Zero Speed; Excessive Error Alarm Level; Optional Function 5; Pi-Pid Switching Position Droop - Mitsubishi Electric A173UHCPU Programming Manual

4. PARAMETERS FOR POSITIONING CONTROL
4.3.18

Zero speed

4.3.19

Excessive error alarm level

4.3.20

Optional function 5

4.3.21

PI-PID switching position droop

4.3.22

Torque control compensation factor

4.3.23

Speed differential compensation

This parameter sets the speed at which the motor speed is judged to be zero.
This parameter sets the range in which the alarm for excessive droop pulses is
output.
(1) PI-PID control switching
This parameter sets the condition under which switching from PI to PID control,
or from PID control to PI control, is valid.
(3) Servo readout characters
When the optional parameter unit is connected, set whether the screen display
on the parameter unit will be in Japanese or English.
This parameter sets the amount of position droop on switching to PI-PID control
during position control.
The setting becomes effective when switching in accordance with the droop during
position control is made valid by the setting for PI-PID control switching made using
optional function 5.
This parameter is used to expand the torque control range up to the speed control
value during torque control. (applies only when using MR-H-BN.)
If a large value is set, the speed limit value may be exceeded and the motor may
rotate.
This parameter sets the differential compensation value for the actual speed loop.
In PI (proportional integration) control, if the value for speed differential compensa-
tion is set at 1000, the range for normal P (proportional) control is effective; if it is
set to a value less than 1000, the range for P (proportional) control is expanded.
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