Mitsubishi A1SD75M1, User Manual

Page: 191 / 746

5 - 101
MELSEC-A
5 DATA USED FOR POSITIONING CONTROL
Pr.128 Monitor output 2 offset
Set the offset voltage for the monitor output 2.
Pr.130 Zero speed
Set the servomotor speed at which the motor speed is judged as zero.
Pr.131 Error excessive alarm level
Set the range in which a droop pulse excess alarm will be output.
Set any value in the range 0.025 to 25.000rev in 0.025rev increments.
Example) When 80 is set
80 0.025=2.000 [rev]
Since setting is made as the MR-J2-B on the peripheral device, the setting range
is 1 to 1000kpulse, but set this parameter to any of 0.025 to 25.000rev.
Pr.132 Option function 5
Select the PI-PID control switching.
Pr.133 Option function 6
Set the option function 6 (serial communication baud rate selection, serial
communication response delay time, encoder pulse output setting selection).
This parameter cannot be set on the peripheral device.
Set this parameter with a sequence program.
•
Serial communication baud rate selection
Select the serial communication baud rate.
•
Serial communication response delay time
Select the serial communication response delay time.
•
Encoder pulse output setting selection
Select the output system of the encoder pulses (A phase, B phase) output by the
servo amplifier when "
Pr.149 Servo parameter transmission setting" is set to
"F003
H
". (For details, refer to " Pr.138 Encoder output pulses".)
H
Serial communication baud rate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
Encoder pulse output setting selection
0: Output pulses setting
1: Dividing frequency ratio setting
0
Serial communication response delay time
0: Invalid
1: Valid (reply made after 800 s or more delay time)
Pr.134 PI-PID switching position droop
Set the position droop amount at which PI control is switched to PID control during
position control.
Pr.136 Speed differential compensation
Set the differential compensation value of the actual speed loop.