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14.3

Motion Control

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14.3.11 Collision detection

Collision detection function detects the collision of feed axes with the disturbance observer

and enables the pullback-stop of the torque reference. You can individually specify the

torque disturbance detection level of collision detection for each of

• positioning feed

• feed other than positioning feed, and

• forced input signal.

Also, it is possible to disable the collision detection function by the external input . With this

function, a series of events from the collision detection to the stop are processed with the

servo drive. The machine data and parameters related to the collision detection function are

listed below.

For the detailed information about adjustment procedure for the collision detection function,

see the separate explanation.

Collision detection function is not available for spindles.

 CNC setting

Feed axes

• MD37610 PROFIBUS_CTRL_CONFIG (For each axis)

Meaning: CNC feed mode to the drive

This machine data permits the switching over the disturbance detection

level from the positioning feed to the other feed and vise versa.

Setting value: 0---disabled

1---enabled

You must specify 1 (enabled) when the collision detection function is

enabled.

 Drive setting

• MD3063 (Pn121) GAIN_DISTURB_OBSERVER (For each servo axis)

Meaning: Disturbance observer gain

Setting value: [Hz]

• MD3064 (Pn122) HPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis)

Meaning: Disturbance observer high pass filter cutoff frequency

Setting value: [Hz]

• MD3066 (Pn124) LPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis)

Meaning: Disturbance observer low pass filter cutoff frequency

Setting value: [Hz]

IMPORTANT

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Drivedata DR2 Especificaciones Pagina 293