Mitsubishi Electric MR-D30 Instruction Manual page 110

4. SAFETY OBSERVATION FUNCTION
The following shows a sequence for when SLS1 and SLS2 commands are simultaneously turned off.
Multiple speed observations are executed simultaneously. However, a valid threshold for speed would
be the smallest SLS speed. In the following sequence, the value of SLS speed 2 is smaller than that of
SLS speed 1. Thus, observation will be executed by SLS speed 2 while both SLS1 and SLS2
commands are enabled.
Servo motor speed
0 r/min
ON (disabled)
SLS1C
(SLS1 command)
OFF (enabled)
ON (disabled)
SLS2C
(SLS2 command)
OFF (enabled)
(4) Speed observation
(a) Speed command observation
During the speed observation, an absolute value of the speed command is observed not to exceed
the SLS speed. The STO function operates when the speed command exceeding the SLS speed is
detected. However, when the speed is higher than the SLS speed, the STO function will start after
the setting time of [Pr. PSA15 SLS/SS2/SOS speed detection delay time].
Servo motor speed
SLS_C
(SLS command)
ALM
(Malfunction)
Base circuit
(Energy supply to
the servo motor)
STOS
(STO output)
SLS monitoring
deceleration time 1
SLS monitoring
deceleration time
Command
0 r/min
ON (disabled)
OFF (enabled)
ON (no alarm)
OFF (alarm)
ON
OFF
ON
OFF (shut-off)
4 - 39
Speed observation in progress
SLS monitoring deceleration time 2
Speed observation in progress
Speed detection
delay time
Feedback
SLS speed
Valid threshold
SLS speed 1
SLS speed 2
STO status