Parameter Consistency Check; Comparison Of Speed Monitoring Parameter; Speed Command Observation - Mitsubishi Electric MELSEC Q Series Programming Manual

2 SAFETY OBSERVATION FUNCTION

2.4.4 Parameter consistency check

2.4.5 Comparison of speed monitoring parameter

2.4.6 Speed command observation

Command speed
Safety observation error
(SM57)
Shut-off signal
(Y A)
The monitoring speed is set by the speed monitoring parameter (for each parameter
block). Set the following two parameters that have different type of unit to prevent the
mis-setting.
• Safety speed : Load-side safety (limit) speed
• Safety motor speed: Load-side safety (maximum) speed [r/min]
If the setting value is inconsistent, the "Safety observation error (error code: 101)"
occurs, and the shut-off signal is turned OFF.
The speed monitoring parameter used by Motion CPU and PLC CPU are compared at
the speed monitoring process start or parameter reading. If the parameters are
mismatched, "Safety observation error (error code: 101)" occurs and the shut-off signal
is turned OFF.
Both Motion CPU and PLC CPU monitor if the absolute value of command
(Note-1)
speed by Motion CPU does not exceed the safety speed during speed
monitoring.
If the command speed continues to exceed the safety speed over "speed monitoring
error detection time", "Safety observation error (error code: 110)" occurs and the shut-
off signal is turned OFF.
Set the safety speed and speed monitoring error detection time by parameters.
(Note-1): Value calculated from the time derivative of command position from servo amplifier to Motion CPU.
V
Safety speed
(Parameter)
0
[mm/min, inch/min, pulse/s, degree/min]
(The unit is [mm/s] when using linear motor.)
Speed monitoring error detection time
(Parameter)
2 - 13
Error occurs
t