Mitsubishi Electric MELSEC-QD75MH1 User Manual page 179

5 DATA USED FOR POSITIONING CONTROL
2
Item
Gain changing ratio of load
Pr.147
inertia moment to
(PB29)
servomotor inertia moment
Pr.148
Gain changing position loop
(PB30) gain
Pr.149 Gain changing speed loop
(PB31) gain
Pr.150 Gain changing speed
(PB32) integral compensation
Gain changing vibration
Pr.151
suppression control vibration
(PB33)
frequency setting
Gain changing vibration
Pr.152
suppression control
(PB34)
resonance frequency setting
Setting details
• Used to set the ratio of load inertia moment to servo
motor inertia moment when gain changing is valid.
• This parameter is made valid when the auto tuning is
invalid (" Pr.108 Auto tuning mode" : 3).
• Set the position loop gain when the gain changing is
valid.
• This parameter is made valid when the auto tuning is
invalid (" Pr.108 Auto tuning mode" : 3).
• Set the speed loop gain when the gain changing is
valid.
• This parameter is made valid when the auto tuning is
invalid (" Pr.108 Auto tuning mode" : 3).
• Set the speed integral compensation when the gain
changing is valid.
• This parameter is made valid when the auto tuning is
invalid (" Pr.108 Auto tuning mode" : 3).
• Set the vibration frequency for vibration suppression
control when the gain changing is valid.
• This parameter is made valid when " Pr.120
Vibration suppression control filter tuning mode"
setting is "2: Manual mode" and " Pr.144 Gain
changing selection " setting is "1: " Cd.108 Gain
changing command" (setting value) is valid".
Note): When using the vibration suppression control
gain changing, always execute the changing
after the servomotor has stopped.
• Set the resonance frequency for vibration
suppression control when the gain changing is valid.
• This parameter is made valid when " Pr.120
Vibration suppression control filter tuning mode"
setting is "2: Manual mode" and " Pr.144 Gain
changing selection " setting is "1: " Cd.108 Gain
changing command" (setting value) is valid".
Note): When using the vibration suppression control
gain changing, always execute the changing
after the servomotor has stopped.
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MELSEC-Q
Setting value
0.0 to 300.0[Times]
1 to 2000[rad/s]
20 to 50000[rad/s]
0.1 to 5000.0[ms]
0.1 to 100.0[Hz]
0.1 to 100.0[Hz]