Mitsubishi Electric MELDAS C6 Parameter Manual page 155

7.3 MDS-C1-Vx Standard Specification (MDS-B-Vx Compatible)
No. Items
2237 SV037 JL Load inertia
scale
2238 SV038 Notch filter
FHz1 frequency 1
2239 SV039 Lost motion
LMCD compensation
timing
2240 The higher order 8bits and lower order 8bits are used for different functions.
"Setting value of SV040" = (Icy*256) + LMCT
SV040 Lost motion
LMCT compensation
non-sensitive
(Low
band
order)
SV040 Icy Current bias 2
(High
order)
2241 SV041 Lost motion
LMC2 compensation
2
2242 SV042 Overshooting
OVS2 compensation
2
2243 SV043 Disturbance
OBS1 observer filter
frequency
2244 SV044 Disturbance
OBS2 observer gain
2245 The higher order 8bits and lower order 8bits are used for different functions.
"Setting value of SV045" = (Icy*256) + LMCT
SV045 Frictional
TRUB torque
(Low
order)
SV045 Current bias 3
Ib1
(High
order)
7. Servo Parameters
Set "the motor inertia + motor axis conversion load
inertia" in respect to the motor inertia.
Jl+Jm
SV037 (JL) =
Jm
Jm: Motor inertia
Jl: Motor axis conversion load inertia
Set the vibration frequency to suppress if machine
vibration occurs.
(Valid at 72 or more) When not using, set to "0".
Set this when the lost motion compensation timing
doest not match.
Adjust by increasing the value by 10 at a time.
Set the non-sensitive band of the lost motion
compensation in the feed forward control.
When "0" is set, the actual value that is set is 2 µ m.
Adjust by increasing by 1 µ m at a time.
Normally, set to "40" if you use HC202 to HC902,
HC203 to HC703.
Use this in combination with SV030 and the high
order 8bits of SV045.
Set this with SV016 (LMC1) only when you wish to
set the lost motion compensation amount to be
different depending on the command directions.
Set to "0" as a standard.
Set this with SV031 (OVS1) only when you wish to
set the overshooting compensation amount to be
different depending on the command directions.
Set to "0" as a standard.
Set the disturbance observer filter band.
Set to "100" as a standard.
To use the disturbance observer, also set SV037
(JL) and SV044 (OBS2). When not using, set to "0".
Set the disturbance observer gain. The standard
setting is "100" to "300".
To use the disturbance observer, also set SV037
(JL) and SV043 (OBS1). When not using, set to "0".
When you use the collision detection function, set
the frictional torque.
Set to "0" as a standard.
Use this in combination with SV030 and the high
order 8bits of SV040.
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Details
*100
Setting range
0 to 5000
(%)
0 to 3000
(Hz)
0 to 2000
(ms)
0 to 32767
0 to 100
(µm)
0 to 127
-1 to 200
(Stall [rated]
current %)
-1 to 100
(Stall [rated]
current %)
0 to 1000
(rad/s)
0 to 500
(%)
0 to 32767
0 to 100
(Stall [rated]
current %)
0 to 127