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MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.100
OPR re-travel value
•
This area stores the travel distance during the OPR travel to the zero point that
was executed last time.
For setting units
Example) mm
(Buffer memory
0.1) µm
Md.101
Real current value
•
This area stores the present value (feed present value – deviation counter droop
pulses).
Update timing: 3.5ms
Example) mm
(Buffer memory
0.1) µm
Md.102
Deviation counter value
•
This area stores the difference between the feed present and the actual present
value.
(Buffer memory details) PLS
Md.103
Motor rotation speed
•
This area stores the present rotation speed of the servomotor.
(Buffer memory
0.1) rpm
Md.104
Motor current value
•
This area stores the present motor current value of the motor.
(Buffer memory
0.1) %
Auto tuning
Load inertia ratio (Buffer memory details 0.1)
Position loop gain 1 [rad/s]
Speed loop gain 1 [rad/s]
Position loop gain 2 [rad/s]
Speed loop gain 2 [rad/s]
Md.105
Servo parameter
•
This area stores the parameter
currently used by the servo
amplifier.
Speed integral compensation [ms]
Md.106
Servo amplifier S/W No.
•
This area stores the S/W No. of the servo amplifier used.
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