Mitsubishi A1SD75M3 User Manual page 198

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
Pr.118
No.18
Notch filter
selection
Pr.119
No.19
Feed forward
gain
Pr.120
No.20
In-position
range
Pr.121
No.21
Solenoid
brake output
(2) Servo adjustment parameters
Setting value, setting range
Abbre- Value set with peripheral
viation device
GD2 0.0 to 100.0 (%)
PG1 4 to 1000 (rad/s)
VG1 20 to 5000 (rad/s)
PG2 1 to 500 (rad/s)
VG2 20 to 8000 (rad/s)
VIC 1 to 1000 (ms)
0 : Not used
1 : 1125
2 : 563
3 : 375
NCH
4 : 282
5 : 225
6 : 188
7 : 161
FFC 0 to 100 (%)
INP 0 to 50000 (pulse)
MBR 0 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.
Hence, if " Pr.108 Auto tuning" is changed to "2: Invalid" 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
Value set with sequence
program
0 to 1000 (0.1%)
4 to 1000 (rad/s)
20 to 5000 (rad/s)
1 to 500 (rad/s)
20 to 8000 (rad/s)
1 to 1000 (ms)
0
1
2
3
4
5
6
7
0 to 100 (%)
0 to 50000 (pulse)
0 to 1000 (ms)
Speed integral compensation" are
Pr.117
Pr.112 to Pr.117 , and perform write to flash ROM.
5 - 108
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
0 118 268
0 119 269
100 120 270
100 121 271
412
413
414
415
416
417
418
419
420
421