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5 DATA USED FOR POSITIONING CONTROL
Even when the PLC READY signal [Y0] is ON, the values or contents of the
following can be changed: basic parameters 2, detailed parameters 2, positioning
data, and block start data.
The servo parameter is transmitted from QD75MH to the servo amplifier when the
initialized communication carried out after the power supply is turned ON or the PLC
CPU is reset.
The power supply is turned ON or the PLC CPU is reset after writing servo
parameter in flash ROM of QD75MH if the servo parameter is transmitted to the
servo amplifier.
The following servo parameter in the buffer memory is transmitted to the servo
amplifier when the PLC READY [Y0] turns from OFF to ON.
•
Pr.108
Auto tuning mode (Basic setting parameters)
Pr.109
•
Auto tuning response (Basic setting parameters)
Feed forward gain (Gain • filter setting parameters)
•
Pr.122
Ratio of load inertia moment to servo motor inertia moment (Gain • filter
•
Pr.124
setting parameters)
Model loop gain (Gain • filter setting parameters)
Pr.125
•
Position loop gain (Gain • filter setting parameters)
Pr.126
•
Speed loop gain (Gain • filter setting parameters)
•
Pr.127
Speed integral compensation (Gain • filter setting parameters)
•
Pr.128
Speed differential compensation (Gain • filter setting parameters)
•
Pr.129
The only valid data assigned to these parameters are the data read at the moment
when a positioning or JOG operation is started. Once the operation has started, any
modification to the data is ignored.
Exceptionally, however, modifications to the following are valid even when they are
made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to
3, and external start command.
• Acceleration time 0 to 3 and deceleration time 0 to 3:
Positioning data are pre-read and pre-analyzed. Modifications to the
data four or more steps after the current step are valid.
• External command function selection: The value at the time of detection is valid.
5 - 3
MELSEC-Q
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