Data Used For Positioning Control; Types Of Data; Parameters And Data Required For Control - Mitsubishi A1SD75M3 User Manual

5 DATA USED FOR POSITIONING CONTROL

5.1 Types of data

5.1.1 Parameters and data required for control

Setting data
(Data set beforehand according to the machine and application, and stored in the flash ROM.)
Parameters
Pr.1 to Pr.58
Pr.100 to Pr.138
Pr.149 ,
Pr.150
Positioning data
Da.1 to Da.9 )
Positioning start
information
Da.10 to Da.18 )
The parameters and data required to carry out control with the AD75 include the
"setting data", "monitor data" and "control data" shown below.
Positioning
Basic parameters 1
parameters
Basic parameters 2
to
Pr.1 Pr.44
Note)
Pr.150
Especially when the setting of the basic parameters 1 is wrong, the movement
amount may change or no operation may take place.
Detailed parameters 1
Detailed parameters 2
Note)
Detailed parameters 2 are data items for using the AD75 functions to the fullest.
Set as required.
Zero point
return Zero point return basic parameters
parameters
Zero point return detailed parameters
to )
Pr.45 Pr.59
Servo
Servo basic parameters
parameters
Servo adjustment parameters
Pr.100 to Pr.138 ,
Pr.149
Servo extention parameters
Positioning data
Start block data
to Da.13
Da.10
Condition data
to
Da.14 Da.18
Memo data
Indirectly specification data
◊
The data is set with the sequence program or peripheral device.
In this chapter, the method using the peripheral device will be explained.
(Refer to "Point" on the next page.)
◊
The basic parameters 1, deteailed parameters 1, and zero point return parameters become valid
when the PLC READY signal [Y1D] turns from OFF to ON.
◊
The basic parameters 2 and detailed parameters 2 become valid immediately when they are
written to the buffer memory, regardless of the state of the PLC READY signal [Y1D].
◊
Even when the PLC READY signal [Y1D] is ON, the values or contents of the following can
be changed: basic parameters 2, detailed parameters 2, positioning data, and positioning
start information.
◊
The servo parameters are transferred from the AD75 to the servo amplifier by initial communication
that is made after power-on or after PLC CPU reset.
When any of the servo parameter values has been changed, perform write to the flash ROM of the
AD75, and switch power off, then on again or reset the PLC CPU.
However, the following servo parameters are also transferred to the servo amplifier when the PLC
READY signal [Y1D] turns from OFF to ON.
Auto tuning (servo basic parameter)
Position loop gain 1 (servo adjustment parameter)
Position loop gain 2 (servo adjustment parameter)
Speed integral compensation (servo adjustment parameter)
Feed forward gain (servo adjustment parameter)
Set according to the machine and applicable
motor when system is started up.
Set according to the system configuration when
the system is started up.
Set according to the servo amplifier and
control details.
Set the data for "main positioning control".
Set the start block data for "advanced positioning control".
)
Set the condition data for "advanced positioning control".
)
Set the condition judgment values for the condition
data used in "advanced positioning control".
Set when indirectly specificating the positioning
data No. .
5 - 2
Set the values required for carrying
out zero point return control.
Load inertia ratio (servo adjustment parameter)
Speed loop gain 1 (servo adjustment parameter)
Speed loop gain 2 (servo adjustment parameter)
MELSEC-A