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5 Servo Adjustment
MITSUBISHI CNC
< HAS control >
If an output torque during acceleration/deceleration is close to the servo motor's maximum torque, the motor cannot
accelerate with a commanded time constant when the torque is saturated due to input voltage fluctuation, etc.
Generally, if an acceleration command is switched to a constant speed command, speed FB overshoots to
compensate a delay of position droop, making the machine operation unstable.
When the HAS control is enabled, a delay of position droop will be compensated by controlling the amount of speed
FB overshoot within 1% or less than maximum speed of the motor.
The controllable amount of position droop delay with HAS control HAS can be set at 1/4 or 1/2 of the excessive
error detection width.
【#2234】 SV034 SSF3 Servo function 3
bit 1 : has HAS control
This stabilizes the speed overshooting by torque saturation phenomenon.
0: Normal setting 1: Enable
【#2284】 SV084 SSF7 Servo function 7
bit F : h2c HAS control cancel amount
0: 1/4 (standard) 1: 1/2
POINT
1. During G1 drive, if HAS control is started, the compensation amount can not be compensated. Therefore, adjust the feed
speed cramp value or acceleration/deceleration time constant so that the current limit does not occur.
2. HAS control can not be used for axes in synchronous control since machine torsion may be occur.
3. Even if HAS control is enabled, adjust the acceleration/deceleration time constant so that the current limit does not
occur.
4. If setting half of error excessive encoder width to the droop compensation amount, error excessive alarm in acceleration
may occur more easily than if 1/4.
0[r/min]0[r/min]
HAS control will catch up
the delay of position.
Speed feedback
1% or less than
maximum speed
Speed command
Overshoot will occur to
catch up the delay of position.
Speed command
Speed feedback
During current limit
During current limit
HAS control is disabled.
HAS control is enabled.