Mitsubishi Electronics QD75MH4 사용자 설명서
5 - 70
MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting
details
Setting value
Pr.122
(PB04)
3
Feed forward gain
• Used to set the feed forward gain of the positioning
control. When the setting is 100[%], the droop
pulses during operation at constant speed are
nearly zero. However, sudden
acceleration/deceleration will increase the
overshoot. (As a guideline, when the feed forward
gain setting is 100[%], set 1[s] or more as the
acceleration/deceleration time constant up to the
rated speed).
pulses during operation at constant speed are
nearly zero. However, sudden
acceleration/deceleration will increase the
overshoot. (As a guideline, when the feed forward
gain setting is 100[%], set 1[s] or more as the
acceleration/deceleration time constant up to the
rated speed).
0 to 100[%]
Pr.124
(PB06)
Ratio of load inertia moment
to servomotor inertia moment
to servomotor inertia moment
• Used to set the ratio of the load inertia moment to
the servomotor shaft inertia moment.
• When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically
used. When " Pr.108 Auto tuning mode" is set to "2:
Auto tuning mode 2" or "3: Manual mode", this
parameter can be set manually.
used. When " Pr.108 Auto tuning mode" is set to "2:
Auto tuning mode 2" or "3: Manual mode", this
parameter can be set manually.
0 to 300[Times]
Pr.125
(PB07)
Model loop gain
• Set the response gain up to the target position.
• Increase the gain to improve trackability in response
• Increase the gain to improve trackability in response
to the position command.
• When auto turning mode 1 2 is selected, the result
of auto turning is automatically used. When " Pr.108
Auto tuning mode" is set to "1: Auto tuning mode 1"
or "3: Manual mode", this parameter can be set
manually.
Auto tuning mode" is set to "1: Auto tuning mode 1"
or "3: Manual mode", this parameter can be set
manually.
1 to 2000[rad/s]
Pr.126
(PB08)
Position loop gain
• Used to set the gain of the position loop.
• Set this parameter to increase the position response
• Set this parameter to increase the position response
to level load disturbance. Higher setting increases
the response level but is liable to generate vibration
and/or noise.
the response level but is liable to generate vibration
and/or noise.
• When auto tuning mode 1 2 and interpolation
mode is selected, the result of auto tuning is
automatically used. When " Pr.108 Auto tuning
mode" is set to "3: Manual mode", this parameter
can be set manually.
automatically used. When " Pr.108 Auto tuning
mode" is set to "3: Manual mode", this parameter
can be set manually.
1 to 1000
Gain
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Pr.127
(PB09)
Speed loop gain
• Used to set the speed loop gain.
Higher setting increases the response level but is
liable to generate vibration and/or noise.
liable to generate vibration and/or noise.
• When auto tuning mode 1 2, manual mode and
interpolation mode is selected, the result of auto
tuning is automatically used. When " Pr.108 Auto
tuning mode" is set to "3: Manual mode", this
parameter can be set manually.
tuning is automatically used. When " Pr.108 Auto
tuning mode" is set to "3: Manual mode", this
parameter can be set manually.
20 to 50000