4. PARAMETERS FOR POSITIONING CONTROL
4 − 16
4.3.6 In-position range
(1) The "in-position" refers to the quantity of droop pulses in the deviation counter.
(2) If an in-position value is set, the in-position signal (M2402 + 20n) will come ON
when the difference between the position command and position feedback from
the servomotor enters the set range.
In-position signal
(M2402+20n)
ON
OFF
Set value for in-position range
Amount of droop
t
4.3.7 Feed forward gain
This parameter is used to improve the follow-up of the servo system.
The setting range is as follows:
When using an MR-
-B....................0 to 100 (%)
4.3.8 Load inertia ratio
(1) This parameter sets the ratio of moment of load inertia for the servomotor.
The ratio of moment of load inertia is calculated using the equation below:
Moment of load inertia
Ratio of moment of load inertia =
Motor's moment of inertia
(2) If automatic tuning is used, the result of automatic tuning is automatically set.
4.3.9 Automatic tuning
This is a function whereby the moment of inertia of the load is automatically
calculated, and the most suitable gain is automatically set, by sensing the current
and speed when motion starts.
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