Specifications

14.3
Motion Control
14
-83
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