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Position Control Gain 1, 2; Speed Control Gain 1, 2; Speed Integral Compensation - Mitsubishi Electric Q172CPU Programming Manual

Melsecq series motion controller sv43.
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6 PARAMETERS FOR POSITIONING CONTROL
No.
Item
• Set the ratio of the load inertia moment
for the servomotor.
• The result of automatic tuning is
automatically used at the automatic
tuning.
POINT
"Load inertia ratio", "Position control
gain 1, 2", "Speed control gain 1, 2" and
Load inertia
1
"Speed integral compensation" is
ratio
transferred to servo amplifier in Multiple
CPU system power on, reset and PLC
READY flag (M2000) on. When
automatic tuning is executed, it is
changed to the optimum value inside
the servo amplifier. The result of
automatic tuning is reflected to
Q173CPU(N)/Q172CPU(N) at this time.
• Set the gain of position loop 1.
• If the position control gain 1 increases,
Position control
2
the follow-up performance for position
gain 1
command improves.
• Normally this parameter setting is used
with initial value.
Speed control
3
• If the gain is increased, the
gain 1
responsiveness is improved but
vibration or noise becomes more likely.
• Set the gain of the position loop.
• Set this parameter to increase position
Position control
response to load disturbance.
4
gain 2
• Higher setting increases the response
level but is liable to generate vibration
and/or noise.
• Set the parameter when vibration
occurs on machines of low rigidity or
Speed control
large backlash.
5
gain 2
• If the gain is increased, the
responsiveness is improved but
vibration or noise becomes more likely.
Speed integral
• Set the constant at the integral
6
compensation
compensation.
Machine
resonance
• Select the notch frequency to match the
7
suppression
response frequency oh the mechanical
filter (Notch
system.
filter selection)
(2) Adjustment parameters
Table 6.3 Servo parameter (Adjustment parameter) list
Setting details
Setting value/setting range
(Setting by peripheral device)
Setting value
0 to 100.0[times]
0 to 300.0[times]
4 to 1000[rad/s]
4 to 2000[rad/s]
20 to 5000[rad/s]
20 to 8000[rad/s]
1 to 500[rad/s]
1 to 1000[rad/s]
20 to 8000[rad/s]
20 to 20000[rad/s]
1 to 1000[ms]
00: Not used
01: 1125[H
]
z
02: 563[H
]
z
03: 375[H
]
z
04: 282[H
]
z
05: 225[H
]
z
06: 188[H
]
z
07: 161[H
]
z
00: Not used
08: 141[H
z
01: 1125[H
]
09: 125[H
z
z
02: 563[H
]
10: 113[H
z
z
03: 375[H
]
11: 102[H
z
z
04: 282[H
]
12: 94[H
]
z
z
05: 225[H
]
13: 87[H
]
z
z
06: 188[H
]
14: 80[H
]
z
z
07: 161[H
]
15: 75[H
]
z
z
6 - 10
Servo amplifier setting valid
(
:Valid)
MR-
MR-
MR-
H-BN
H-BN4
J2-B
]
]
]
]
Section
MR-
MR-
J2S-B
J2-Jr
6.3.7
6.3.2
6.3.3
6.3.2
6.3.3
6.3.4
6.3.10

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Q173cpuQ172cpunQ173cpun

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