Zero Speed; Error Excessive Alarm Level; Optional Function 5; Pi-Pid Control Switching Position Droop - Mitsubishi Electric Q172CPU Programming Manual

6 PARAMETERS FOR POSITIONING CONTROL

6.3.17 Zero speed

6.3.18 Error excessive alarm level

6.3.19 Optional function 5

6.3.20 PI-PID control switching position droop

6.3.21 Torque control compensation factor

6.3.22 Speed differential compensation

This parameter sets the speed at which the motor speed is judged as "0".
This parameter sets the range in which the alarm for excessive droop pulses is output.
(1) PI-PID control switching
This parameter sets the condition under which switching from PI to PID control, or
from PID control to PI control, is valid.
(2) Servo readout characters
When the optional parameter unit is connected, set whether the screen display on
the parameter unit is Japanese or English.
This parameter sets the position droop value (Number of pulses) which PI control is
switched to PID control during position control.
The setting becomes valid when switching in accordance with the droop during position
control is made valid using the setting for PI-PID control switching by optional function
5.
This parameter is used to expand the torque control range up to the speed control
value at the torque control. (MR-H BN only)
If a large value is set, the speed limit value may be exceeded and the motor may
rotate.
This parameter sets the speed differential compensation value of the real speed loop.
In PI (proportional integration) control, if the value for speed differential compensation
is set at 1000, the range for normal P (proportional) control is valid; if it is set to a value
less than 1000, the range for P (proportional) control is expanded.
6 - 23