Mitsubishi A1SD75M3 User Manual page 183

5 DATA USED FOR POSITIONING CONTROL
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.
When " Pr.108 Auto tuning" is set to "1: Auto tuning mode 1" or "3: Auto tuning
mode 2", this parameter is automatically changed to the auto tuning result in the
servo amplifier.
On the peripheral device, any value in the range 4 to 1000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 1001 to 2000rad/s, set this parameter in the sequence program.
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.
When " Pr.108 Auto tuning" is set to "1: Auto tuning mode 1", "3: Auto tuning
mode 2" or "4: Manual 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 20 to 5000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 5001 to 8000rad/s, set this parameter in the sequence program.
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.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
On the peripheral device, any value in the range 1 to 500rad/s can be set since the
setting is made as the MR-J2-B.
When setting any of 501 to 1000rad/s, set this parameter in the sequence program.
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.108
When " Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
On the peripheral device, any value in the range 20 to 8000rad/s can be set since
the setting is made as the MR-J2-B.
When setting any of 8001 to 20000rad/s, set this parameter in the sequence
program.
Pr.117 Speed integral compensation
Set the time constant for integral compensation.
When " Pr.108 Auto tuning" is set to "0: Interpolation mode", "1: Auto tuning mode
1" or "3: Auto tuning mode 2", this parameter is automatically changed to the auto
tuning result in the servo amplifier.
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MELSEC-A