Mitsubishi Electric FR-V500 Series Instruction Manual page 51

Easy gain tuning
4.5.3 Precautions for easy gain tuning
(1) Checking the Pr. 800 "control method selection" value
Easy gain tuning is valid only for the speed control/position control mode under vector control with
encoder.
It is invalid for torque control and V/F control.
Pr. 800 Setting
0
1
2
Vector control
with encoder
3
4
5
9 Vector control test operation
20 V/F control
(2) Load inertia ratio estimation limit conditions
When "1" is set in Pr. 819 "easy gain tuning selection", the load inertia ratio may not be estimated well, e.g. it
takes a long time for estimation, if the following conditions are not satisfied.
• Time taken for acceleration/deceleration to reach 1500r/min is 5s or less.
• Speed is 150r/min or more.
• Acceleration/deceleration torque is 10% or more of the rated torque.
• Abrupt disturbance is not applied during acceleration/deceleration.
• Load inertia ratio is about 30 times or less.
• No gear backlash nor belt looseness is found.
4.5.4 Automatically set parameters by easy gain tuning
Parameter Name
422 Position loop gain
820 Speed control P gain 1
821 Speed control integration time
828 Model speed control gain
880 Load inertia ratio
REMARKS
Operation when the first or second function is selected
Load inertia estimation and gain calculation are performed only when the RT terminal is off. The gain calculated is also
reflected only on these parameters. When the RT terminal is on, both the inertia estimation value and gain remain unchanged
from the previous values.
When some adjustments are required after executing easy gain tuning due to disturbance and such,
perform fine adjustment (adjustment of Pr. 820, Pr. 821) by manual input. (Set "0" (without gain tuning) in
Pr. 819 "easy gain tuning".)
If the fast responsiveness to the speed command is desired, consider exercising speed feed forward
control or model adaptive speed control. Refer to the Instruction Manual (detailed) for details.
Drive System Control Mode
Speed control
Torque control
Speed-torque switchover
Position control
Speed-position switchover
Position-torque switchover
Speed control
Factory Setting
1
60%
0.333s
60%
7
Valid
Invalid
When speed is selected:
When torque is selected:
Valid
Valid
When position is selected:
When torque is selected:
Invalid
Invalid
Setting Range
0 to 150 Valid during position control (1/s)
0 to 1000% 100%:200rad/s
0 to 10s
0 to 1000% Valid during model adaptive control
Setting value when easy gain tuning load
estimation is performed
0, 1 to 200 times Inertia ratio with load only
(with reference to the inertia ratio of
Mitsubishi motors )
48
Easy Gain Tuning
Valid
Invalid
Valid
Invalid
Remarks