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Fine Adjustment Of Gains For Speed Control; Control Block Diagram - Mitsubishi Electric FR-V560 Instruction Manual

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2.3 Fine adjustment of gains for speed control

If easy gain tuning does not provide high accuracy, refer to the next page and make adjustment.
Make adjustment when vibration, noise or any other unfavorable phenomenon occurs due to large load inertia or
gear backlash, for example, or when you want to exhibit the best performance that matches the machine.
2.3.1

Control block diagram

Speed
Pr.902
"speed setting No. 2 bias"
No.1 terminal at
Pr.903
setting Pr.868="0"
"speed setting No. 2 gain"
No.1
No.2
Pr.902 "speed setting No. 2 bias"
Pr.903 "speed setting No. 2 gain"
RT
Pr.822
Speed
setting filter
Pr.832
RH
RM
RL
REX
Option
PU04V
DU04
--1
Speed feed
forward/model
adaptive speed
control selection
RT
Pr.877
OFF
1
Speed feed
forward control
2
Model adaptive
speed control
2
0
ON
1
No.3
Pr.826
Torque
setting filter
Pr.836
Speed setting
Operation
signal
mode
Pr.73
Pr.79
4,14
+ +
0,10
Override
OFF
ON
Speed feed
forward
Speed feed
Load inertia
torque control
ratio
forward gain
Pr.880
Pr.881
Pr.879
+
Model speed
control gain
-
Pr.828
J (Pr.880)
Torque factor
RT
Speed control
OFF
+
P gain 1
ON
-
Pr.820
Speed control
P gain 2
Pr.830
RT
Pr.904 Torque
command No. 3 bias
Pr.905 Torque
command No. 3 gain
Fine adjustment of gains for speed control
Maximum, minimum
speeds
FWD
STF
Pr.1
Speed
jump
Pr.2
Pr.31 to
Pr.36
*
Pre-excitation
Pr.7, Pr.8
Pr.802
Pr.44, Pr.45 RT ON
0 : 0 speed control
Pr.110, Pr.111 X9 ON
Pr.16 Jog acceleration/
1 : Servo lock
deceleration
Speed feed
forward filter
Pr.878
Model speed calculation
1
J·s
1
2
Pr.877
+
+
Speed control
X44 OFF
integral time 1
Pr.821
X44 ON
0
Integration cleared to 0
Speed control
X44 OFF
integral time 2
Pr.831
X44 ON
0
Integration cleared to 0
:
Parameters automatically tuned when tuning
is selected in Pr.819 "easy gain tuning". Refer
to the Instruction Manual (basic) for details.
47
REV
*
STR
Acc/dec
Starting speed
processing
Pr.13
LX
Pr.29, Pr.20, Pr.21
Pr.140 to Pr.143
Pr.380 to Pr.383
Torque bias
Pr.840 to Pr.848
Torque
Torque
restriction
restriction
input
method
Pr. 22,
selection
Pr.812
(Torque control)
to Pr.817
Pr.810
Current control of iq
0
+
Encoder
1
RT
Speed
OFF
Pr.823
detection filter
ON
Pr.833
2
IM

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