Mitsubishi Electric MELSERVO-J5 User Manual page 484

Parameter switching
Four sets of SLT torque upper limit value and SLT torque lower limit value can be set with the SLT function. Four commands
(SLT1 command, SLT2 command, SLT3 command, and SLT4 command) corresponding to the respective thresholds can be
used. The relationship between the commands and the applied SLT torque upper limit value and SLT torque lower limit value
is as follows.
Command
SLT1 command
SLT2 command
SLT3 command
SLT4 command
The following shows a sequence when the SLT1 command and SLT2 command are turned off. When multiple torque
monitoring instances are executed simultaneously, the smallest SLT upper limit value and the largest SLT torque lower limit
value thresholds are enabled. In the following sequence, SLT torque 2 is a more valid than SLT torque 1, so monitoring by SLT
torque 2 is enabled while both the SLT1 command and SLT2 command are enabled.
Torque
SLT1C (SLT1 command)
SLT2C (SLT2 command)
6 FUNCTIONAL SAFETY
482
6.4 Safety sub-function
Applied SLT command upper limit value
[Pr. PSB10 SLT torque upper limit value 1]
[Pr. PSB11 SLT torque upper limit value 2]
[Pr. PSB12 SLT torque upper limit value 3]
[Pr. PSB13 SLT torque upper limit value 4]
0.0 %
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
Applied SLT command lower limit value
[Pr. PSB14 SLT torque lower limit value 1]
[Pr. PSB15 SLT torque lower limit value 2]
[Pr. PSB16 SLT torque lower limit value 3]
[Pr. PSB17 SLT torque lower limit value 4]
Torque monitoring
SLT torque upper limit value 1
SLT torque lower limit value 1
Enabled threshold
SLT torque upper limit value 2
SLT torque lower limit value 2