Collision Detection Function - Mitsubishi Electric MDS-E Series Instruction Manual

MDS-E/EH Series Instruction Manual
5 Servo Adjustment

5.6.3 Collision Detection Function

Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the motor. This
suppresses the generation of an excessive torque in the machine tool, and helps to prevent an abnormal state from
occurring. Impact at a collision will not be prevented by using this collision detection function, so this function does not
necessarily guarantee that the machine tool will not be damaged or that the machine accuracy will be maintained after a
collision. The same caution as during regular operation is required to prevent the machine from colliding.
Collision detection function outline
(a) A collision of machine is detected.
(1) Collision detection method 1
The required torque for the command is estimated from the position command issued from the NC, and the
disturbance torque is obtained from the difference with the actual torque. When this disturbance torque exceeds the
collision detection level set with the parameters, the motor will decelerate to a stop with a torque 80% (standard)
value of the motor's maximum torque. After decelerating to a stop, alarm 58 or 59 will occur, and the system will
stop.
The collision detection level for rapid traverse (G0) is set with SV060: TLMT. The collision detection level for cutting
feed (G1) is set to 0 to 7-fold (SV35.clG1) based on the collision detection level for rapid traverse. When clG1 is set
to 0, collision detection method 1 will not function during cutting feed. If SV060 is set to 0, all collision detection
(including methods 1 and 2) will not function.
During rapid traverse (During G0 feed)
During cutting feed (During G1 feed)
Speed command
(r/min)
Estimated
torque (stall%)
CAUTION
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.
IB-1501229-F
Collision detection level setting parameter
SV060 × c1G1 (SV035)
3000
0
-3000
Collision detection method
200
1, detection range
(alarm 58/59)
100
0
G0 collision detection
-100 level ( SV060)
-200
G0 feed (rapid traverse)
Alarm detection range for collision detection method 1
310
(b) A retracting torque is generated.
The collision of machine is reduced.
SV060
Frictional torque
( SV045 )
Unbalance torque
G1 collision detection
×
level ( SV060 clG1)
G1 feed (cutting feed)
Detected alarm
Alarm 58
Alarm 59
(SV032 )