Mitsubishi Electric A173UHCPU Programming Manual page 95

4. PARAMETERS FOR POSITIONING CONTROL
mm
No. Item
Setting
Range
Load inertia
1 0.0 to 100.0
ratio
Position
2 Valid range 4 to 1000 rad/s Setting range 1 to 9999 rad/s
control gain 1
Speed control
3 Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
gain 1
Position
4 Valid range 10 to 500 rad/s Setting range 1 to 9999 rad/s
control gain 2
Speed control
5 Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
gain 2
Speed integral
6 Valid range 1 to 1000 rms Setting range 1 to 9999 rad/s
compensation
0: Not used
1: 1125
2: 750
3: 562
7 Notch filter
4: 450
5: 375
6: 321
7: 281
Feed forward 0 to 100%
8
gain 0: Feed forward control is not executed.
In-position
0.1 to
9 range
214748364.7
(Note-2)
Electromag-
10 netic brake 0 to 1000 ms
sequence
Monitor output (MR-H-BN)
11 mode 0: Speed (±)
(monitor 1) 1: Torque (±)
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command F∆T
Monitor output
6: Droop pulse 1/1
12 mode
(monitor 2) 7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
(Note-1) : For MR-J2S-B/MR-J2-B, the default is "7.0".
(Note-2) : The display of the possible setting range differs according to the electronic gear value.
(2) Adjustment parameters
Table 4.5 Servo Parameter List (Adjustment Parameters)
Setting Range
inch
Setting Setting
Units Units
Range Range
0.00001 0.00001
µ m
to inch to
21474.83647 359.99999
(MR-J2S-B/MR-J2-B)
0: Speed (±)
1: Torque (±)
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command F∆T
6: Droop pulse 1/1
7: Droop pulse 1/16
8: Droop pulse 1/64
9: Droop pulse 1/256
10: Droop pulse 1/1024
degree PULSE
Setting
Units Units
Range
1 to
degree PLS
2147483647
4 − 10
Default
Remarks
Initial Value Units
• Set the ratio of moment of
3.0

(Note-1) load inertia for the motor.
• Set to increase the follow-
70 rad/s up with respect to the
position command.
• Set to increase the follow-
1200 rad/s up with respect to the
speed command.
• Set to increase the position
25 rad/s response with respect to
load disturbance.
• Set when vibration is
generated, for example in
600 rad/s
machines with a large
backlash.
• Set the time constant for
20 ms
integral compensation.
• Set the frequency for the
0 Hz
notch filter.
• Set the feed forward
0 % coefficient used in
positioning control.
• Sets the quantity of droop
pulses in the deviation
counter.
• The in-position signal is ON
when the number of droop
100 PLS pulses is within the set
range. The expression
below shows the setting
range.
1 ≤ (in-position range) ×
AP/AL ! AM ≤ 32767
• Set the time delay between
actuation of the
100 ms
electromagnetic brake and
base disconnection.

0
• Set the monitor items
output as analog outputs in
real time.

1
Expla-
natory
Section
4.3.8
4.3.3
4.3.4
4.3.3
4.3.4
4.3.5
4.3.11
4.3.7
4.3.6
4.3.12
4.3.13