Mitsubishi A1SD75M1, User Manual

Page: 688 / 746

Appendix - 20
MELSEC-A
APPENDICES
(4) Servo parameters for MR-J2S-B
Item Setting range
Pr.100 Servo series 0: MR-H-B (MR-H-BN), 1: MR-J-B, 2: MR-J2-B, 1E: Other
Pr.101 Amplifier setting
0: Absolute position detection invalid
1: Absolute position detection valid
Regenerative
brake option 00: External regenerative brake option not used, 05: MR-RB32,
08: MR-RB30, 09: MR-RB50, 10: MR-RB032, 11: MR-RB12
Pr.102
Regenerative
brake resistor External dynamic
brake selection
0: External dynamic brake invalid, 1: External dynamic brake valid
Pr.103 Motor type 0080
H
: Automatic setting
Pr.104 Motor capacity 0000
H
to 9999
H
Pr.106 Feedback pulse 0: 16384pulse, 1: 8192pulse
Pr.107 Rotation direction
0: Forward run with positioning address increment
1: Reverse run with positioning address increment
Pr.108 Auto tuning
0: Interpolation mode, 1: Auto tuning mode 1, 2: Manual mode 2,
3: Auto tuning mode 2, 4: Manual mode 1
Serv
o basic parameters
Pr.109 Servo response setting
1: 15Hz, 2: 20Hz, 3: 25Hz, 4: 30Hz, 5: 35Hz, 6: 45Hz, 7: 55Hz,
8: 70Hz, 9: 85Hz, A: 105Hz, B: 130Hz, C: 160Hz, D: 200Hz,
E: 240Hz, F: 300Hz
Pr.112 Load inertia ratio 0.0 to 300.0%
Pr.113 Position loop gain 1 4 to 2000rad/s
Pr.114 Speed loop gain 1 20 to 8000rad/s
Pr.115 Position loop gain 2 1 to 1000rad/s
Pr.116 Speed loop gain 2 20 to 20000rad/s
Pr.117 Speed integral compensation 1 to 1000 ms
Notch frequency
00: Invalid, 01: 4500, 02: 2250, 03: 1500, 04: 1125, 05: 900, 06: 750,
07: 642.9, 08: 562.5, 09: 500, 0A: 450, 0B: 409.1, 0C: 375, 0D: 346.2,
0E: 321.4, 0F: 300, 10: 281.3, 11: 264.7, 12: 250, 13: 236.8, 14: 225,
15: 214.3, 16: 204.5, 17: 195.7, 18: 187.5, 19: 180, 1A: 173.1,
1B: 166.7, 1C: 160.1, 1D: 155.2, 1E: 150, 1F: 145.2
Pr.118
Machine
resonance
suppression
filter 1
Notch depth 0: –40dB, 1: –14dB, 2: –8dB, 3 –4dB
Pr.119 Feed forward gain 0 to 100%
Pr.120 In-position range 0 to 50000
Pr.121 Solenoid brake output 0 to 1000ms
Pr.122 Monitor output mode selection
0: Servomotor speed ( 8V/max. speed), 1: Torque ( 8V/max. torque),
2: Servomotor speed (+8V/max. speed), 3: Torque (+8V/max. torque),
4: Current command ( 8V/max. current command),
5: Command speed ( 8V/max. speed),
6: Droop pulse ( 10V/128 pulses), 7: Droop pulse ( 10V/2048 pulses),
8: Droop pulse ( 10V/8192 pulses),
9: Droop pulse ( 10V/32768 pulses),
A: Droop pulse ( 10V/131072 pulses), B: Bus voltage
Amplifier EMG
selection
0: Valid, 1: Invlaid
Pr.123
Option
function 1
Serial encoder
cable selection
0: 2-wire, 1: 4-wire (Supports long distance cables)
Slight vibration
suppression
function selection
0: Invalid, 1: Valid
Serv
o adjustment parameters
Pr.124
Option
function 2
Motor-less
operation selection
0: Invalid, 1: Valid