三菱伺服驱动器MR-JE-B参数一览表(三菱伺服放大器参数)
===========================要点========================
参数简称前带有*号的参数在如下条件下生效。
*：设定后关闭电源1s以上再接通或进行控制器复位时才能生效。但是，通过[Pr.PA20] 选择"瞬停时转矩限制功能选择"有效时，根据[Pr. PF25瞬停ToughDrive检测时间]的设定值，该时间会延长。
**：设定后关闭电源1s以上再接通才能生效。但是，通过[Pr. PA20] 选择"瞬停时转矩限制功能选择"有效时，根据[Pr. PF25瞬停Tough Drive检测时间]的设定，该时间会延长。
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1、基本设定参数([Pr.PA_ _ ])
编号.....简称....名称..............................初始值......
PA01.....无......厂商设定用........................1000h.......
PA02.....**REG...再生选件..........................0000h.......
PA03.....*ABS....绝对位置检测系统..................0000h.......
PA04.....*AOP1...功能选择A-1.......................2000h.......
PA05.....无......厂商设定用........................10000.......
PA06.....无......厂商设定用........................1 .......
PA07.....无......厂商设定用........................1 .......
PA08.....ATU.....自动调谐模式......................0001h.......
PA09.....RSP.....自动调谐响应性....................16 .......
PA10.....INP.....到位范围..........................100 .......
PA11.....无......厂商设定用........................1000.0......
PA12.....无......厂商设定用........................1000.0......
PA13.....无......厂商设定用........................0000h ......
PA14.....*POL....旋转方向选择......................0 ......
PA15.....无......厂商设定用........................0 ......
PA16.....无......厂商设定用........................0 ......
PA17.....无......厂商设定用........................0000h ......
PA18.....无......厂商设定用........................0000h ......
PA19.....*BLK....参数写入禁止......................00AAh ......
PA20.....*TDS....Tough Drive设定...................0000h ......
PA21.....*AOP3...功能选择A-3.......................0001h ......
PA22.....无......厂商设定用........................0000h ......
PA23.....DRAT....驱动记录器任意报警触发器设定......0000h ......
PA24.....AOP4....功能选择A-4.......................0000h ......
PA25.....OTHOV...一键式调整 超调容许等级...........0 ......
PA26.....*AOP5...功能选择A-5.......................0000h ......
PA27.....*HTL....热线强制停止功能..................0000h ......
PA28.....无......厂商设定用........................0000h ......
PA29.....无......厂商设定用........................0000h ......
PA30.....无......厂商设定用........................0000h ......
PA31.....无......厂商设定用........................0000h ......
PA32.....无......厂商设定用........................0000h ......
2、增益/滤波器设定参数([Pr.PB_ _ ])
编号.....简称....名称..............................初始值......
PB01.....FILT....自适应调谐模式(自适应滤波器Ⅱ)....1000h.......
PB02.....VRFT....振动抑制控制调谐模式
(高级振动抑制控制Ⅱ)..............0000h.......
PB03.....TFBGN...转矩反馈环增益....................18000.......
PB04.....FFC.....前馈增益..........................0 .......
PB05.....无......厂商设定用........................500 .......
PB06.....GD2.....负载惯量比........................7.00 .......
PB07.....PG1.....模型控制增益......................15.0 .......
PB08.....PG2.....位置控制增益......................37.0 .......
PB09.....VG2.....速度控制增益......................823 .......
PB10.....VIC.....速度积分补偿......................33.7 .......
PB11.....VDC.....速度微分补偿......................980 ......
PB12.....OVA.....超调量补偿........................0 ......
PB13.....NH1.....机械共振抑制滤波器1...............4500 ......
PB14.....NHQ1....陷波形状选择1.....................0000h......
PB15.....NH2.....机械共振抑制滤波器2...............4500 ......
PB16.....NHQ2....陷波形状选择2.....................0000h ......
PB17.....NHF.....轴共振抑制滤波器..................0000h ......
PB18.....LPF.....低通滤波器设定....................3141 ......
PB19.....VRF11...振动抑制控制1 振动频率设定........100.0 ......
PB20.....VRF12...振动抑制控制1 振动频率设定........100.0 ......
PB21.....VRF13...振动抑制控制1 振动频率减幅设定....0.00 ......
PB22.....VRF14...振动抑制控制1 振动频率减幅设定....0.00 ......
PB23.....VFBF....低通滤波器选择....................0000h ......
PB24.....*MVS....微振动抑制控制....................0000h ......
PB25.....*BOP1...功能选择B-1.......................0000h ......
PB26.....*CDP....增益切换功能......................0000h ......
