User's Manual - Kitagawa Europe

ParameterMAC mini iH Series Parameter・Expansion ManualBiasfunctionWhen the pulse of deviation counter exceeds the bias adding width (PRM518), thisfunction adds the bias amount (PRM517) to the output (speed command: SP CMD) ofdeviation counter and it stops the adding bias value when reaching the bias addingwidth. For this reason, the counted pulse of deviation counter is reduced, thus shorteninga positioning time.When the bias amount is largest, the motor rotation becomes unstable. Since an optimumvalue varies by load, gain and bias adding width, adjust the value, watching the reply.When the bias function is not used, set PRM517 to “0”.SPEEDSP CMDMotor speed withoutbias functionMotor speed withbias functionBIASPRM507(Pn107) OFFONOFFTIMEBIAS ADD WIDTH(Setting of accm. pulse)PRM508(Pn108)PRM519 [ NAME ] Feed Forward[ MESSAGE] P109 FEED-FORWARD【DATA UNIT】 : %【DATA RANGE】 : 0~100DescriptionThe positioning time is shortened by compensating the FEED FORWARD for the positioncontrol.Corresponds to the parameter Pn109 of servo pack SGDS made by YASKAWA ELECTRICCORP.PRM520 [ NAME ] Constant in Feed Forward Filter[ MESSAGE] P10A F-F FILTER【DATA UNIT】 : 0.01msec 【DATA RANGE】 : 0~6400DescriptionThe positioning time is shortened by compensating the FEED FORWARD for the positioncontrol.Corresponds to the parameter Pn10A of servo pack SGDS made by YASKAWA ELECTRICCORP.PRM522 [ NAME ] Mode Switch (Torque Command)[ MESSAGE] P10C MODE-SW(TRQUE)【DATA UNIT】 : %【DATA RANGE】 : 0~800DescriptionWhen the torque is commanded over PRM522, the speed loop becomes “ProportionalControl”.This mode controls to overshoot or undershoot the motor speed because the torque inACC/DEL is saturated.Corresponds to the parameter Pn10C of servo pack SGDS made by YASKAWA ELECTRICCORP.Concerned parameters PRM521 (Valid in Pn10B.0=0)P1-50 KITAGAWA