Control System Functions (Pr. 818 To Pr. 837); Easy Gain Tuning Selection (Pr. 818, Pr. 819); Speed Loop Proportional Gain Setting (Pr. 820, Pr. 830); Speed Control Integral Time Setting (Pr. 821, Pr. 831) - Mitsubishi Electric FR-V560 Instruction Manual

4.32 Control system functions (Pr. 818 to Pr. 837)

4.32.1 Easy gain tuning selection (Pr. 818, Pr. 819
The ratio of load inertia to motor inertia (load inertia moment ratio) is estimated in real time from the torque
command and speed during motor operation under vector control with encoder, and this value is used to
automatically set the optimum gain for speed/position control, reducing the time and effort of making gain
adjustment.
Parameter
818 Easy gain tuning response level setting
819 Easy gain tuning selection
Refer to the Instruction Manual (basic) for details.
Related parameters
• Adjusted gains ⇒ Pr. 820 "speed control P gain 1", Pr. 821 "speed control integral time 1", Pr. 828 "model speed control gain",
Pr. 422 "position loop gain"
• Adjusted load inertia ratio ⇒ Pr. 880 "load inertia ratio"
4.32.2 Speed loop proportional gain setting (Pr. 820, Pr. 830
Parameter
820 Speed control P gain 1 (when RT signal is off)
830 Speed control P gain 2 (when RT signal is on)
Set the proportional gain of the speed loop.
Increasing the gain enhances the speed response level and decreases the speed fluctuation relative to
disturbance, but a too large gain will produce vibration and/or sound.
Pr. 820 "speed control P gain 1" and Pr. 830 "speed control P gain 2" are 0 to 1000% in the setting range and
60% in the factory setting. For general adjustment, set them within the range of 20 to 200%.
REMARKS
1. The response level will be worse when the coupling is loose.
2. When performing positioning, increase the setting to enhance accuracy.
3. Decrease the setting when there is gear backlash, etc.
4.32.3 Speed control integral time setting (Pr. 821, Pr. 831
Parameter
821 Speed control integral time 1 (when RT signal is off)
831 Speed control integral time 2 (when RT signal is on)
Set the integral compensation time of the speed loop.
If speed fluctuation occurs relative to disturbance, decreasing the value shortens the recovery time, but a too
small value will cause a speed overshoot.
A large value improves stability but increases the recovery time (response time) and may cause an undershoot.
REMARKS
You can switch between PI control and P control under speed control using the X44 signal. (Refer to page 37.)
4.32.4 Speed setting circuit filter function (Pr. 822, Pr. 832
Set the time constant of the primary delay filter relative to the external speed command (analog input
command).
Set a large time constant when you want to delay the tracking of the speed command or when the analog
input voltage is unstable.
Parameter
822 Speed setting filter 1 (when RT signal is off)
832 Speed setting filter 2 (when RT signal is on)
Name
Name
Name
Name
187
Control system functions (Pr. 818 to Pr. 837)
with without Condi-
tional PLC
Encoder Encoder
Speed
Factory Setting
2
0
0 1
2
with
Encoder
Factory Setting Setting Range
60% 0 to 1000%
9999 0 to 1000%
with
Encoder
Speed
Factory Setting Setting Range
0.333s
9999
0 to 20s
with
Encoder
Speed
Factory Setting Setting Range
0s (without filter) 0 to 5s
9999 0 to 5s
SSC
)
Position
Setting Range
1 to 15
No tuning
With load estimation
Manual load input
without Condi-
tional PLC SSC
Encoder
)
Position
Speed
Remarks
Extended mode
,
9999
without Condi-
tional PLC SSC
Encoder
)
Position
Remarks
0 to 20s
Extended mode
,
9999
without
Condi-
tional PLC SSC
Encoder
)
Position
Remarks
Extended mode
,
9999
4