PB27.....*CDL....增益切换条件......................10 ......
PB28.....CDT.....增益切换时间常数..................1 ......
PB29.....GD2B....增益切换 负载惯量比...............7.00 ......
PB30.....PG2B....增益切换 位置控制增益.............0.0 ......
PB31.....VG2B....增益切换 速度控制增益.............0 ......
PB32.....VICB....增益切换 速度积分补偿.............0.0 ......
PB33.....VRF11B..增益切换 振动抑制控制1
振动频率设定......................0.0 ......
PB34.....VRF12B..增益切换 振动抑制控制1
共振频率设定......................0.0 ......
PB35.....VRF13B..增益切换 振动抑制控制1
振动频率设定......................0.0 ......
PB36.....VRF14B..增益切换 振动抑制控制1
共振频率设定......................0.0 ......
PB37.....无......厂商设定用........................1600 ......
PB38.....无......厂商设定用........................0.0 ......
PB39.....无......厂商设定用........................0.0 ......
PB40.....无......厂商设定用........................0.0 ......
PB41.....无......厂商设定用........................0 ......
PB42.....无......厂商设定用........................0 ......
PB43.....无......厂商设定用........................0000h ......
PB44.....无......厂商设定用........................0.00 ......
PB45.....CNHF....指令陷波滤波器....................0000h ......
PB46.....NH3.....机械共振抑制滤波器3...............4500 ......
PB47.....NHQ3....陷波形状选择3.....................0000h ......
PB48.....NH4.....机械共振抑制滤波器4...............4500 ......
PB49.....NHQ4....陷波形状选择4.....................0000h ......
PB50.....NH5.....机械共振抑制滤波器5...............4500 ......
PB51.....NHQ5....陷波形状选择5.....................0000h ......
PB52.....VRF21...振动抑制控制2 振动频率设定........100 ......
PB53.....VRF22...振动抑制控制1 共振频率设定........100 ......
PB54.....VRF23...振动抑制控制2 振动频率减幅设定....0.00 ......
PB55.....VRF24...振动抑制控制2 共振频率减幅设定....0.00 ......
PB56.....VRF21B..增益切换 振动抑制控制2
振动频率设定......................0.0 ......
PB57.....VRF22B..增益切换 振动抑制控制2
共振频率设定......................0.0 ......
PB58.....VRF23B..增益切换 振动抑制控制2
振动频率减幅设定..................0.00 ......
PB59.....VRF24B..增益切换 振动抑制控制2
共振频率减幅设定..................0.00 ......
PB60.....PG1B....增益切换 模型控制增益.............0.0 ......
PB61.....无......厂商设定用........................0.0 ......
PB62.....无......厂商设定用........................0000h ......
PB63.....无......厂商设定用........................0000h ......
PB64.....无......厂商设定用........................0000h ......
3、扩展设定参数([Pr.PC_ _ ])
编号.....简称....名称..............................初始值......
PC01.....ERZ.....误差过大报警等级..................0 .......
PC02.....MBR.....电磁制动器顺控输出................0 .......
PC03.....无......厂商设定用........................0000h.......
PC04.....**COP1..功能选择C-1.......................0020h.......
PC05.....**COP2..功能选择C-2.......................0000h.......
PC06.....*COP3...功能选择C-3.......................0000h.......
PC07.....ZSP.....零速..............................50 .......
PC08.....OSL.....过速度报警检测级别................0 .......
PC09.....无......厂商设定用........................0000h ......
PC10.....无......厂商设定用........................0000h ......
PC11.....无......厂商设定用........................0 ......
PC12.....无......厂商设定用........................0 ......
PC13.....无......厂商设定用........................0 ......
PC14.....无......厂商设定用........................0 ......
PC15.....无......厂商设定用........................0 ......
PC16.....无......厂商设定用........................0000h ......
PC17.....**COP4..功能选择C-4.......................0000h ......
PC18.....*COP5...功能选择C-5.......................0000h ......
PC19.....无......厂商设定用........................0000h ......
PC20.....*COP7...功能选择C-7.......................0001h ......
PC21.....*BPS....报警历史清除......................0000h ......
PC22.....无......厂商设定用........................0 ......
PC23.....无......厂商设定用........................0000h ......
PC24.....RSBR....强制停止时 减速时间常数...........100 ......
PC25.....无......厂商设定用........................0 ......
PC26.....无......厂商设定用........................0000h ......
PC27.....无......厂商设定用........................0000h ......
PC28.....无......厂商设定用........................0000h ......
PC29.....*COPB...功能选择C-B.......................0000h ......
