Mitsubishi Electric MR-D30 Instruction Manual page 111

4. SAFETY OBSERVATION FUNCTION
(b) Speed feedback observation
During the speed observation, an absolute value of the speed feedback is observed not to exceed
the SLS speed. When an excess of speed feedback continues for the set value of [Pr. PSA15
SLS/SS2/SOS speed detection delay time], the STO function will start.
Servo motor speed
SLS_C
(SLS command)
ALM
(Malfunction)
Base circuit
(Energy supply to
the servo motor)
STOS
(STO output)
(5) Parameter setting
To set the parameters, refer to section 4.3.3. Set the parameters referring to section 4.4.1 when using
the SLS function in the safety observation function control by input device, and section 4.4.3 when using
the SLS function in the safety observation function control by network.
When using the SLS function, set the parameters as follows.
(a) SLS deceleration monitoring time 1 to SLS deceleration monitoring time 4
Set a time from SLS_C (SLS command) off to the speed observation start referring to the operation
sequence. Set enough time for the servo motor to decelerate to the SLS speed or less. Four
parameters are available for SLS1C (SLS1 command) to SLS4C (SLS4 command). However, it is
not necessary to set a parameter with no possibility to be enabled.
(b) SLS speed 1 to SLS speed 4
Set a speed threshold for the speed observation referring to the operation sequence. Four
parameters are available for SLS1C (SLS1 command) to SLS4C (SLS4 command). However, it is
not necessary to set a parameter with no possibility to be enabled.
(c) SLS speed detection delay time
Set an error detection time for the time detected. This parameter changes the delay time to activate
the STO function after the speed exceeds the SLS speed during the speed observation.
SLS monitoring
deceleration time
Command
0 r/min
ON (disabled)
OFF (enabled)
ON (no alarm)
OFF (alarm)
ON
OFF
ON
OFF (shut-off)
Parameter
PSA07 SLS deceleration monitoring time 1
PSA08 SLS deceleration monitoring time 2
PSA09 SLS deceleration monitoring time 3
PSA10 SLS deceleration monitoring time 4
PSA11 SLS speed 1
PSA12 SLS speed 2
PSA13 SLS speed 3
PSA14 SLS speed 4
PSA15 SLS/SS2/SOS speed detection delay time
4 - 40
Speed observation in progress
Speed detection
delay time
Feedback
SLS speed
Name
STO status