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Mitsubishi Electronics Q172DCPU, Q173DCPU POINTS, 3 COMMON PARAMETERS, (2) Gain/filter parameters

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3 COMMON PARAMETERS

(2) Gain/filter parameters

	No.	Symbol			Name	Initial value	Unit
	PB01	FILT	Adaptive tuning mode (Adaptive filter		)	0000h	—
	PB01	FILT	Adaptive tuning mode (Adaptive filter		)	0000h	—

	PB02	VRFT	Vibration suppression control tuning mode (Advanced vibration suppression control)			0000h	—
	PB03	—	For manufacturer setting			0	—
	PB04	FFC	Feed forward gain			0	%
	PB05	—	For manufacturer setting			500	—
	PB06	GD2	Ratio of load inertia moment to servomotor inertia moment			7.0	times
	PB07	PG1	Model loop gain			24	rad/s
	PB08	PG2	Position loop gain			37	rad/s
	PB09	VG2	Speed loop gain			823	rad/s
	PB10	VIC	Speed integral compensation			33.7	ms
	PB11	VDC	Speed differential compensation			980	—
	PB12	—	For manufacturer setting			0	—
	PB13	NH1	Machine resonance suppression filter 1			4500	Hz
	PB14	NHQ1	Notch shape selection 1			0000h	—
	PB15	NH2	Machine resonance suppression filter 2			4500	Hz
	PB16	NHQ2	Notch shape selection 2			0000h	—
	PB17	—	Automatic setting parameter			—	—
	PB18	LPF	Low pass filter setting			3141	rad/s
	PB19	VRF1	Vibration suppression control - vibration frequency setting			100.0	Hz
	PB20	VRF2	Vibration suppression control - resonance frequency setting			100.0	Hz
	PB21	—	For manufacturer setting			0.00	—
	PB22	—	For manufacturer setting			0.00	—
	PB22					0.00
	PB23	VFBF	Low pass filter selection			0000h	—
	PB24	MVS	Slight vibration suppression control selection			0000h	—
	PB25	—	For manufacturer setting			0000h	—
	PB26	CDP	Gain changing selection			0000h	—
	PB27	CDL	Gain changing condition			10	—
	PB28	CDT	Gain changing time constant			1	ms
	PB29	GD2B	Gain changing - ratio of load inertia moment to servo motor inertia moment			7.0	times
	PB30	PG2B	Gain changing - position loop gain			37	rad/s
	PB31	VG2B	Gain changing - speed loop gain			823	rad/s
	PB32	VICB	Gain changing - speed integral compensation			33.7	ms
	PB33	VRF1B	Gain changing - vibration suppression control - vibration frequency setting			100.0	Hz
	PB34	VRF2B	Gain changing - vibration suppression control - resonance frequency setting			100.0	Hz
	PB35					0.00
	PB36					0.00
	PB37					100
	PB38					0.0
	PB39					0.0
	PB40	—	For manufacturer setting			0.0	—
	PB41					1125
	PB42					1125
	PB43					0004h
	PB44					0.0
	PB45					0000h

POINTS

(1)When the items marked "" in the above table has changed, make the Multiple CPU system reset or power supply OFF to ON. And, once turn OFF the servo amplifier power supply and then turn ON it again.

