Updating Some Servo Parameters [Sequence Program] - Mitsubishi FX3U-20SSC-H User Manual

FX -20SSC-H Positioning Block User's Manual
3U
7.1.8

Updating some servo parameters [sequence program]

This subsection explains how to transfer the following servo parameters changed using a sequence program
to the servo amplifier.
The table below shows transferrable servo parameters in accordance with the setting of the auto tuning
mode.
→ For direct specification of the buffer memory using the FROM/TO instruction and applied
Auto tuning mode
Auto tuning response
Feed forward gain
Ratio of load inertia moment to servo motor inertia moment
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Speed differential compensation
*1. These parameters are automatically adjusted in the interpolation mode.
*2. These parameters are automatically adjusted in auto tuning mode 1.
*3. These parameters are automatically adjusted in auto tuning mode 2.
Note: Servo parameter transfer command execution condition
The servo parameter transfer command is enabled when the "READY/BUSY" bit in the status information is
"READY (ON)."
The servo parameter transfer command is ignored while the system is performing positioning operation.
1) Set the following servo parameters to be transferred stored in the buffer memory.
Create a program which sets servo parameters by direct specification of the buffer memory using the
FROM/TO instruction and applied instructions, and then save set values to the buffer memory.
Auto tuning mode
Auto tuning response
Feed forward gain
Ratio of load inertia moment to servo motor inertia moment BFM #15024
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Speed differential compensation
→ For operation command 2, refer to Subsection 11.4.11
instructions, refer to Section 12.1 and the PROGRAMMING MANUAL
Interpolation
mode
*1
*1
*1
*1
→ For the contents of setting of servo parameters, refer to Section 11.2
BFM Number
X-axis
BFM #15008
BFM #15009
BFM #15022
BFM #15025
BFM #15026
BFM #15027
BFM #15028
BFM #15029
7 Before Starting Positioning Operation
7.1 Note on Setting Parameters
Auto tuning mode setting status
Auto tuning mode 1 Auto tuning mode 2 Manual mode
*2
*2 *3
*2 *3
*2 *3
*2 *3
Description
Y-axis
BFM #15208
BFM #15209
Set these parameters in accordance
BFM #15222
with the system. Transferrable servo
BFM #15224
parameters vary depending on the
BFM #15225 setting of the auto tuning mode (as
shown in the above table).
BFM #15226
→ For details, refer to the
BFM #15227
BFM #15228
BFM #15229
servo amplifier manual
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