Orientation Control; How To Set Gains Of Orientation Control - Toshiba TOSVERT VF-AS3 Manual

5.2 Orientation control

5.2.1 Settings of main parameters
Make the following settings to enable orientation control.
• Set F359=3.
• Set the number of pulses for one rotation of the motor in F375.
- When the encoder is connected to the motor: Set the number of pulses of the encoder in F375.
- When the encoder is connected to the load machine: Set "number of pulses of the encoder/reduction gear
ratio" in F375.
(*) If "number of pulses of the encoder/reduction gear ratio" is not an integer, the phase difference is large
with A670=0 and orientation control cannot be performed. Use with A670=1.
At that time, a phase difference of "setting difference (part after the decimal point) x reduction gear
ratio/actual number of PG pulses x 360 degrees" is generated.
• Set the gear ratio of the load machine to A675 and A676.
- When the encoder is connected to the motor: Set A676/A675=Gear ratio of the load machine.
- When the encoder is connected to the load machine: Set A675 and A676 to the same value.
• Set the phase of orientation (target phase) in A672.
• Set the orientation start signal (input terminal function 190/191) in the input terminal.
5.2.2 Operation style
• Turn ON the run signal and perform speed control operation.
• Turn ON the orientation start signal (input terminal function 190/191) while speed control is performed.
Decelerate from the current speed to the orientation speed (A674) in the deceleration speed DEC and start
orientation control when the orientation speed is reached.
The upper limit frequency at the time of orientation control is ±A674.
• When orientation control is settled and the current phase is within the orientation completion range (±A673), the
positioning completion signal (LO: 118/119) is output.
(Caution)
• Perform the normal speed control operation before turning ON the orientation start signal.
• The normal speed control operation is performed when the orientation start signal is turned OFF.

5.3 How to set gains of orientation control

• There are two types of gains of orientation control. The first gains (P gain: F362, I gain: F363, D gain: F366) and the
second gains (P gain: A314, I gain: A315, D gain: A318) can be switched with PID1/2 switching signal (input terminal
function 116/117).
• Set the I gain and the D gain to 0 since only P control is used for orientation control normally.
Set approximately 0.4 x number of pole pairs of the motor for the P gain.
• If it takes time for the position to be settled during positioning control, increase P gain by 0.1. If vibration occurs after
the position is settled, decrease the P gain by 0.1.
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