Position Control Gain Adjustment - Mitsubishi Electric FR-A820-00046 Instruction Manual

Parameters
5.5.9

Position control gain adjustment

Easy gain tuning is provided as an easy tuning method. For details about easy gain tuning, refer to
page 5-72.
If it does not produce any effect, make fine adjustment by using the following parameters.
Set "0" to Pr. 819 "Easy gain tuning selection" before setting the following parameters.
Pr.
422
B003
1298
B013
423
B004
425
B006
446
B012
828
G224
877
G220
880
C114
Position control gain (Pr. 422, Pr. 1298)
● Make adjustment when any of such a phenomena as unusual vibration, noise and overcurrent of
the motor/machine occurs.
● Increasing the setting improves traceability for the position command and also improves servo
rigidity at a stop, but oppositely makes an overshoot and vibration more liable to occur.
● Normally set this parameter within the range about 5 to 50.
Movement  condition
Response is slow.
Overshoot, stop-time vibration
or other instable phenomenon
occurs.
Tab. 5-70:
FR-A800
Position control under vector control and PM sensorless vector control
Name Initial value Setting range Description
Position control gain
Second position control
gain
Position feed forward gain
Position feed forward
command filter
Model position control
gain
Model speed control gain
Speed feed forward
control/model adaptive
speed control selection
Load inertia ratio
How to adjust Pr. 422
Increase the setting value.
Increase the setting value by 3 s
vibration or other instable phenomenon occurs, and set about 80 to 90% of that value.
Lower the setting value.
Lower the setting value by 3 s
vibration or other instable phenomenon does not occur, and set about 80 to 90% of that
value.
Setting of parameter 422
Vector Vector Vector PM PM PM
-1 -1
Set the gain for the position loop.
25 s 0 to 150 s
-1 -1
Set the position loop gain for the second motor.
25 s 0 to 150 s
Function to cancel a delay caused by the droop
0% 0 to 100%
pulses in the deviation counter.
Input the first delay filter for the feed forward
0 s 0 to 5 s
command.
-1 -1
Set the gain for the model position controller.
25 s 0 to 150 s
60% 0 to 1000% Set the gain for the model speed controller.
0, 1 Perform position feed forward control.
0
2 Model adaptive position control becomes valid.
7-fold 0 to 200-fold Set the load inertia ratio for the motor.
-1
until immediately before an overshoot, stop-time
-1
until immediately before an overshoot, stop-time
5 - 189