PC30.....无......厂商设定用........................0 ......
PC31.....RSUP1...垂直负载微提升量..................0 ......
PC32.....无......厂商设定用........................0000h ......
PC33.....无......厂商设定用........................0 ......
PC34.....无......厂商设定用........................100 ......
PC35.....无......厂商设定用........................0000h ......
PC36.....无......厂商设定用........................0000h ......
PC37.....无......厂商设定用........................0000h ......
PC38.....ERW.....误差过大警告等级..................0 ......
PC39~64..无......厂商设定用........................0000h ......
4、输入输出设定参数([Pr.PD_ _ ])
编号.....简称....名称..............................初始值......
PD01~06..无......厂商设定用........................0000h ......
PD07.....*DO1....输出软元件选择1...................0005h .......
PD08~10..无......厂商设定用........................0000h ......
PD11.....*DIF....输入滤波器设定(注)................0004h ......
PD12.....无......厂商设定用........................0000h ......
PD13.....*DOP2...功能选择D-2.......................0000h ......
PD14.....*DOP3...功能选择D-3.......................0000h ......
PD15~19..无......厂商设定用........................0000h ......
PD20~23..无......厂商设定用........................0 ......
PD24~29..无......厂商设定用........................0000h ......
PD30~32..无......厂商设定用........................0 ......
PD33~48..无......厂商设定用........................0000h ......
5、扩展设定2参数（[Pr.PE_ _ ]）
编号.....简称....名称..............................初始值......
PE01~03..无......厂商设定用........................0000h ......
PE04~08..无......厂商设定用........................0 ......
PE09~13..无......厂商设定用........................0000h ......
PE14.....无......厂商设定用........................0111h ......
PE15.....无......厂商设定用........................20 ......
PE16~33..无......厂商设定用........................0000h ......
PE34~35..无......厂商设定用........................0 ......
PE36.....无......厂商设定用........................0.0 ......
PE37~38..无......厂商设定用........................0.00 ......
PE39.....无......厂商设定用........................0 ......
PE40.....无......厂商设定用........................0000h ......
PE41.....EOP3....功能选择E-3.......................0000h.......
PE42.....无......厂商设定用........................0 ......
PE43.....无......厂商设定用........................0.0 ......
PE44.....LMCP....空转正侧补偿值选择................0 ......
PE45.....LMCN....空转负侧补偿值选择................0 ......
PE46.....LMFLT...空转滤波器设定....................0 ......
PE47.....TOF.....转矩偏置..........................0 ......
PE48.....*LMOP...空转补偿功能选择..................0000h ......
PE49.....LMCD....空转补偿时序......................0 ......
PE50.....LMCT....空转补偿空载段....................0 ......
PE51~60..无......厂商设定用........................0000h ......
PE61~64..无......厂商设定用........................0.00 ......
6、扩展设定3参数([Pr.PF_ _ ])
编号.....简称....名称..............................初始值......
PF01~03..无......厂商设定用........................0000h ......
PF04.....无......厂商设定用........................0 ......
PF05.....无......厂商设定用........................0000h ......
PF06.....*FOP5...功能选择F-5.......................0003h .......
PF07~08..无......厂商设定用........................0000h ......
PF09~11..无......厂商设定用........................0 ......
PF12.....DBT.....电子式动态制动动作时间............2000 ......
PF13.....无......厂商设定用........................0000h ......
PF14.....无......厂商设定用........................10 ......
PF15~20..无......厂商设定用........................0000h ......
PF21.....DRT.....驱动记录器切换时间设定............0 ......
PF22.....无......厂商设定用........................200 ......
PF23.....OSCL1...振动Tough Drive振动检测等级.......50 ......
PF24.....*OSCL2..振动Tough Drive功能选择...........0000h ......
PF25.....CVAT....瞬停Tough Drive检测时间...........200 ......
PF26~28..无......厂商设定用........................0 ......
PF29.....无......厂商设定用........................0000h ......
PF30.....无......厂商设定用........................0 ......
PF26.....*CDP....增益切换功能......................0000h ......
PF27.....*CDL....增益切换条件......................10 ......
PF28.....CDT.....增益切换时间常数..................1 ......
PF29.....GD2B....增益切换 负载惯量比...............7.00 ......
PF30.....PG2B....增益切换 位置控制增益.............0.0 ......
PF31.....FRIC....机械诊断功能 低速时摩擦推断
区域判断速度......................0 ......
PF32.....无......厂商设定用........................50 ......
PF33~43..无......厂商设定用........................0000h ......
PF44.....无......厂商设定用........................0 ......
PF45~48..无......厂商设定用........................0000h ......
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