Feedback Speed Observation; Position Feedback Monitoring - Mitsubishi Electric MELSEC Q Series Programming Manual

2 SAFETY OBSERVATION FUNCTION

2.4.7 Feedback speed observation

Motor speed
Safety observation error
(SM57)
Shut-off signal
(Y A)

2.4.8 Position feedback monitoring

Safety observation error
(SM57)
Shut-off signal
(Y A)
Both Motion CPU and PLC CPU monitor if the motor speed
the safety motor speed during speed monitoring.
(Note-1)
If the motor speed
monitoring error detection time", "Safety observation error (error code: 111)" occurs
and the shut-off signal is turned OFF.
Set the safety motor speed and speed monitoring error detection time by parameter.
(Note-1): Value calculated from the time derivative of command position from servo amplifier to Motion CPU.
V
Safety motor speed
(Parameter)
0
Both Motion CPU and PLC CPU monitor if the difference between the feedback
position and command position of Motion CPU does not exceed the allowance value of
position deviation during speed monitoring.
If the difference continues to exceed the allowance value over "speed monitoring error
detection time", "Safety observation error (error code: 112)" occurs and the shut-off
signal is turned OFF.
Set the allowance value of position deviation and speed monitoring error detection time
by parameter.
Position deviation depends on the amplifier parameter (position gain, etc.). Set the
allowance value of position deviation in consideration of the amplifier parameter.
P
Allowance value of
position deviation
(Parameter)
Command position
0
continues to exceed the safety motor speed over "speed
Speed monitoring error detection time
(Parameter)
Speed monitoring error detection time
(Parameter)
Feedback position
2 - 14
(Note-1)
does not exceed
Error occurs
Error occurs
t
t