Easy Gain Tuning - Mitsubishi Electric FR-V500 Series Instruction Manual

4.5 Easy gain tuning

The ratio of the load inertia to the motor inertia (load inertia moment ratio) is estimated in real time from the
torque command and speed during motor operation to automatically set the optimum gains for speed control/
position control from that ratio and response level setting.
4.5.1 Parameter
Parameter Name
Easy gain tuning
818
response level setting
Easy gain tuning
819
selection
4.5.2 Easy gain tuning execution procedure
(1) Setting the response level in Pr.
818 "easy gain tuning response
level setting"
Refer to the diagram on the right and
set the response level.
Increasing the value
trackability to the command, but too
high value will generate vibration. The
relationship between the setting and
response level are shown on the right.
(2) Setting easy gain tuning enable in Pr. 819 "easy gain tuning selection"
Pr. 819 Setting
• Easy gain tuning is invalid.
0
• None of the load inertia ratio, position control gain and speed control gain values are updated.
(factory setting)
• Easy gain tuning is valid.
• Each control gain is automatically set from the load inertia ratio estimated during acceleration/
1 deceleration operation and the Pr. 818 "easy gain tuning response level setting" value.
• Pr. 880 "load inertia ratio" is used as the initial value of the load inertia ratio for tuning. Estimated value
is set in Pr. 880 during tuning.
• Used when the load inertia ratio cannot be estimated well due to load disturbance and such or when the
load inertia ratio is known in advance, for example. At this time, the load inertia ratio is not estimated
2
and each control gain is automatically set from the Pr. 880 "load inertia ratio" setting (factory setting: 7)
and Pr. 818 "easy gain tuning response level setting" value.
CAUTION
• Performing easy gain tuning with larger inertia than the specified value during vector control may cause
malfunction such as hunting. In addition, when the motor shaft is fixed with servo lock or position control,
bearing may be damaged. To prevent these, make gain adjustment by manual input without performing easy
gain tuning.
(3) Start signal
Press or to estimate the load inertia ratio or calculate gain any time.
FWD REV
(The run command for external operation is the STF or STR signal.)
REMARKS
When "1 or 2" is set in Pr. 819 "easy gain tuning selection" and then returned to "0", tuning results which are automatically set
in each parameter remain unchanged.
Factory
Setting Range
Setting
2 1 to 15
0 0, 1, 2
Pr. 818 setting
Response level
Guideline of
mechanical
resonance
frequency(Hz)
will improve
47
Remarks
Set the response level.
1: Slow response to 15: Fast response
0: No tuning
1: With load estimation, with gain calculation
2: Manual load input (Pr. 880), with gain calculation
1 2 3 4 5 6 7 8
Middle
Slow
response response
8 10 12 15 18 22 28 34 42 52
Large conveyor
Arm robot
Description
Easy gain tuning
9 10 11 12 13 14 15
Fast
response
64 79 98 122 150
General machine
tool, conveyor
Precision
machine tool
4