Mitsubishi A1SD75M1, User Manual

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MELSEC-A
5 DATA USED FOR POSITIONING CONTROL
(2) Servo adjustment parameters
Servo amplifier
side parameter
Setting value, setting range
Setting value buffer
memory address
Item
No.
Abbre-
viation Value set with peripheral
device
Value set with sequence
program
Default
value
Axis 1 Axis 2 Axis 3
Pr.112
Load inertia
ratio
No.12 GD2 0.0 to 100.0 (%) 0 to 1000 (0.1%) 30 112 262 412
Pr.113
Position loop
gain 1
No.13 PG1 4 to 1000 (rad/s) 4 to 1000 (rad/s) 70 113 263 413
Pr.114
Speed loop
gain 1
No.14 VG1 20 to 5000 (rad/s) 20 to 5000 (rad/s) 1200 114 264 414
Pr.115
Position loop
gain 2
No.15 PG2 1 to 500 (rad/s) 1 to 500 (rad/s) 25 115 265 415
Pr.116
Speed loop
gain 2
No.16 VG2 20 to 8000 (rad/s) 20 to 8000 (rad/s) 600 116 266 416
Pr.117
Speed
integral
compensation
No.17 VIC 1 to 1000 (ms) 1 to 1000 (ms) 20 117 267 417
0 : Not used 0
1 : 1125 1
2 : 563 2
3 : 375 3
4 : 282 4
5 : 225 5
6 : 188 6
Pr.118
Notch filter
selection
No.18 NCH
7 : 161 7
0 118 268 418
Pr.119
Feed forward
gain
No.19 FFC 0 to 100 (%) 0 to 100 (%) 0 119 269 419
Pr.120
In-position
range
No.20 INP 0 to 50000 (pulse) 0 to 50000 (pulse) 100 120 270 420
POINT
" Pr.112
Load inertia ratio" to "
Pr.117
Speed integral compensation" are
transferred to the servo amplifier when the PLC CPU is powered ON or reset or the
PLC READY signal [Y1D] turns ON. When auto tuning is executed and operation is
performed, however, they are changed to the optimum values in the servo amplifier.
At this time, the auto tuning results are not reflected on the AD75.
Hence, if "
Pr.108
Auto tuning" is changed to "2: Invalid" and the PLC CPU is
powered ON or reset or the PLC READY signal [Y1D] is turned ON, the settings
return to the status before auto tuning, and the motor may vibrate.
When it is desired to save the optimum values obtained by auto tuning, set the data
read from the buffer memory addresses 858 to 863 (Axis 1), 958 to 963 (Axis 2),
1058 to 1063 (Axis 3) to
Pr.112 to Pr.117 , and perform write to flash ROM.