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Fine Adjustment For Torque Control; Control Block Diagram - Mitsubishi Electric FR-V560 Instruction Manual

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Fine adjustment for torque control

2.5 Fine adjustment for torque control
Current loop gain parameter for adjusting torque control operation state is available with the FR-V500 series. Stable
operation is possible with the factory-set parameter.
Refer to the next page and adjust the parameters when torque pulsation or any other unfavorable phenomenon
occurs depending on the machine and operating conditions or when you want to exhibit the best performance that
matches the machine.
2.5.1

Control block diagram

No. 3
Pr.826
Torque
setting filter
Pr.836
Pr.805 torque command value/RAM
Parameter
Pr.806 torque command value/E
FR-V5AP
Pulse
train
option
Pr.432 pulse train torque command bias
Pr.433 pulse train torque command gain
Pr.805 torque command value/RAM
FR-A5NC
Pr.806 torque command value/E
option
Pr.447 digital torque command bias
FR-A5AX
Pr.448 digital torque command gain
digital
Pr.902 speed
input
speed restriction selection
setting No. 2
option
bias
Pr.903 speed
setting No. 2
gain
No. 2
No. 1
Pr. 917 No. 1
terminal bias
Pr. 918 No. 1
terminal gain
Speed
RT
setting filter
OFF
Pr.822
ON
Pr.832
RH
Pr. 808 forward
rotation speed
RM
restriction
Pr. 809 reverse
RL
rotation speed
restriction
REX
Speed restriction
direct setting
PU
Torque command right selection
Pr.804
0
RT
OFF
Pr. 904, torque
ON
command No. 3 bias
Pr. 905, torque
command No. 3 gain
1
2
PROM
2
2
3
PROM
4
Pr. 807
Max./min. speed
0
External
Pr.1
Acc/dec
PU
processing
Pr.2
*
Pr.79
2
PU/external
*
Pr.7, Pr.8
Pr.44, Pr.45 RT ON
Pr.110, Pr.111 X9 ON
Pr.16 Jog acceleration/
deceleration
0
1
0
Speed
feedback
< speed
RT
restriction
Constant output
OFF
value
region torque
+
characteristic
-
selection
Pr.803
Torque
detection filter
Pr.827
Pr.837
+
Speed
control
-
Speed feedback
speed restriction value
Pr.29, Pr.20, Pr.21
Pr.140 to Pr.143
Pr.380 to Pr.383
54
Torque
control
+
p gain 1
Torque control
Pr. 824
+
integral time 1
Torque
Pr. 825
control
ON
+
p gain 2
Torque control
Pr. 834
+
integral time 2
Pr. 835
RT
OFF
ON
IM
Encoder

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