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Contents

MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC Page For Safe Operations 1. Prevention of electric shocks 2. For fire prevention 3. For injury prevention 4. Various precautions (1) System structure (2) Parameter settings and programming (3) Transportation and installation Page (4) Wiring (5) Trial operation and adjustment (6) Usage methods (7) Corrective actions for errors (8) Maintenance, inspection and part replacement (9) About processing of waste (10) General cautions Page Page Page Page Page Page 1. OVERVIEW REMARK 1.2 Features 1.2.1Features of Motion CPU (1)Q series PLC Multiple CPU system (2)High speed operation processing (4)The operating system software package for your application needs 1.2.2Basic specifications of Q173DCPU/Q172DCPU (1)Module specifications (2)SV13/SV22 Motion control specifications/performance specifications (a) Motion control specifications Motion control specifications (continued) (b) Motion SFC Performance Specifications 1.3 Hardware Configuration 1.3.1 Motion system configuration (1) Equipment configuration in Q173DCPU/Q172DCPU system (2) Peripheral device configuration for the Q173DCPU/Q172DCPU 1.3.2 Q173DCPU System overall configuration Page 1.3.3 Q172DCPU System overall configuration Page 1.3.4 Software packages (1) Software packages (a) Operating system software (b) Motion controller programming software (2) Operating environment of personal computer (3)Operating system type/version (a)Confirmation method in the operating system (CD) (b)Confirmation method in MT Debeloper (4)Relevant software packages (a)PLC software package POINTS 1.3.5Restrictions on motion systems (1)Combination of Multiple CPU system (2)Motion modules (3)Other restrictions Page 2. MULTIPLE CPU SYSTEM 2.1.2 Installation position of CPU module Table 2.1 Example for CPU module installation 2.1.3 Precautions for using I/O modules and intelligent function modules (1) Modules controllable by the Motion CPU (2)Compatibility with the Multiple CPU system (3)Access range from non-controlledCPU Table 2.2 Access range to non-controlledmodule 2.1.4Modules subject to installation restrictions 2.1.5 How to reset the Multiple CPU system 2.1.6 Operation for CPU module stop error (1)When a stop error occurs at CPU No.1 (2) When a stop error occurs at CPU other than No.1 Page 2MULTIPLE CPU SYSTEM (3)Operation at a Motion CPU error 2.2 Starting Up the Multiple CPU System 2.2.1 Startup Flow of the Multiple CPU System Page 2.3.1CPU shared Memory (1)Structure of CPU shared memory Table 2.3 Table of self CPU operation information areas Page 2.3.2Multiple CPU high speed transmission (1)Multiple CPU high speed transmission Page (2) System configuration Table 2.4 System configuration to use Multiple CPU high speed transmission (3)Memory configuration of Multiple CPU high speed transmission area Table Description of area (4)Parameter setting Table 2.6 Multiple CPU high speed transmission parameter list Page Page Table 2.8 Parameter setting items of automatic refresh setting Page Page (5)Precautions 2.3.3 Multiple CPU high speed refresh function (1) Application example of Multiple CPU high speed refresh function (2)Operation example of Multiple CPU high speed refresh function Page Page 2.3.4 Clock synchronization between Multiple CPU (1) Setting of clock data (2) Synchronization of clock data (3) Information of clock (4) Error 2.3.5 Multiple CPU synchronous startup (1) Multiple CPU synchronous startup setting 2.3.6 Control Instruction from PLC CPU to Motion CPU Page 3. COMMON PARAMETERS 3.1.1 System data settings Page 3.1.2Common system parameters (1)Parameters for operating the Multiple CPU system 3COMMON PARAMETERS (2)Parameters common throughout the Multiple CPU system Table of Parameters cross-MultipleCPU system Page Page Page Page 3.1.3Individual parameters (1)System basic setting Page (2) Individual module settings Setting items for each module Setting items for each module (Continued) (3) External signal input 3.2 I/O number assignment 3.2.1 I/O number assignment of each module (1)Position of I/O number "0H (2)I/O number assignment of Motion CPU control module (3) Setting of the Motion CPU control modules by the PLC CPU 3.2.2 I/O number of each CPU modules 3.2.3 I/O number setting 3.3 Servo Parameters (1) Basic setting parameters (2) Gain/filter parameters (3) Extension setting parameters (4) I/O Setting Parameters 4. AUXILIARY AND APPLIED FUNCTIONS Page 4AUXILIARY AND APPLIED FUNCTIONS 4.1.2 Limit output setting data (1)Output device (2)Watch data (3)ON region setting (4)Output enable/disable bit (5)Forced output bit 4.2 Absolute Position System Page 4.2.1 Current value control 4.3 High-SpeedReading of Specified Data (1) Positioning data that can be set (2) Modules and signals to be used (3) Usable devices 4.4 ROM Operation Function 4.4.1 Specifications of 7-segmentLED/Switches (1) Operation mode Page 4.4.2 Outline of ROM operation Page Page Page Page 4.4.3 Operating procedure of the ROM operation function (1) ROM operation procedure (2) Operation at the "Mode operated by ROM 4.5 Security Function 4.5.1 Password registration/change (1)Procedure for password registration (2)Procedure for password change Page 4.5.2 Password delete (1)Procedure for password delete 4.5.3 Password check (1)Procedure for password check 4.5.4 Password save (1) Status of password data for each operation 4.6 All clear function (1)Procedure for clear all 4.7 Communication via Network 4.7.1Specifications of the communications via network 4.7.2Access range of the communications via network (1)Network configuration via the MELSECNET/10(H) or the Ethernet (2)Network configuration via the CC-Link (3)Network configuration via the RS-422/485 Network configuration which MELSECNET/10(H), Ethernet, CC- Link Page 4.8Monitor Function of the Main Cycle 4.9Servo Parameter Reading Function 4.10 Optional Data Monitor Function (1) Data that can be set (2) Devices that can be set 4.11 Connect/Disconnect Function (1) Connect/disconnect status devices (2) Connect/disconnect command devices Page Page Page Page 4.12 Remote operation 4.12.1 Remote RUN/STOP (1)Operation procedure Page 4.12.2 Remote latch clear Page APPENDICES Table 1.1 Special relay list Table 1.1 Special relay list (Continued) Page APPENDIX 1.2 Special registers Table 1.2 Special register list Table 1.2 Special register list (Continued) Page Page Page APPENDIX 1.3 Replacement of special relays/special registers Table 1.3 Replacement of special relays Table 1.4 Replacement of special registers APPENDIX 2 System Setting Errors Table 2.1 System Setting Errors Page APPENDIX 3 Self-diagnosiserror code (1) Multiple CPU related errors which occurs in Motion CPU Table 3.1 Multiple CPU related errors which occurs in Motion CPU (1000 to 9999) Page Page Page Page Page (2) Motion CPU-specificerrors Table 3.2 Motion CPU-specificerrors (10000 to 10999) Page (3) Self-diagnosticerror information (4) Release of Multiple CPU related error Table 4.1 Differences Between Q173DCPU/Q172DCPU and Q173HCPU/Q172HCPU Page APPENDIX 4.2 Comparison of devices (1)Motion registers Table 4.2 Motion registers (Monitor devices) list Table 4.3 Monitor devices list Table 4.4 Motion registers (Motion error history) list Table 4.5 Motion error history list (2) Special relays Table 4.6 Special relay list (3) Special registers Table 4.7 Special registers list Table 4.7 Special registers list (Continued) Other devices Table 4.8 Other devices list Table 4.8 Other devices list (Continued) APPENDIX 4.3 Differences of each mode Motion SFC Table 4.9 Differences in Motion SFC mode Virtual mode Table 4.10 Differences in Virtual mode