inspection,
DO forced output function, etc.
Check the surrounding environment of the servo amplifier and servo
motor.
Set the parameters of the servo amplifier as necessary, such as
operation mode and regenerative option selection.
Confirm the combination of MR-D30 and servo amplifier, then
enable the MR-D30 referring to section 4.3.3.
The password is set for MR-D30 to prevent changing the
parameters. The initial password is "000000".
In the test operation, operate the servo motor at the lowest speed
possible, with the servo motor disconnected from the machine, and
check whether the servo motor rotates correctly.
Cancel STO state by a controller or an input signal.
For the safety observation function control by input device, refer to
section 4.4.1.
For the safety observation function control by network, for MR-J4-
_GF_-RJ, refer to section 4.4.3 (2) (3) (4). For MR-J4-_B_-RJ, refer
to section 2.9.1 of "Q173D(S)CPU/Q172D(S)CPU Motion Controller
Programming Manual (Safety Observation)".
As necessary, set MR-D30 parameters.
In the test operation, operate the servo motor at the lowest speed
possible by giving commands to the servo amplifier, with the servo
motor disconnected from the machine, and check whether the servo
motor rotates correctly.
Connect the servo motor with the machine, and check machine
motions by giving operation commands from the controller.
Make gain adjustment to optimize the machine motions.
Set the parameters of MR-D30.
Lock the safety observation function parameter 1 ([Pr. PSA_ _ ]) by
password to prevent easily changing the settings.
Read the each parameter to verify that the parameter is set correctly.
Check if the safety observation function operates correctly.
Stop giving commands and stop operation.
4 - 5
Description Reference
[GF]: Section 4.5
[B]: Section 4.5.1
[A]: Section 4.5.8
Section 4.3.4 (2)
[GF]: Section 4.1
[B]: Section 4.1.3
[A]: Section 4.1.3
[GF]: Chapter 5
[B]: Chapter 5
[A]: Chapter 5
Section 4.3.3
Section 4.3.4
[GF]: Section 4.5
[B]: Section 4.5
[A]: Section 4.2.3
Section 4.3.3
Section 4.4.3
Section 4.4.1
Section 4.4.3 (2),
(3), (4)
[Motion]: Section
2.9.1
[GF]: Chapter 6
[B]: Chapter 6
[A]: Chapter 6
Chapter 5
Section 4.3.2 (2)