Mitsubishi Electric 800 Series Instruction Manual page 156

5.3.2 Performing high-accuracy, fast-response control (gain
adjustment for PM motor control)
PM PM PM
Manual gain adjustment is useful for achieving optimum machine performance or improving unfavorable conditions, such as
vibration and acoustic noise during operation with high load inertia or gear backlash.
Pr. Name
820 Speed control P gain 1
G211
821 Speed control integral time 1 0.333 s
G212
824 Torque control P gain 1
G213 (current loop proportional
gain)
825 Torque control integral time
G214 1 (current loop integral time)
830 Speed control P gain 2
G311
831 Speed control integral time 2 9999
G312
834 Torque control P gain 2
G313 (current loop proportional
gain)
835 Torque control integral time
G314 2 (current loop integral time)
 Adjusting the speed control gain manually
• The speed control gain can be adjusted for the conditions such as abnormal machine vibration, acoustic noise, slow
response, and overshoot.
• Pr.820 Speed control P gain 1="25% (initial value)" is equivalent to 50 rad/s (speed response of a single motor).
(Equivalent to the half the rad/s value with the FR-F860-01080 or higher.) Setting this parameter higher speeds up the
response, but setting this too high causes vibration and acoustic noise.
• Setting Pr.821 Speed control integral time 1 lower shortens the return time to the original speed during speed fluctuation,
but setting it too low causes overshoot.
Proportional gain
∗1
200 (100) rad/s
∗1
50 (25) rad/s
25%
(initial value)
*1 The value in parentheses is applicable with the FR-F860-01080 or higher.
Initial value Setting range
25% 0 to 1000%
0 to 20 s
50% 0 to 500%
40 ms 0 to 500 ms
9999 0 to 1000%
9999
0 to 20 s
9999
9999 0 to 500%
9999
9999 0 to 500 ms
9999
Pr.820
Setting
100%
Description
The proportional gain during speed control is set. (Setting this
parameter higher improves the trackability for speed
command changes. It also reduces the speed fluctuation
caused by external disturbance.)
The integral time during speed control is set. (Setting this
parameter lower shortens the return time to the original speed
when the speed fluctuates due to external disturbance.)
The proportional gain of the current controller is set.
The integral time of the current controller is set.
Second function of Pr.820 (valid when RT signal is ON)
The Pr.820 setting is applied to the operation.
Second function of Pr.821 (valid when RT signal is ON)
The Pr.821 setting is applied to the operation.
Second function of Pr.824 (valid when RT signal is ON)
The Pr.824 setting is applied to the operation.
Second function of Pr.825 (valid when RT signal is ON)
The Pr.825 setting is applied to the operation.
5.3 Speed control under PM motor control
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5. PARAMETERS