Setting the torque limit level .........................................................................................................................154

5.3.5

Performing high-accuracy, fast-response control (gain adjustment for Real sensorless vector control, vector

control and PM sensorless vector control) ...................................................................................................164

5.3.6

Troubleshooting in the speed control ...........................................................................................................171

5.3.7

Speed feed forward control and model adaptive speed control ...................................................................173

5.3.8

Torque bias ..................................................................................................................................................175

5.3.9

Avoiding motor overrunning .........................................................................................................................179

5.3.10

Notch filter ....................................................................................................................................................181

5.4

Torque control under Real sensorless vector control and vector control

5.4.1

Torque control...............................................................................................................................................182

5.4.2

Setting procedure of Real sensorless vector control (torque control) ..........................................................187

5.4.3

Setting procedure for vector control (torque control) ...................................................................................189

5.4.4

Torque command .........................................................................................................................................190

5.4.5

Speed limit ...................................................................................................................................................195

5.4.6

Torque control gain adjustment ...................................................................................................................201

5.4.7

Troubleshooting in torque control ................................................................................................................202

5.4.8

Torque control by variable-current limiter control ........................................................................................203

5.5

Position control under vector control

5.5.1

About position control ..................................................................................................................................204

5.5.2

Setting procedure of vector control (position control) ..................................................................................206

5.5.3

Simple positioning function by parameters ..................................................................................................207

5.5.4

Position control by the FR-A8AL pulse train input .......................................................................................222

5.5.5

Position control by inverter pulse train input ................................................................................................225

5.5.6

Clear signal selection....................................................................................................................................226

5.5.7

Pulse monitor ...............................................................................................................................................227

5.5.8

Electronic gear setting .................................................................................................................................232

5.5.9

Position adjustment parameter settings .......................................................................................................234

5.5.10

Position control gain adjustment ..................................................................................................................236

5.5.11

Troubleshooting in position control ..............................................................................................................237

5.6

Real sensorless vector control, vector control, PM sensorless vector control adjustment

5.6.1

Speed detection filter and torque detection filter .........................................................................................239

5.6.2

Excitation ratio .............................................................................................................................................240

5.6.3

Gain adjustment of current controllers for the d axis and the q axis ............................................................240

5.7

(E) Environment setting parameters

5.7.1

Real time clock function................................................................................................................................242

5.7.2

Reset selection/disconnected PU detection/PU stop selection ....................................................................244

5.7.3

PU display language selection......................................................................................................................247

5.7.4

Buzzer control...............................................................................................................................................247

5.7.5

PU contrast adjustment ................................................................................................................................248

5.7.6

Extended direct setting .................................................................................................................................248

5.7.7

Resetting USB host errors ............................................................................................................................249

5.7.8

Multiple rating setting....................................................................................................................................249

5.7.9

Parameter write selection .............................................................................................................................251

5.7.10

Password function ........................................................................................................................................253

5.7.11

Free parameter .............................................................................................................................................255

5.7.12

Setting multiple parameters as a batch ........................................................................................................255

5.7.13

Extended parameter display and user group function ..................................................................................259

5.7.14

Parameter copy alarm release......................................................................................................................260

5.7.15

PWM carrier frequency and Soft-PWM control.............................................................................................261

5.7.16

Inverter parts life display...............................................................................................................................262

147

182

204

239

241

CONTENTS