Performing High-Accuracy, Fast-Response Control (Gain Adjustment) - Mitsubishi Electric FR-E800 Instruction Manual

5.5
Performing high-accuracy, fast-response control
(gain adjustment)
Sensorless Vector Sensorless Sensorless Vector Vector
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.
820
Speed control P gain 1
G211
821
Speed control integral time 1
G212
830
Speed control P gain 2
G311
831
Speed control integral time 2
G312
880
Load inertia ratio
C114
 Speed control gain adjustment
• The speed control gain can be adjusted for the conditions such as abnormal machine vibration, acoustic noise, slow
response, and overshoot.
• Setting 60% (initial value) in Pr.820 Speed control P gain 1 is equivalent to 120 rad/s (speed response of a single motor).
(Equivalent to the half the rad/s value during Real sensorless vector control.) 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
200 (100)rad/s
*1
120 (60)rad/s
*1
60%
(initial value
*1 The value in the parentheses is applicable under Real sensorless vector control.
*2 Performing PM parameter initialization changes the settings. (Refer to
• Actual speed gain is calculated as follows when load inertia is applied.
Load
fluctuation
Speed
Actual speed gain = Speed gain of a single motor
146
5. Speed Control

5.5 Performing high-accuracy, fast-response control (gain adjustment)

PM PM PM
Initial
Name
value
60%
0.333 s
9999
9999
7 times
Pr.820
Setting
100%
)
*2
Since increasing the proportional gain enhances the
response level and decreases the speed fluctuation.
Decreasing the integral time shortens the return time taken.
JM+JL
Setting
range
The proportional gain during speed control is set. (Setting this
parameter higher improves the trackability for speed command
0% to 1000%
changes. It also reduces the speed fluctuation caused by external
disturbance.)
The integral time during speed control is set. (Setting this
0 to 20 s parameter lower shortens the return time to the original speed
when the speed fluctuates due to external disturbance.)
0% to 1000% Second function of Pr.820 (valid when RT signal is ON)
9999 The Pr.820 setting is applied to the operation.
0 to 20 s Second function of Pr.821 (enabled when the RT signal is ON)
9999 The Pr.821 setting is applied to the operation.
0 to 200 times The load inertia ratio for the motor is set.
page 123.)
JM JM: Motor inertia
JL: Load inertia converted as the motor axis inertia
Description