Servo Expansion Parameters 2 - Mitsubishi Electric MELSEC-Q QD75M User Manual

5 DATA USED FOR POSITIONING CONTROL

5.2.10 Servo expansion parameters 2

Item
Position gain 2 shift
value
Pr.143
Speed gain 2 shift
3
value
Speed integral
compensation shift
value
Pr.144 Slight vibration suppression
3
control selection 2
Pr.145 Induction voltage
3
compensation
Pr.149
Gain changing selection
2
Pr.150 Gain changing condition
Pr.151 Gain changing time constant
Ratio of load inertia moment
to servomotor inertia
Pr.152
moment 2
(Load moment of inertia ratio
2)
Position loop gain 2 changing
Pr.153
ratio
Speed loop gain 2 changing
Pr.154
ratio
Setting details
Used to set each of the gain shift value which the
slight vibration suppression control selected.
Used to set the time after in-position completion gain
shift value which the slight vibration suppression
control selected.
Use to set the induction voltage compensation range. 0 to 100[%]
Used to set the gain changing selection.
The gain changing function becomes effective when
the gain adjustment mode is used manual mode 2.
( Pr.108 is set "2").
Used to set the ratio of changing Pr.152 to Pr.155
when gain changing is valid.
Used to set Pr.149 when command frequency, droop
pulse or model speed is selection.
Used to set the time constant at which the gains will
change in response to the conditions set in Pr.149
and Pr.150 .
Used to set the ratio of load inertia moment to servo
motor inertia moment when gain changing is valid.
Made valid when auto tuning is invalid.
Used to set the ratio of changing the position loop
gain 2 when gain changing is valid.
Made valid when auto tuning is invalid.
Used to set the ratio of changing the speed loop gain
2 when gain changing is valid.
Made valid when auto tuning is invalid.
5 - 78
MELSEC-Q
Setting value 1
0: 1.0[times]
1: 0.75[times]
2: 0.5[times]
3: 0.25[times]
0 to 1000[ms]
0: Invalid
2: (Effective in more than)
Command frequency [KPPS]
3: (Effective in more than)
Droop pulse [PLS]
4: (Effective in more than)
Model speed [r/min]
0 to 9999
0 to 100[ms]
0 to 300.0[times]
10 to 200[%]
10 to 200[%]