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4. PARAMETERS FOR POSITIONING CONTROL
4.3.6
In-position range
In-position signal
(M2402+20n)
4.3.7
Feed forward gain
4.3.8
Load inertia ratio
4.3.9
Automatic tuning
(1) The "in-position" refers to the quantity of droop pulses in the deviation counter.
(2) If an in-position value is set, the in-position signal (M2402 + 20n) will come ON
when the difference between the position command and position feedback from
the servomotor enters the set range.
Amount of droop
ON
OFF
This parameter is used to improve the follow-up of the servo system.
The setting range is as follows:
When using an MR- -B....................0 to 100 (%)
(1) This parameter sets the ratio of moment of load inertia for the servomotor.
The ratio of moment of load inertia is calculated using the equation below:
Ratio of moment of load inertia =
(2) If automatic tuning is used, the result of automatic tuning is automatically set.
This is a function whereby the moment of inertia of the load is automatically
calculated, and the most suitable gain is automatically set, by sensing the current
and speed when motion starts.
Set value for in-position range
Moment of load inertia
Motor's moment of inertia
4 − 16
t
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