Mitsubishi Electric MELSEC-Q QD75M User Manual page 167

5 DATA USED FOR POSITIONING CONTROL
Item
Serial communication
baud rate selection
Serial communication
response delay time
selection
Pr.133
Encoder output pulse
2
setting selection
OPR set condition
selection
(Zeroing condition setting
selection)
PI-PID control switch-over
Pr.134
position droop
Speed differential
Pr.136
compensation
Pr.138
Encoder output pulses
2
Setting details
A communication baud rate selection and
communication answer delay time and encoder output
pulse setup selection.
A condition to execute the OPR set from servo system
controller is selection.
Used to select the position droop value (Number of
pulse) which PI control is switched over to PID control.
Pr.132 becomes effective when a parameter is made
"0001 ".
H
Used to select the differential compensation value.
Setting speed integral compensation value to 1000 in
PI (proportionally integral) control specifies the
ordinary P (proportional) control range, setting the
value to less than 1000 increase the P control range.
Used to set the encoder pulse (A-phase, B-phase)
output by the servo amplifier. (after the 4 times )
You can use Pr.133 to choose the output pulse
setting or output division ratio setting.
The number of A-phase and B-phase pulse actually
output 1/4 times greater than the present number of
pulse.
The maximum output frequency is 1.3Mpps (after
multiplication by 4). Use this parameter within this
range.
5 - 76
MELSEC-Q
Setting value 1
0: 9600[bps] 2: 38400[bps]
1: 19200[bps] 3: 57600[bps]
0: Invalid
1: Valid (It answer after delay
time of more than 888µs)
0: Output pulse setting selection
1: Divided perimeter ratio
0: It is necessary to pass through
the Z phase after the power
on.
1: It is not necessary to pass
through the Z phase after the
power on.
0 to 50000[PLS]
0 to 1000
0 to 65535