Mitsubishi Electric MELSEC Q Series Programming Manual page 58

2 SAFETY OBSERVATION FUNCTION
Small oscillation
request signal
Small oscillation
executing flag
Start accept flag
(M2001 to M2032)
Safety observation error
(SM57)
Shut-off signal
(Y A)
If the difference between value of motor encoder and external auxiliary pulse input
occurs, "Safety observation error (error code: 121)" occurs, and the shut-off signal is
turned OFF.
The positioning cannot be executed during small oscillation. If the positioning (JOG,
servo program) is started during small oscillation, "Safety observation warning (error
code: 201)" occurs, and the positioning does not start. Also, when small oscillation
request signal is turned ON for an axis which is in the middle of positioning or
synchronous control, "Safety observation warning (error code: 203)" occurs and the
small oscillation does not start.
In the case that the small oscillation request signal is turned ON in the virtual mode, set
clutches for the target output axes and turn OFF the all connected clutches. If the small
oscillation request signal is turned ON at the clutches being ON, "Safety observation
warning (error code: 202)" occurs and the small oscillation does not start.
If the small oscillation cannot be completed within five seconds, "Safety observation
warning (error code: 203)" is output.
Confirm that servo error does not occur during motor operation, and the time until in-
position signal is turned ON is not too long after the motor operation.
After the confirmation, execute the small oscillation again.
P+
Cumulative external auxiliary input pulses
+
0.6pulse (Corresponding value of external auxiliary input pulse)
0
Motor position feedback
P-
POINTS
During the small oscillation, the speed monitoring continues to execute using the
safety speed where the external auxiliary pulse is 1 [pulse/s], not using the user
specified safety speed. Chattering might occur during small oscillation because the
safe speed monitor signal (SSM signal) is output for the safety speed.
When small oscillation is normal.
Execute it within one hour.
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t
When small oscillation is error.