Mitsubishi Electric QD75MH1 User Manual page 167

5 DATA USED FOR POSITIONING CONTROL
2
Item
Pr.122
(PB04) Feed forward gain
3
Pr.124 Ratio of load inertia moment
(PB06) to servomotor inertia moment
Pr.125
Model loop gain
(PB07)
Pr.126
Position loop gain
(PB08)
Pr.127
Speed loop gain
(PB09)
Setting details
• Used to set the feed forward gain of the positioning
control. When the setting is 100[%], the droop
pulses during operation at constant speed are
nearly zero. However, sudden
acceleration/deceleration will increase the
overshoot. (As a guideline, when the feed forward
gain setting is 100[%], set 1[s] or more as the
acceleration/deceleration time constant up to the
rated speed).
• Used to set the ratio of the load inertia moment to
the servomotor shaft inertia moment.
• When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically
used. When " Pr.108 Auto tuning mode" is set to "2:
Auto tuning mode 2" or "3: Manual mode", this
parameter can be set manually.
• Set the response gain up to the target position.
• Increase the gain to improve trackability in response
to the position command.
• When auto turning mode 1 2 is selected, the result
of auto turning is automatically used. When " Pr.108
Auto tuning mode" is set to "1: Auto tuning mode 1"
or "3: Manual mode", this parameter can be set
manually.
• Used to set the gain of the position loop.
• Set this parameter to increase the position response
to level load disturbance. Higher setting increases
the response level but is liable to generate vibration
and/or noise.
• When auto tuning mode 1 2 and interpolation
mode is selected, the result of auto tuning is
automatically used. When " Pr.108 Auto tuning
mode" is set to "3: Manual mode", this parameter
can be set manually.
• Used to set the speed loop gain.
Higher setting increases the response level but is
liable to generate vibration and/or noise.
• When auto tuning mode 1 2, manual mode and
interpolation mode is selected, the result of auto
tuning is automatically used. When " Pr.108 Auto
tuning mode" is set to "3: Manual mode", this
parameter can be set manually.
5 - 70
MELSEC-Q
Setting value
0 to 100[%]
0 to 300[Times]
1 to 2000[rad/s]
1 to 1000
20 to 50000