Mitsubishi Electric Q172CPU Programming Manual page 243

6 PARAMETERS FOR POSITIONING CONTROL
No. Item
Monitor output 1
1 • Set the value of monitor output 1 offset.
offset
Monitor output 2
2 • Set the value of monitor output 2 offset.
offset
Pre-alarm data
3 selection (Data
selection 1)
Pre-alarm data
4 selection (Data
selection 2) • Set the pre-alarm data selection.
Pre-alarm data
selection
5
(Sampling time
selection)
• Set the output range of the zero speed
6 Zero speed
signal (zsp).
Error excessive • Set the output range of the error
7
alarm level excessive alarm (52).
Optional function
8 5 (PI-PID control • Select the PI-PID control switch-over.
switch)
Optional function • Used to read the reason after the servo
9 5 (Servo readout amplifier 0400h why it does not rotate,
character) data, parameter item and alarm item.
Optional function
6 (Serial
10
communication
(Note-1)
baud rate
selection)
• A communication baud rate selection
Optional function
and communication response delay
6 (Serial
11
time and encoder output pulse setting
communication
(Note-1)
selection.
response delay
time selection)
Optional function
12 6 (Encoder
(Note-1) output pulse
setting selection)
Optional function
6 (Condition • Set the condition selection of home
13
selection of position set.
(Note-1)
home position
set)
(Note-1): Only MR-J2S- B is set with the expansion parameter 2.
(Note-2): The setting unit may change according to the software version of servo amplifier. Refer to the Instruction Manual of servo amplifier for details.
(3) Expansion parameters
Table 6.4 Servo parameter (Expansion parameter) list
Setting details
Setting value/setting range
(Setting by peripheral device)
Setting value
-9999 to 9999
-999 to 999
-9999 to 9999
-999 to 999
0: Servo motor speed
1: Torque
2: Servo motor speed (+)
3: Torque (+)
4: Current command output
5: Command (F T)
6: Droop pulses 1/1
7: Droop pulses 1/4
8: Droop pulses 1/16
9: Droop pulses 1/32
A: Droop pulses 1/64
0: 1.77[ms]
1: 3.55[ms]
2: 7.11[ms]
3: 14.22[ms]
4: 28.44[ms]
0 to 10000[r/min]
1 to 1000[kPLS]
(Note-2)
0.1 to 100.0[0.025rev]
0: PI control is always valid.
1: Droop-based switching is valid in position
control mode.
2: PID control is always valid.
0: Japanese
1: English
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
0: Invalid
1: Valid (It answer after delay time of
more than 888[ µs].)
0: Output pulse setting selection
1: Divided perimeter ratio
0: Servomotor Z-phase pass after power ON
1: No servomotor Z-phase pass after power
ON
6 - 14
Servo amplifier setting valid
( :Valid)
MR- MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B J2-Jr
Section
6.3.15
6.3.16
6.3.17
6.3.18
6.3.19
8.5.15