Mitsubishi A1SD75M3 User Manual page 153

5 DATA USED FOR POSITIONING CONTROL
Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When auto tuning is executed, this parameter is automatically changed to the auto
tuning result in the servo amplifier.
Pr.113 Position loop gain 1 (Model position gain)
Set the gain of the position loop.
Increase the position loop gain 1 to improve trackability in response to the position
command.
Pr.114 Speed loop gain 1 (Model speed gain)
Normally use this parameter at the initial value.
Higher setting of the speed loop gain 1 increases the response level, but is liable
to generate vibration and/or noise.
Pr.115 Position loop gain 2 (Actual position gain)
Set the gain of the position loop.
The response to load disturbance can be increased.
Higher setting of the position loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.116 Speed loop gain 2 (Actual speed gain)
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting of the speed loop gain 2 increases the response level, but is liable
to generate vibration and/or noise.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
Pr.118 Notch filter selection
Select the frequency that matches the resonance frequency of the mechanical
system.
Pr.119 Feed forward gain
Set the feed forward gain factor for position control.
When the setting is 0%, feed forward control is not performed.
When the setting is 100%, droop pulses are not generated during constant-speed
operation.
However, if sudden acceleration/deceleration is made, overshoot increases. (The
guideline of the acceleration/deceleration time at 100% is 1s or more.)
POINT
When setting this parameter, always set "
Pr.120 In-position range
Set the droop pulse range in which the in-position output is provided to the AD75.
Pr.121 Solenoid brake output
Set a time delay from when the solenoid brake interlock signal (MBR) turns OFF
until the servo amplifier shuts OFF the base circuit.
Pr.108 Auto tuning" to "2: Invalid".
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MELSEC-A