Mitsubishi Electric A173UHCPU - Page 97

4. PARAMETERS FOR POSITIONING CONTROL
4 − 12
(3) Expansion parameters
Table 4.6 Servo Parameters (Expansion Parameters)
Setting Range Default
mm inch degree PULSE
No. Item
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Setting
Range
Units
Initial
Value
Units
Remarks
Expla-
natory
Section
1
Motion output
1 offset
(MR-H-BN)
−9999 to 9999 mv
(MR-J2S-B/MR-J2-B)
−999 to 999 mv
0mv
• Set the offset value for
motion output 1.
2
Motion output
2 offset
)
(MR-H-BN)
−9999 to 9999 mv
(MR-J2S-B/MR-J2-B)
−999 to 999 mv
0
(Note-2)
mv
• Set the offset value for
motion output 2.
4.3.16
3
Pre-alarm
data selection
(sampling time
selection)
0: 1.77
1: 3.55
2: 7.11
3: 14.2
4: 28.4
0ms
4
Pre-alarm
data selection
(data selection
1)
0 
5
Pre-alarm
data selection
(data selection
2)
0: Speed (±)
1: Torque (±)
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command F∆T
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
1 
• Set the analog data output
when an alarm occurs.
4.3.17
6 Zero speed 0 to 10000 r/min 10000 r/min
• Set the speed at which the
motor speed is judged to be
"0".
4.3.18
7
Excessive
error alarm
level
1 to 1000kPLS 80 kPLS
• Set the value at which an
excessive droop pulses
alarm is output.
4.3.19
8
Close encoder
rotation
direction
9
Zeroing
reference
encoder
Unusable
10
Optional
function 5 (PI-
PID control
switching)
0: Invalid
1: Switching in accordance with droop during position control valid
2: Speed amplifier proportional control valid
0 
• Set the conditions for PI-
PID control switching.
11
Optional
function 5
(Servo
readout
characters)
0: Japanese
1: English
0 
• Set the display format for
the parameter unit.
4.3.20
12
PI-PID
switching
position droop
0 to 50000 PLS 0PLS
• Set the amount of position
droop at the switch to PI-
PID control when position
control is executed.
4.3.21
13
Torque control
compensation
factor(Note-1)
−19 to 9979 0 
• Set to expand the torque
control range up to the
speed limit value in torque
control.
4.3.22
14
Speed
differential
compensation
0 to 1000 980 
• Set the differential
compensation value for the
actual speed loop.
4.3.23
(Note-1) : Cannot be set when using MR-J2S-B/MR-J2-B.
(Note-2) : For MR-J2S-B/MR-J2-B, the default is "1".