Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 5 Data Used for Positioning Control
Setting item Setting details
Cd.136
PI-PID switching request
•
Set the PI-PID switching to servo amplifier.
Fetch cycle: Operation cycle
Cd.138
Control mode switching
request
•
Request the control mode switching.
Set "1" after setting "
Cd.139
Control mode setting
".
•
QD77MS sets "0" at completion of control mode switching.
Fetch cycle: Operation cycle
Cd.139
Control mode setting
•
Set the control mode to be changed in the speed-torque control.
Fetch cycle: At control mode switching
•
Set the command speed at speed control mode.
•
Set a value within the following range:
Pr.1
Unit setting
mm
(
×
10
-2
mm/min)
inch
(
×
10
-3
inch/min)
degree
(
×
10
-3
degree/min)
PLS
(PLS/s)
Setting range
-2000000000 to
+2000000000
-2000000000 to
+2000000000
-2000000000 to
+2000000000
-1000000000 to
+1000000000
Cd.140
Command speed at speed
control mode
: When "
Pr.83
Speed control 10 x multiplier setting for degree axis
" is valid, this will
be the setting range -2000000000 to 2000000000 (
×
10
-2
degree/min).
Fetch cycle: Operation cycle (At speed control mode)
Cd.141
Acceleration time at speed
control mode
•
Set the acceleration time at speed control mode.
(Set the time for the speed to increase from "0" to "
Pr.8
Speed limit value
".)
0 to 65535 (ms)
Fetch cycle: At control mode switching