Mitsubishi Electric Q172CPU Programming Manual page 244

6 PARAMETERS FOR POSITIONING CONTROL
Table 6.4 Servo parameter (Expansion parameter) list (Continued)
No. Item
• Set the position droop value (Number of
pulses) which PI control is switched over
PI-PID control to PID control.
14 switch-over • It becomes PID control in a domain
position droop higher than the setting value.
It becomes effective when a parameter
is made "0001h".
• Set the speed differential compensation
value of the real speed loop.
In PI (proportional integration) control, if
Speed the value for speed differential
15 differential compensation is set at 1000, the range
compensation for normal P (proportional) control is
effective; if it is set to a value less than
1000, the range for P (proportional)
control is expanded.
• Set the encoder pulse (A-phase, B-
phase) output by the servo amplifier.
(After magnification of 4)
• Select the pulse setting or output division
ratio setting in the parameter.
Encoder output
(Note-1)
16 • The number of A-phase and B-phase
pulse
pulse actually output 1/4 times of the
current number of pulse.
• The maximum output frequency is
1.3Mpps (After magnification of 4).
Use this parameter within the range.
POINT
(1) The "setting range" for position control gain 1 and 2, speed control gain 1 and 2
and speed integral compensation can be set using a peripheral device, but if a
setting outside the "valid range" is set, the following servo errors will occur when
the power supply of the Multiple CPU system turn on, the CPU is reset and the
PLC ready flag (M2000) turns off to on.
Servo error
Setting details
code
2613 Initial parameter error (Position control gain 1)
2614 Initial parameter error (Speed control gain 1)
2615 Initial parameter error (Position control gain 2)
2616 Initial parameter error (Speed control gain 2)
2617 Initial parameter error (Speed integral compensation)
Setting value/setting range
(Setting by peripheral device)
Setting value
0 to 50000[PLS]
0 to 1000
0 to 65535
(Note-1) : Only MR-J2S- B is set with the expansion parameter 2.
Error contents
6 - 15
Servo amplifier setting valid
( :Valid)
MR- MR- MR- MR-
H-BN H-BN4 J2-B J2S-B
Processing
Correct the applicable
parameter within the "valid
range", turn the M2000 off to
on, or reset.
Section
MR-
J2-Jr
6.3.20
6.3.22