Mitsubishi QD75M1, Руководство пользователя

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MELSEC-Q
12 CONTROL SUB FUNCTIONS
[2] The method for compensating the error
When the position control is carried out using the "Electronic gear" set in a
parameter, this may produce an error between the command movement amount
(L) and the actual movement amount (L'). With QD75, this error is compensated
by adjusting the electronic gear. The "Error compensation amount", which is
used for error compensation, is defined as follows:
Command movement amount (L)
Error compensation amount =
Actual movement amount (L')
…(2)
The electronic gear including an error compensation amount is shown
below.
AP L AP'
AL
×
AM
×
L'
=
AL'
×
AM'
Command
value
Control
unit
AP
AL AM
L
L'
PLS
Servo
amplifier
QD75
AP'
AL' AM'
QD75
Control
unit
Command
value
PLS
Servo
amplifier
1 if there is no error (in regular case)
Electronic gear taking an error
into consideration
Calculation example
(Conditions)
Movement amount per pulse : 131072 [PLS]
No. of pulses per rotation
: 5000.0 [
µ
m]
Unit magnification : 1
(Positioning results)
Command movement amount (L)
Actual movement amount (L') : 100 [mm]
: 101 [mm]
(Compensation
AP L 131072 100 131072 (AP')
AL
×
AM
×
L'
=
5000.0
×
1
×
101
=
5050(AL')
×
1(AM')
Movement amount per pulse
: 131072 …
Pr.2
No. of pulses per rotation
: 5050.0 ….
Pr.3
Unit magnification
: 1 ………...
Pr.4
Set the post-compensation " Pr.2 No. of pulses per rotation (AP')",
" Pr.3 Movement amount per rotation (AL')", and " Pr.4 Unit
magnification (AM')" in the parameters, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC
READY signal (Y0).