Mitsubishi A1SD75M1, User Manual

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5 - 2
MELSEC-A
5 DATA USED FOR POSITIONING CONTROL
5.1 Types of data
5.1.1 Parameters and data required for control
The parameters and data required to carry out control with the AD75 include the
"setting data", "monitor data" and "control data" shown below.
Note)
Especially when the setting of the basic parameters 1 is wrong, the movement
amount may change or no operation may take place.
Setting data
(Data set beforehand according to the machine and application, and stored in the flash ROM.)
Parameters
Positioning
parameters
Basic parameters 1
Set according to the machine and applicable
motor when system is started up.
Basic parameters 2
Detailed parameters 1
Detailed parameters 2
Set according to the system configuration when
the system is started up.
Note)
Detailed parameters 2 are data items for using the AD75 functions to the fullest.
Set as required.
Zero point
return
parameters
Zero point return basic parameters
Zero point return detailed parameters
Set the values required for carrying
out zero point return control.
Positioning data Positioning data
Set the data for "main positioning control".
Positioning start
information
Start block data Set the start block data for "advanced positioning control".
Condition data Set the condition data for "advanced positioning control".
Memo data
Set the condition judgment values for the condition
data used in "advanced positioning control".
Indirectly specification data
Set when indirectly specificating the positioning
data No. .
to Pr.1 Pr.58
to Pr.100 Pr.138
, Pr.149 Pr.150
Pr.150
to Pr.1 Pr.44
to
)
Pr.45
) Pr.59
to
)
Da.1 ) Da.9
to
)
Da.10
)
Da.18
to
)
Da.14 ) Da.18
to
)
Da.10 ) Da.13
The data is set with the sequence program or peripheral device.
In this chapter, the method using the peripheral device will be explained.
(Refer to "Point" on the next page.)
The basic parameters 1, deteailed parameters 1, and zero point return parameters become valid
when the PLC READY signal [Y1D] turns from OFF to ON.
The basic parameters 2 and detailed parameters 2 become valid immediately when they are
written to the buffer memory, regardless of the state of the PLC READY signal [Y1D].
Even when the PLC READY signal [Y1D] is ON, the values or contents of the following can
be changed: basic parameters 2, detailed parameters 2, positioning data, and positioning
start information.
The servo parameters are transferred from the AD75 to the servo amplifier by initial communication
that is made after power-on or after PLC CPU reset.
When any of the servo parameter values has been changed, perform write to the flash ROM of the
AD75, and switch power off, then on again or reset the PLC CPU.
However, the following servo parameters are also transferred to the servo amplifier when the PLC
READY signal [Y1D] turns from OFF to ON.
Servo
parameters
Servo basic parameters
Set according to the servo amplifier and
control details.
Pr.100 to Pr.138 ,
Pr.149
Auto tuning (servo basic parameter) Load inertia ratio (servo adjustment parameter)
Position loop gain 1 (servo adjustment parameter) Speed loop gain 1 (servo adjustment parameter)
Position loop gain 2 (servo adjustment parameter) Speed loop gain 2 (servo adjustment parameter)
Speed integral compensation (servo adjustment parameter)
Feed forward gain (servo adjustment parameter)
◊
◊
◊
◊
◊
Servo adjustment parameters
Servo extention parameters