Adjustment Of The Servo Rigidity - Mitsubishi Electric FR-A5AP Instruction Manual

ORIENTATION CONTROL AT A MACHINE END— V500
6.5.5

Adjustment of the servo rigidity

Pr. 396 "orientation speed gain (P term)" (factory setting: 60)
Pr. 397 "orientation speed integral time" (factory setting: 0.333)
Pr. 398 "orientation speed gain (D term)" (factory setting: 1)
Pr. 362 "orientation position loop gain" (factory setting: 10)
To increase the servo rigidity
procedures.
1)Increase the Pr. 362 "orientation position loop gain" value to the extent that rocking does not occur
during orientation stop.
2)Increase Pr. 396 and Pr. 397 at the same rate.
Generally adjust Pr. 396 in the range from 10 to 100, and Pr. 397 from 0.1 to 1.0s. (Note that these
do not need to be set to the same rate.)
<Example>
When the Pr. 396 value is multiplied by 1.2, divide the Pr. 397 value by 1.2.
If vibration occurs during orientation stop, the scale cannot be raised any higher.
3)Pr. 398 is the lag/advance compensation gain.
The limit cycle can be provided by increasing the value, and the running can be stopped stably.
However, the torque in regard to the position deviation will drop, and the motor will stop with deviation.
POINT
Application of lag/advance control and PI control
PI control can be applied by setting Pr. 398 to 0. Normally, the lag/advance control is selected. Use
PI control in the following cases.
When using a machine with a high spindle stationary friction torque and requires a stopping position
precision.
*1
during orientation stop in Pr. 396 or Pr. 397, adjust with the following
*2
78