Mitsubishi Electric QD75MH1 User Manual page 173

5 DATA USED FOR POSITIONING CONTROL
2
Item
Pr.141
Low-pass filter selection
(PB23)
Pr.142
Slight vibration suppression
(PB24)
control selection
3
Pr.144
(PB26) Gain changing selection
3
Pr.145
Gain changing condition
(PB27)
Pr.146
Gain changing time constant
(PB28)
Setting details
Select the low pass filter.
• Select the slight vibration suppression control and
PI-PID change.
• When " Pr.108 Auto tuning mode" is set to "3:
Manual mode", this parameter is made valid.
• Select the gain changing condition.
• Used to set the value of gain changing condition
(command frequency, droop pulses, servomotor
speed) selected in " Pr.144 Gain changing selection
". The set value unit changes with the changing
condition item.
• Used to set the time constant at which the gains will
change in response to the conditions set in " Pr.144
Gain changing selection " and " Pr.145 Gain
changing condition".
5 - 76
MELSEC-Q
Setting value
0: Automatic selection
1: Manual selection (" Pr.136
Low-pass filter" setting value)
Slight vibration suppression
control selection
0: Invalid
1: Valid
PI-PID control selection
0: PI control is valid
3: PID control is always valid
Gain changing selection
0: invalid
1: " Cd.108 Gain changing
command" (setting value) is
valid.
2: Command frequency
(" Pr.145 Gain changing
condition" setting value)
3: Droop pulse value (" Pr.145
Gain changing condition"
setting value)
4: Servomotor speed (" Pr.145
Gain changing condition"
setting value)
Gain changing condition
0: Valid at more than condition
(When " Cd.108 Gain
changing command" setting
is "1", the setting of this
parameter is valid.)
1: Valid at less than condition
(When " Cd.108 Gain
changing command" setting
is "0", the setting of this
parameter is valid.)
0 to 9999[Kpps, PLS, r/min]
0 to 100[ms]