Mitsubishi Electric A173UHCPU Programming Manual page 93

4. PARAMETERS FOR POSITIONING CONTROL
mm
No. Item
Setting
Range
Load inertia
1 0.1 to 20.0
ratio
Position
2 Valid range 5 to 500 rad/s Setting range 1 to 9999 rad/s
control gain 1
Speed
3 Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
control gain 1
Position
4 Valid range 5 to 100 rad/s Setting range 1 to 9999 rad/s
control gain 2
Speed
5 Valid range 20 to 8000 rad/s Setting range 1 to 9999 rad/s
control gain 2
Speed integral
6 Valid range 2 to 240 rms Setting range 2 to 240 rad/s
compensation
7 Notch filter
Feed forward 0 to 150%
8
gain 0: Feed forward control is not executed.
In-position
0.1 to
range(SV13)
214748364.7
(Note)
9
In-position
range(SV22) 0.1 to 3276.7
(Note)
Electromagnetic
10
brake sequence
(Note) : The setting range indication varies with the electronic gear value.
(2) Adjustment parameters
Table 4.3 Servo Parameter (Adjustment Parameter) List
Setting Range
inch
Setting Setting
Units Units
Range Range

0.00001 0.00001
µ m
to inch to
21474.83647 359.99999
0.00001 0.00001
µ m
to inch to
0.32767 0.32767

degree PULSE
Setting
Units Units
Range
1 to
degree PLS
2147483647
1 to
degree PLS
32767
4 − 8
Default
Remarks
Initial Value Units
• Set the ratio of load inertia

3.0 moment to motor inertia
moment.
• Make setting to increase
70 rad/s trackability for the position
command.
• Make setting to increase
1200 rad/s trackability for the speed
command.
• Make setting to increase
25 rad/s position response for load
disturbance.
• Make setting when vibration
600 rad/s occurs on machinery
having large backlash.
• Set the time constant of
20 ms
integral compensation.
  • Cannot be set.
• Set the feed forward
0 % coefficient for position
control.
• Set the droop pulse value
of the deviation counter.
•The in-position signal turns
100 PLS
ON when droop pulses are
within the setting range.
  • Cannot be set.
Expla-
natory
Section
4.3.8
4.3.3
4.3.4
4.3.3
4.3.4
4.3.5

4.3.7
4.3.6
4.3.12