Mitsubishi Electric Q172CPUN - Position Control Gain 1, 2; Speed Control Gain 1, 2; Speed Integral Compensation

6 - 10
6 PARAMETERS FOR POSITIONING CONTROL
(2) Adjustment parameters
Table 6.3 Servo parameter (Adjustment parameter) list
Setting value/setting range
(Setting by peripheral device)
Servo amplifier setting valid
(
:Valid)
No. Item Setting details
Setting value
MR-
H-BN
MR-
H-BN4
MR-
J2-B
MR-
J2S-B
MR-
J2-Jr
Section
0 to 100.0[times]
1
Load inertia
ratio
• Set the ratio of the load inertia moment
for the servomotor.
• The result of automatic tuning is
automatically used at the automatic
tuning.
POINT
"Load inertia ratio", "Position control
gain 1, 2", "Speed control gain 1, 2" and
"Speed integral compensation" is
transferred to servo amplifier in Multiple
CPU system power on, reset and PLC
READY flag (M2000) on. When
automatic tuning is executed, it is
changed to the optimum value inside
the servo amplifier. The result of
automatic tuning is reflected to
Q173CPU(N)/Q172CPU(N) at this time.
0 to 300.0[times]
6.3.7
4 to 1000[rad/s]
2
Position control
gain 1
• Set the gain of position loop 1.
• If the position control gain 1 increases,
the follow-up performance for position
command improves.
4 to 2000[rad/s]
6.3.2
20 to 5000[rad/s]
3
Speed control
gain 1
• Normally this parameter setting is used
with initial value.
• If the gain is increased, the
responsiveness is improved but
vibration or noise becomes more likely.
20 to 8000[rad/s]
6.3.3
1 to 500[rad/s]
4
Position control
gain 2
• Set the gain of the position loop.
• Set this parameter to increase position
response to load disturbance.
• Higher setting increases the response
level but is liable to generate vibration
and/or noise.
1 to 1000[rad/s]
6.3.2
20 to 8000[rad/s]
5
Speed control
gain 2
• Set the parameter when vibration
occurs on machines of low rigidity or
large backlash.
• If the gain is increased, the
responsiveness is improved but
vibration or noise becomes more likely.
20 to 20000[rad/s]
6.3.3
6
Speed integral
compensation
• Set the constant at the integral
compensation.
1 to 1000[ms]
6.3.4
00: Not used
01: 1125[H
z]
02: 563[H
z]
03: 375[H
z]
04: 282[H
z]
05: 225[H
z]
06: 188[H
z]
07: 161[H
z]
7
Machine
resonance
suppression
filter (Notch
filter selection)
• Select the notch frequency to match the
response frequency oh the mechanical
system.
00: Not used
01: 1125[H
z]
02: 563[H
z]
03: 375[H
z]
04: 282[H
z]
05: 225[H
z]
06: 188[H
z]
07: 161[H
z]
08: 141[H
z]
09: 125[H
z]
10: 113[H
z]
11: 102[H
z]
12: 94[H
z]
13: 87[H
z]
14: 80[H
z]
15: 75[H
z]
6.3.10