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4. PARAMETERS FOR POSITIONING CONTROL
No.
Item
Load inertia
1
ratio
Position
2
control gain 1
Speed control
3
gain 1
Position
4
control gain 2
Speed control
5
gain 2
Speed integral
6
compensation
7
Notch filter
Feed forward
8
gain
In-position
9
(Note-2)
range
Electromagnet
10
ic brake
sequence
Monitor output
11
mode
(monitor 1)
Monitor output
12
mode
(monitor 2)
(Note-1):
For MR-J2-B, the default is "7.0".
(Note-2):
The display of the possible setting range differs according to the electronic gear value.
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(2) Adjustment parameters
Table 4.3 Servo Parameter List (Adjustment Parameters)
Setting Range
mm
inch
Setting
Setting
Units
Units
Range
Range
0.0 to 100.0
Valid range 4 to 1000 rad/s Setting range 1 to 9999 rad/s
Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
Valid range 10 to 500 rad/s Setting range 1 to 9999 rad/s
Valid range 20 to 5000 rad/s Setting range 1 to 9999 rad/s
Valid range 1 to 1000 rms Setting range 1 to 9999 rad/s
0: Not used
1: 1125
2: 750
3: 562
4: 450
5: 375
6: 321
7: 281
0 to 100%
0: Feed forward control is not executed.
0.00001
0.1 to
µ m
to
inch
214748364.7
21474.83647
0 to 1000 ms
(MR-H-B/N)
0: Speed (±)
1: Torque (±)
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command F∆T
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
search engine
degree
PULSE
Setting
Setting
Units
Units
Range
Range
0.00001
1 to
to
degree
PLS
2147483647
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
4 − 8
Default
Remarks
Initial Value Units
• Set the ratio of moment of
(Note-1)
3.0
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
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