Servo Motor With Functional Safety; Position Feedback Fixing Diagnosis Function; Safety Observation Function - Mitsubishi Electric MR-D30 Instruction Manual

4. SAFETY OBSERVATION FUNCTION

4.4.4 Servo motor with functional safety

Using a servo motor with functional safety enables you to use speed monitoring functions and position
monitoring functions without external encoders for duplication of encoders.
When using a servo motor with functional safety, set [Pr. PSA02 Functional safety unit setting] to "_ _ 1 _".
When not using it, set [Pr. PSA02] to "_ _ 0 _". Refer to section 4.1 for details.

4.4.5 Position feedback fixing diagnosis function

(1) Summary
The position feedback fixing diagnosis function generates [AL. 79.8 Position feedback fixing error] to
make the servo amplifier STO state when position data from the encoder is fixed.
(2) Operation summary
The position feedback fixing diagnosis function will be enabled when the safety observation function is
enabled and moreover the servo amplifier is not in STO state. When a position feedback does not
change for the time set with [Pr. PSA22 Position feedback fixing error detection time], [AL. 79.8 Position
feedback fixing error] occurs and the STO function operates.
Position (P)
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
ON (disabled)
STOS (STO output)
OFF (enabled)
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Rotation Stop
[Pr. PSA22]
Position change: 0 pulse
STO status
Servo motor
position