Servo Parameters (Gain/Filter Settings) - Mitsubishi FX3U-20SSC-H User Manual

FX -20SSC-H Positioning Block User's Manual
3U
BFM Number Servo
Amplifier
X-axis Y-axis
Parameter No.
BFM BFM
PA09
#15009 #15209
BFM BFM
PA10
#15010 #15210
BFM BFM
PA14
#15014 #15214
BFM BFM
PA15
#15015 #15215

11.2.2 Servo parameters (Gain/Filter settings)

BFM Number Servo
Amplifier
X-axis Y-axis
Parameter No.
BFM BFM
PB01
#15019 #15219
BFM BFM
PB02
#15020 #15220
BFM BFM
PB04
#15022 #15022
BFM BFM
PB06
#15024 #15224
BFM BFM
PB07
#15025 #15225
BFM BFM
PB08
#15026 #15226
BFM BFM
PB09
#15027 #15227
BFM BFM
PB10
#15028 #15228
BFM BFM
PB11
#15029 #15229
BFM BFM
PB13
#15031 #15231
BFM BFM
PB14
#15032 #15232
BFM BFM
PB15
#15033 #15233
Name
Set this if you want to improve the servo amplifier response.
Low responsivity
Auto tuning response
1:(10.0Hz)
Set the range to output a positioning completion signal in units of
In-position range command pulse.
Setting range: 0 to 50000 PLS
Select the servo motor rotation direction when viewed from the servo
Rotation direction amplifier's load side.
selection 0: Forward rotation (CCW) when the current value is increased
1: Reverse rotation (CW) when the current value is increased
Set the number of pulses per revolution or output division ratio for encoder
Encoder output pulse pulses (A-phase, B-phase) output by the servo amplifier
Setting range: 1 to 65535 PLS/REV
Name
Select the adaptive filter tuning mode.
Adaptive tuning
0: Filter OFF
mode
1: Filter tuning mode (adaptive filter)
(Adaptive filter 2)
2: Manual mode
Vibration
Select the vibration suppression control tuning mode.
suppression control
0: Vibration suppression control OFF
tuning mode
1: Vibration suppression control tuning mode
(advanced vibration
2: Manual mode
suppression control)
Set the feed forward gain coefficient to be used for positioning control.
Feed forward gain
Setting range: 0 to 100%
Ratio of load inertia
Set the ratio of load inertia moment to servo motor inertia moment.
moment to servo
Setting range: 0 to 3000 (×0.1 times)
motor inertia moment
Set the response gain up to the target position.
Model loop gain
Setting range: 1 to 2000 rad/s
Set the gain of the position loop.
Position loop gain
Setting range: 1 to 1000 rad/s
Set the gain of the speed loop.
Speed loop gain
Setting range: 20 to 50000 rad/s
Speed integral Set the integral time constant of the speed loop.
compensation Setting range: 1 to 10000 (× 0.1 ms)
Speed differential Set the differential compensation.
compensation Setting range: 0 to 1000
Set the notch frequency of the machine resonance suppression filter 1.
Machine resonance (Set the frequency in accordance with the mechanical resonance
suppression filter 1 frequency.)
Setting range: 100 to 4500 Hz
Specify the notch shape used for the machine resonance suppression
filter 1 (Notch shape selection 1).
0
Notch shape
selection 1
• Notch Depth
0: Deep
1: ↑
2: ↓
3: Shallow (-4db)
Set the notch frequency of the machine resonance suppression filter 2.
Machine resonance (Set the frequency in accordance with the mechanical resonance
suppression filter 2 frequency.)
Setting range: 100 to 4500 Hz
11 Buffer Memory (Parameters & Monitored Data)
Description
High responsivity
32:(400.0Hz)
Description
0
Notch depth selection
Notch width selection
Notch Width
(-40db) 0: Standard (α=2)
(-14db) 1:↑ (α=3)
(-8db) 2:↓ (α=4)
3: Wide (α=5)
11.2 Servo Parameters
11
Default
K12
12
K100
K0
13
K4000
Default
K0
K0
K0
K70
K24
K37
K823
K337
K980
K4500
H0000
K4500
129
A
B