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MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Item
2
Setting details
Setting value
Pr.141
(PB23)
Low-pass filter selection Select the low pass filter.
0: Automatic selection
1: Manual selection ("
Pr.136
Low-pass filter" setting value)
Pr.142
(PB24)
3
Slight vibration suppression
control selection
• Select the slight vibration suppression control and
PI-PID change.
• When "
Pr.108
Auto tuning mode" is set to "3:
Manual mode", this parameter is made valid.
Slight vibration suppression
control selection
0: Invalid
1: Valid
PI-PID control selection
0: PI control is valid
3: PID control is always valid
Pr.144
(PB26)
3
Gain changing selection • Select the gain changing condition.
Gain changing selection
0: invalid
1: "
Cd.108
Gain changing
command" (setting value) is
valid.
2: Command frequency
("
Pr.145
Gain changing
condition" setting value)
3: Droop pulse value ("
Pr.145
Gain changing condition"
setting value)
4: Servomotor speed ("
Pr.145
Gain changing condition"
setting value)
Gain changing condition
0: Valid at more than condition
(When "
Cd.108
Gain
changing command" setting
is "1", the setting of this
parameter is valid.)
1: Valid at less than condition
(When "
Cd.108
Gain
changing command" setting
is "0", the setting of this
parameter is valid.)
Pr.145
(PB27)
Gain changing condition
• Used to set the value of gain changing condition
(command frequency, droop pulses, servomotor
speed) selected in "
Pr.144
Gain changing selection
". The set value unit changes with the changing
condition item.
0 to 9999[Kpps, PLS, r/min]
Gain• filter setting
Pr.146
(PB28)
Gain changing time constant
• Used to set the time constant at which the gains will
change in response to the conditions set in "
Pr.144
Gain changing selection " and "
Pr.145
Gain
changing condition".
0 to 100[ms]