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4.8.2 Description of Each Parameter
PA4_01 to 06 Interference detection function settings
No.
Name
01
Interference detection level
Interference detection return
02
amount
Interference detection return
03
speed
Interference detection LPF time
04
constant
Interference detection HPF time
05
constant
Enable/disable interference
06
detection
The servo amplifier detects disturbance torque caused by a collision (interference) with the machine
end or other axes, and retracts the motor automatically in the direction of no interference.
This function is used if wishing to minimize damage to the machine caused by collisions.
[PA4_01: Interference detection level]
Set the torque level used for detecting collisions.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.
[PA4_04: Interference detection LPF time constant, PA4_05: Interference detection HPF time constant]
Set the filter time constant for extracting disturbance torque from the command torque.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.
[PA4_02: Interference detection return amount, PA4_03: Interference detection return speed]
Set the return amount and speed following interference detection.
The acceleration/deceleration time at this time is based on the PA1_37: Acceleration time and
PA1_38: Deceleration time settings.
If in speed control mode, the return operation following interference detection is not performed.
CHAPTER 4 PARAMETER
Setting range
GYB:
0 [%] to 350 [%]
Other than GYB: 0 [%] to 300 [%]
0 to 2000000000 [unit amount]
GYS, GYB650W or less:
0.01 to 6000.00 [r/min]
GYS 1kW or more:
0.01 to 5000.00 [r/min]
GYG:
0.01 to 3000.00 [r/min]
0.0 to 200.0 [ms]
0.0 to 200.0 [ms]
0: Disable 1: Enable
Extension Function 2 Setting Parameters
Default
Change
value
GYB:
350 [%]
Other
Always
than
GYB:
300 [%]
0
Always
500.00
Always
20.0
Always
100.0
Always
0
Always
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4
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