Mitsubishi Electric A173UHCPU Programming Manual page 97

4. PARAMETERS FOR POSITIONING CONTROL
mm
No. Item
Setting
Range
Motion output (MR-H-BN)
1
−9999 to 9999 mv
1 offset
Motion output (MR-H-BN)
2
)
2 offset
−9999 to 9999 mv
0: 1.77
Pre-alarm
1: 3.55
data selection
3 2: 7.11
(sampling time
3: 14.2
selection)
4: 28.4
Pre-alarm 0: Speed (±)
data selection 1: Torque (±)
4
(data selection 2: Speed (+)
1) 3: Torque (+)
4: Current command output
Pre-alarm 5: Command F∆T
6: Droop pulse 1/1
data selection
5
7: Droop pulse 1/4
(data selection
2) 8: Droop pulse 1/16
9: Droop pulse 1/32
6 Zero speed 0 to 10000 r/min
Excessive
7 error alarm 1 to 1000kPLS
level
Close encoder
8 rotation
direction
Unusable
Zeroing
9 reference
encoder
Optional
0: Invalid
function 5 (PI-
10 1: Switching in accordance with droop during position control valid
PID control
2: Speed amplifier proportional control valid
switching)
Optional
function 5
0: Japanese
11 (Servo
1: English
readout
characters)
PI-PID
12 switching 0 to 50000 PLS
position droop
Torque control
−19 to 9979
13 compensation
factor(Note-1)
Speed
14 differential 0 to 1000
compensation
(Note-1) : Cannot be set when using MR-J2S-B/MR-J2-B.
(Note-2) : For MR-J2S-B/MR-J2-B, the default is "1".
(3) Expansion parameters
Table 4.6 Servo Parameters (Expansion Parameters)
Setting Range
inch
Setting Setting
Units Units
Range Range
(MR-J2S-B/MR-J2-B)
−999 to 999 mv
(MR-J2S-B/MR-J2-B)
−999 to 999 mv
degree PULSE
Setting
Units Units
Range
4 − 12
Default
Remarks
Initial
Units
Value
• Set the offset value for
0 mv
motion output 1.
• Set the offset value for
0
mv
(Note-2) motion output 2.
0 ms
• Set the analog data output

0
when an alarm occurs.

1
• Set the speed at which the
10000 r/min motor speed is judged to be
"0".
• Set the value at which an
80 kPLS excessive droop pulses
alarm is output.
• Set the conditions for PI-

0
PID control switching.
• Set the display format for

0
the parameter unit.
• Set the amount of position
droop at the switch to PI-
0 PLS
PID control when position
control is executed.
• Set to expand the torque
control range up to the

0
speed limit value in torque
control.
• Set the differential

980 compensation value for the
actual speed loop.
Expla-
natory
Section
4.3.16
4.3.17
4.3.18
4.3.19
4.3.20
4.3.21
4.3.22
4.3.23