Position Control Gain Adjustment - Mitsubishi Electric FR-A800 Series Instruction Manual

Position detection level
Pr.1295

5.5.11 Position control gain adjustment

Vector Vector Vector PM PM PM
Easy gain tuning is provided as an easy tuning method. For details about easy gain tuning, refer to
If easy gain tuning does not produce any effect, make fine adjustments by using the following parameters.
Set "0" to Pr.819 Easy gain tuning selection before setting the following parameters.
Pr.
422
Position control gain
B003
1298
Second position control gain 25 s
B013
423
Position feed forward gain
B004
425 Position feed forward
B006 command filter
446
Model position control gain
B012
828
Model speed control gain
G224
Speed feed forward control/
877
model adaptive speed
G220
control selection
880
Load inertia ratio
C114
 Position loop 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.
 Position feed forward gain (Pr.423)
• This function is designed to cancel a delay caused by the droop pulses in the deviation counter. Set this parameter when
a sufficient position response cannot be obtained after setting Pr.422.
• When a tracking delay for command pulses poses a problem, increase the setting gradually and use this parameter within
the range where an overshoot or vibration will not occur.
• This function has no effects on servo rigidity at a stop.
• Normally set this parameter to 0.
• When setting Pr.423, set Pr.877 = "0 or 1" to enable position feed forward control.
328
5. PARAMETERS
5.5 Position control under vector control and PM sensorless vector control
Downloaded from ManualsNet.com
Position
[before electronic gear]
10000 + Pr.1294
FP
Name Initial value Setting range
-1
25 s
-1
0%
0 s
-1
25 s
60%
0
7-fold
Increase the setting value.
Increase the setting value by 3 s
stop-time vibration or other instable phenomenon does not occur, and set
about 80 to 90% of that value.
Lower the setting value.
Lower the setting value by 3 s
time vibration or other instable phenomenon does not occur, and set about
80 to 90% of that value.
search engine
Current position
ON ON
-1
Set the gain for the position loop.
0 to 150 s
-1
Set the position loop gain for the second motor.
0 to 150 s
Function to cancel a delay caused by the droop pulses in the
0 to 100%
deviation counter.
0 to 5 s Input the primary delay filter for the feed forward command.
-1
Set the gain for the model position controller.
0 to 150 s
0 to 1000% Set the gain for the model speed controller.
0, 1 Perform position feed forward control.
2 Model adaptive position control becomes valid.
0 to 200-fold Set the load inertia ratio for the motor.
How to adjust Pr.422
-1
until immediately before an overshoot,
-1
until immediately before an overshoot, stop-
Pr.1297
Pr.1297
Time
ON
page 254.
Description