Speed Control; Outline Of Speed Control - Mitsubishi Electric FR-E700EX Instruction Manual

Speed control

4.4

Speed control

Purpose
To adjust gain for speed control
To enhance the trackability of the
motor in response to a speed
command change
To avoid mechanical resonance
To adjust gain for PM motor control
To improve the acceleration/
deceleration characteristics
4.4.1

Outline of speed control

(1) Control block diagram
Terminal 2
Terminal 4
RL
RM
RH
REX
Option
Operation panel
[Pr.802 = 1]
Servo lock
Zero speed control
[Pr.802 = 0]
DC Injection
Speed feed forward control
Model adaptive
[Pr.877 = 1]
MM-GKR motor
A
[Pr.877 = 2]
S-PM geared
[Pr.877 = 0]
motor
78
Gain adjustment
Speed feed forward control,
model adaptive speed control
Notch filter
Gain adjustment
Wiring resistance
Terminal 2 bias [C2, C3 (Pr.902 )]
AU
Terminal 2 gain [Pr.125, C4 (Pr.903 )]
Terminal 4 bias [C5, C6 (Pr.904 )]
Terminal 4 gain [Pr.126, C7 (Pr.905 )]
AU
Speed setting
filter [Pr.74 ]
Multi-speed
selection
[Pr.4 to 6,
24 to 27,
232 to 239 ]
Maximum/minimum setting
[Pr.1]
[Pr.2]
MM-GKR motor
SON/LX
S-PM geared
motor
Decelerates to stop
Load inertia ratio Speed feed
J s forward gain
[Pr.880 ] [Pr.881 ]
speed control
J [Pr.880 ]
Torque
coefficient
Model speed
calculation
1
Model speed
+
control gain
J s
- [Pr.828 ]
Parameter to set
Acceleration/deceleration processing
[Pr.7 ]
[Pr.8 ]
[Pr.11 ]
Speed feed forward
Speed feed
torque limit
forward
[Pr.879 ]
filter [Pr.878 ]
Speed
+
control
P gain
Speed
-
[Pr.820 ]
control
X44
integral
[Pr.821 ]
X44 Integration cleared to 0
0
Speed
estimation
[Pr.730 ]
Pr.820, Pr.821
Pr.828, Pr.877 to Pr.881
Pr.862, Pr.863, Pr.871
Pr.730, Pr.824, Pr.825
Pr.658
Analog
input
selection
[Pr.73]
Terminal 4
input
selection
[Pr.267]
Running
During stop
Torque limit
+
Notch
+
+
filter
[Pr.862 ]
+
[Pr.863 ]
[Pr.871 ]
time
RT
[Pr.22 ]
[Pr.48 ]
RT
Refer to page
80
83
85
86
87
Operation Mode
[Pr.79 ]
A
Torque
Motor
control
[Pr.824 ]
[Pr.825 ]