Mitsubishi A1SD75M3 User Manual page 182

5 DATA USED FOR POSITIONING CONTROL
Servo amplifier
side parameter
Item
No.
Pr.112
No.12
Load inertia
ratio
Pr.113
No.13
Position loop
gain 1
Pr.114
No.14
Speed loop
gain 1
Pr.115
No.15
Position loop
gain 2
Pr.116
No.16
Speed loop
gain 2
Pr.117
Speed
No.17
integral
compensation
(2) Servo adjustment parameters
Setting value, setting range
Abbre- Value set with peripheral
viation device
0.0 to 100.0 (%)
GD2
–
4 to 1000 (rad/s)
PG1
–
20 to 5000 (rad/s)
VG1
–
1 to 500 (rad/s)
PG2
–
20 to 8000 (rad/s)
VG2
–
VIC 1 to 1000 (ms)
POINT
" Pr.112 Load inertia ratio" to "
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Pr.108
Hence, if " Auto tuning" is changed to "2: Manual mode 2" and the PLC
CPU is powered ON or reset or the PLC READY signal [Y1D] is turned ON, the
settings return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to
Pr.112 Load inertia ratio (Ratio of load inertia to servomotor inertia)
Set the ratio of load inertia to servomotor inertia.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode" or "1: Auto tuning
mode 1", this parameter is automatically changed to the auto tuning result in the
servo amplifier.
On the peripheral device, any value in the range 0.0 to 100.0% can be set since
the setting is made as the MR-J2-B.
When setting any of 100.1 to 300.0%, set this parameter in the sequence program.
Value set with sequence
program
0 to 1000 (0.1%)
1001 to 3000 (0.1%)
4 to 1000 (rad/s)
1001 to 2000 (rad/s)
20 to 5000 (rad/s)
5001 to 8000 (rad/s)
1 to 500 (rad/s)
501 to 1000 (rad/s)
20 to 8000 (rad/s)
8001 to 20000 (rad/s)
1 to 1000 (ms)
Pr.117 Speed integral compensation" are
Pr.112 to Pr.117 , and perform write to flash ROM.
5 - 92
MELSEC-A
Setting value buffer
memory address
Default
value
Axis 1 Axis 2 Axis 3
30 112 262
70 113 263
1200 114 264
25 115 265
600 116 266
20 117 267
412
413
414
415
416
417