Specifications

Drive set-up procedure
14.3.11
Collision detection
14
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• MD3067 (Pn125) INERTIA_ADJ_DISTURB_OBSRVR (For each servo axis)
Meaning: Disturbance observer inertia compensation
Setting value: [%]
• MD3368 (Pn412) DISTURB_TORQUE_LEVEL_1 (For each servo axis)
Meaning: 1st torque disturbance level
Disturbance level for feed except for positioning feed
Setting value: [%]
• MD3369 (Pn413) DISTURB_TORQUE_LEVEL_2 (For each servo axis)
Meaning: 2nd torque disturbance level
Disturbance level for positioning feed
Setting value: [%]
• MD3370 (Pn414) DISTURB_TORQUE_LEVEL_3 (For each servo axis)
Meaning: 3rd torque disturbance level
Disturbance level for forced entry
Setting value: [%]
• MD3371 (Pn415) DISTURB_TORQUE_LEVEL_4 (For each servo axis)
Meaning: 4th torque disturbance level
When Collision Detection is disabled
Setting value: [%]
Note: Be sure to set the parameter to "0".
• MD3372 (Pn416) COMPLIANCE_TORQUE (For each servo axis)
Meaning: Compliance torque
Setting value: [%]
 Relevant I/O
• DB3nDBX20. 2 (Torque limit 2) (For each servo axis)
Meaning: Collision detection function enabled/disabled
By setting this signal to "1", the collision detection signal is enabled.
Setting value: 0---collision detection function disabled
1---collision detection function enabled
• DB3nDBX21. 2 (Drive parameter set selection d2) (For each servo axis)
Meaning: Collision detection function forced input selection
Setting value: 0---forced input disturbance level disabled
1---forced input disturbance level enabled
• DB3nDBX93. 2 (Active drive parameter set d2) (per servo axis)
Meaning: Collision detection function forced input selection state
Setting value: 0---forced input disturbance level not selected
1---forced input disturbance level selected