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MELSEC-Q
5 DATA USED FOR POSITIONING CONTROL
Item
2
Setting details
Setting value
Pr.147
(PB29)
Gain changing ratio of load
inertia moment to
servomotor inertia moment
• Used to set the ratio of load inertia moment to servo
motor inertia moment when gain changing is valid.
• This parameter is made valid when the auto tuning is
invalid ("
Pr.108
Auto tuning mode" : 3).
0.0 to 300.0[Times]
Pr.148
(PB30)
Gain changing position loop
gain
• Set the position loop gain when the gain changing is
valid.
• This parameter is made valid when the auto tuning is
invalid ("
Pr.108
Auto tuning mode" : 3).
1 to 2000[rad/s]
Pr.149
(PB31)
Gain changing speed loop
gain
• Set the speed loop gain when the gain changing is
valid.
• This parameter is made valid when the auto tuning is
invalid ("
Pr.108
Auto tuning mode" : 3).
20 to 50000[rad/s]
Pr.150
(PB32)
Gain changing speed
integral compensation
• Set the speed integral compensation when the gain
changing is valid.
• This parameter is made valid when the auto tuning is
invalid ("
Pr.108
Auto tuning mode" : 3).
0.1 to 5000.0[ms]
Pr.151
(PB33)
Gain changing vibration
suppression control vibration
frequency setting
• Set the vibration frequency for vibration suppression
control when the gain changing is valid.
• This parameter is made valid when "
Pr.120
Vibration suppression control filter tuning mode"
setting is "2: Manual mode" and "
Pr.144
Gain
changing selection " setting is "1: "
Cd.108
Gain
changing command" (setting value) is valid".
Note): When using the vibration suppression control
gain changing, always execute the changing
after the servomotor has stopped.
0.1 to 100.0[Hz]
Gain• filter setting
Pr.152
(PB34)
Gain changing vibration
suppression control
resonance frequency setting
• Set the resonance frequency for vibration
suppression control when the gain changing is valid.
• This parameter is made valid when "
Pr.120
Vibration suppression control filter tuning mode"
setting is "2: Manual mode" and "
Pr.144
Gain
changing selection " setting is "1: "
Cd.108
Gain
changing command" (setting value) is valid".
Note): When using the vibration suppression control
gain changing, always execute the changing
after the servomotor has stopped.
0.1 to 100.0[Hz]