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5 DATA USED FOR POSITIONING CONTROL
Monitor data
(Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
System monitor data
Md.1
to
Md.19
Axis monitor data
to
Md.20
Md.48
The servo parameter is transmitted from QD75 to the servo amplifier when the
initialized communication carried out after the power supply is turned ON or the PLC
CPU is reset.
The power supply is turned ON or the PLC CPU is reset after writing servo
parameter in flash ROM of QD75 if the servo parameter is transmitted to the servo
amplifier.
The following servo parameter in the buffer memory is transmitted to the servo
amplifier when the PLC READY [Y0] turns from OFF to ON.
•
Pr.108
Auto tuning (Servo basic parameter)
•
Pr.112
Load inertia ratio (Servo adjustment parameter)
Pr.113
•
Position loop gain 1 (Servo adjustment parameter)
Pr.115
•
Position loop gain 2 (Servo adjustment parameter)
•
Pr.114
Speed loop gain 1 (Servo adjustment parameter)
Pr.116
•
Speed loop gain 2 (Servo adjustment parameter)
Pr.117
•
Speed integral compensation (Servo adjustment parameter)
•
Pr.119
Feed forward gain (Servo adjustment parameter)
The only valid data assigned to these parameters are the data read at the moment
when a positioning or JOG operation is started. Once the operation has started, any
modification to the data is ignored.
Exceptionally, however, modifications to the following are valid even when they are
made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to
3, and external start command.
• Acceleration time 0 to 3 and deceleration time 0 to 3:
Positioning data are pre-read and pre-analyzed. Modifications to the
data four or more steps after the current step are valid.
• External command function selection: The value at the time of detection is valid.
Monitors the QD75 specifications and the operation history.
)
Monitors the data related to the operating axis, such as the current position
and speed.
to
)
,
Md.100
Md.111
The data is monitored with the PLC program or peripheral device. In this chapter,
the method using the peripheral device will be explained.
5 - 3
MELSEC-Q
:
Md.1
to
Md.48
,
to
Md.100
)
Md.111
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