Fuji Electric ALPHA7, Руководство пользователя

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CHAPTER 4 PARAMETER
Extension Function 2 Setting Parameters
4-119
4
4.8.2 Description of Each Parameter
PA4_01 to 06 Interference detection function settings
No. Name Setting range
Default
value
Change
01 Interference detection level
GYB: 0 [%] to 350 [%]
GYB other than: 0 [%] to 300 [%]
GYB:
350 [%]
other
than
GYB:
300 [%]
Always
02
Interference detection return
amount
0 to 2000000000 [unit amount] 0 Always
03
Interference detection return
speed
GYS, GYB 750W or less: 0.01 to
6000.00 [r/min]
GYS 1kW or more: 0.01 to 5000.00
[r/min]
GYG: 0.01 to 3000.00 [r/min]
500.00 Always
04
Interference detection LPF time
constant
0.0 to 200.0 [ms] 20.0 Always
05
Interference detection HPF time
constant
0.0 to 200.0 [ms] 100.0 Always
06
Enable/disable interference
detection
0: Disable 1: Enable 0 Always
The servo amplifier detects disturbance torque caused by a collision (interference) with the machine
end or other axes, and retracts the motor automatically in the direction of no interference.
This function is used if wishing to minimize damage to the machine caused by collisions.
[PA4_01: Interference detection level]
Set the torque level used for detecting collisions.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.
[PA4_04: Interference detection LPF time constant, PA4_05: Interference detection HPF time constant]
Set the filter time constant for extracting disturbance torque from the command torque.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.
[PA4_02: Interference detection return amount, PA4_03: Interference detection return speed]
Set the return amount and speed following interference detection.
The acceleration/deceleration time at this time is based on the PA1_37 to 40:
Acceleration/deceleration time settings.
If in speed control mode, the return operation following interference detection is not performed.