Torque Control Gain Adjustment - Mitsubishi Electric 800 Series Instruction Manual

Speed limit mode switching by external terminals (Pr.1113="10")
• The speed limit mode can be switch between 3 and 4 using the torque control selection (X93) signal.
• To assign the X93 signal, set "93" in any of Pr.178 to Pr.189 (Input terminal function selection).
X93 signal
OFF Mode 3 (torque command=positive, Pr.1113=1 or equivalent)
ON Mode 4 (torque command=negative, Pr.1113=2 or equivalent)
NOTE
• During the speed limit operation, SL is displayed on the operation panel and OL signal is output.
• OL signal is assigned to the terminal OL in the initial status. Set "3" in any of Pr.190 to Pr.196 (Output terminal function
selection) to assign the OL signal to another terminal. Changing the terminal assignment using Pr.190 to Pr.196 may affect
the other functions. Set parameters after confirming the function of each terminal.
• Changing the terminal assignment using Pr.178 to Pr.189 (Input terminal function selection) may affect the other
functions. Set parameters after confirming the function of each terminal.
Parameters referred to ???????
Pr.1 Maximum frequency, Pr.2 Minimum frequency
Pr.4 to Pr.6, Pr.24 to Pr.27, Pr.232 to Pr.239 (Multi-speed operation)
Pr.7 Acceleration time, Pr.8 Deceleration time
Pr.13 Starting frequency page 283
Pr.190 to Pr.196 (Output terminal function selection)
Pr.868 Terminal 1 function assignment
Pr.125, Pr.126, Pr.902 to Pr.905, Pr.917, Pr.918 (frequency setting voltage (current) bias gain)
5.4.6

Torque control gain adjustment

Operation is normally stable enough in the initial setting, but some adjustments can be made if abnormal vibration,
noise or overcurrent occur for the motor or machinery.
Pr. Name
Torque control P gain 1
824
(current loop proportional
G213
gain)
825 Torque control integral time 1
G214 (current loop integral time)
834
Torque control P gain 2
G313
835
Torque control integral time 2
G314
Current loop proportional (P) gain adjustment (Pr.824)
• The 100% current loop proportional gain is equivalent to 1000 rad/s during Real sensorless vector control, and to 1400 rad/
s during vector control.
• For ordinary adjustment, try to set within the range of 50 to 500%.
• Set the proportional gain for during speed control.
• If setting value is large, changes in current command can be followed well and current fluctuation relative to external
disturbance is smaller. If the setting value is however too large, it becomes unstable and high frequency torque pulse is
produced.
Current control integral time adjustment (Pr.825)
• Set the integral time of current control during torque control.
• Torque response increases if set small; current however becomes unstable if set too small.
• If the setting value is small, it produces current fluctuation toward disturbance, decreasing time until it returns to original
current value.
Torque control under Real sensorless vector control and vector control
Speed limit mode
page 329
page 269
page 370
page 397
Initial
value
100% 0 to 500%
5 ms 0 to 500 ms
0 to 500%
9999
9999
0 to 500 ms
9999
9999
page 314
page 402
Setting
range
Sets the current loop proportional gain.
Sets current loop integral compensation time.
Sets the current loop proportional gain when RT signal is
ON.
The Pr.824 setting is applied to the operation.
Sets the current loop integral compensation time when
RT signal is ON.
The Pr.825 setting is applied to the operation.
Sensorless Sensorless Vector Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Sensorless Vector Vector
Description
PARAMETERS
5
201