Справочник Пользователя для Mitsubishi Electronics IB-1500193(ENG)-D

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Collision detection function quickly detects a collision of the motor shaft, and decelerates and stops the 

motor. This suppresses the generation of an excessive torque in the machine tool, and helps to prevent an 

abnormal state from occurring. Impact at a collision will not be prevented by using this collision detection 

function, so this function does not necessarily guarantee that the machine tool will not be damaged or that 

the machine accuracy will be maintained after a collision. The same caution as during regular operation is 

required to prevent the machine from colliding.

The required torque for the command is estimated from the position command issued from the NC, and 

the disturbance torque is obtained from the difference with the actual torque. When this disturbance 

torque exceeds the collision detection level set with the parameters, the motor will decelerate to a stop 

with a torque 80% (standard) value of the motor's maximum torque. After decelerating to a stop, alarm 

58 or 59 will occur, and the system will stop.

The collision detection level for rapid traverse (G0) is set with SV060: TLMT. The collision detection 

level for cutting feed (G1) is set to 0 to 7-fold (SV35.clG1) based on the collision detection level for rapid 

traverse. When clG1 is set to 0, collision detection method 1 will not function during cutting feed. If 

SV060 is set to 0, all collision detection (including methods 1 and 2) will not function.

SV060

Alarm 58

SV060 × c1G1 (SV035)

Alarm 59

 

Collision detection function outline

 

(a) A collision of machine is detected. 

(b) A retracting torque is generated. 

The collision of machine is reduced. 

Speed command 
(r/min)  

0 

Estimated 
torque (stall%)  

0 

3000 

200 

100 

-200 

-100 

-3000 

Unbalance torque

 

(SV032)

G0 collision detection 

level ( SV060)

Collision detection method 

1, detection range

(alarm 58/59)

Frictional torque
(SV045)

G1 feed (cutting feed)

G0 feed (rapid traverse)

G1 collision detection 
level ( SV060

×

clG1) 

Alarm detection range for collision detection method 1