Mitsubishi Electric Q172CPU Programming Manual page 15

6.2.4 Command in-position range.............................................................................................................. 6- 6
6.2.5 High-speed feed rate setting............................................................................................................. 6- 7
6.3 Servo Parameters/Vector Inverter Parameters....................................................................................... 6- 8
6.3.1 Servo parameters of servo amplifier................................................................................................. 6- 8
6.3.2 Position control gain 1, 2................................................................................................................... 6-16
6.3.3 Speed control gain 1, 2 ..................................................................................................................... 6-17
6.3.4 Speed integral compensation ........................................................................................................... 6-17
6.3.5 In-position range................................................................................................................................ 6-18
6.3.6 Feed forward gain ............................................................................................................................. 6-18
6.3.7 Load inertia ratio................................................................................................................................ 6-18
6.3.8 Automatic tuning................................................................................................................................ 6-18
6.3.9 Servo responsiveness setting........................................................................................................... 6-18
6.3.10 Notch filter ....................................................................................................................................... 6-19
6.3.11 Electromagnetic brake sequence ................................................................................................... 6-20
6.3.12 Monitor output mode ....................................................................................................................... 6-20
6.3.13 Optional function 1 .......................................................................................................................... 6-20
6.3.14 Optional function 2 .......................................................................................................................... 6-21
6.3.15 Monitor output 1, 2 offset ................................................................................................................ 6-22
6.3.16 Pre-alarm data selection ................................................................................................................. 6-22
6.3.17 Zero speed ...................................................................................................................................... 6-23
6.3.18 Error excessive alarm level............................................................................................................. 6-23
6.3.19 Optional function 5 .......................................................................................................................... 6-23
6.3.20 PI-PID control switching position droop.......................................................................................... 6-23
6.3.21 Torque control compensation factor............................................................................................... 6-23
6.3.22 Speed differential compensation .................................................................................................... 6-23
6.3.23 Servo parameters of vector inverter (FR-V500)............................................................................. 6-24
6.4 Parameter Block....................................................................................................................................... 6-25
6.4.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid
stop deceleration time ................................................................................................................... 6-28
6.4.2 S-curve ratio ...................................................................................................................................... 6-30
6.4.3 Allowable error range for circular interpolation................................................................................. 6-31
6.5 Work Coordinate Data ............................................................................................................................. 6-32
7. MOTION PROGRAMS FOR POSITIONING CONTROL
7.1 Motion Program Composition .................................................................................................................. 7- 1
7.2 Type of The Motion Program................................................................................................................... 7- 4
7.3 G-code List ............................................................................................................................................... 7- 5
7.4 M-code List............................................................................................................................................... 7- 7
7.5 Control Instruction List ............................................................................................................................. 7- 8
7.6 Start/End Method ..................................................................................................................................... 7-10
7.7 Number of Maximum Nesting for Program Call and Multi Startable Program....................................... 7-12
7.8 Motion parameter ..................................................................................................................................... 7-13
7.9 Caution at The Axis Designation Program Creation............................................................................... 7-14
7.10 Instruction Symbols/Characters List...................................................................................................... 7-19
7.11 Setting Method for Command Data....................................................................................................... 7-23
7.11.1 Direct setting (numerical value) ...................................................................................................... 7-23
7.11.2 Indirect setting ................................................................................................................................. 7-24
7.11.3 Operational data.............................................................................................................................. 7-31
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