Other Functions - Toshiba TOSVERT VF-AS3 Manual

2.5 Other functions

2.5.1 How to set gains and limits of positioning control
• There are two types of gains of positioning control. The first gains (P gain: F362, I gain: F363, D gain: F366) and
the second gains (P gain: A314, I gain: A315, D gain: A318) can be switched with input terminal function 116/
117.
• Set the I gain and the D gain to 0 since only P control is used for positioning control normally.
Set approximately "500 x number of pole pairs of the motor/F375 (number of encoder pulses)" for the P gain.
If it takes time for the position to be settled during positioning control, increase the P gain by 0.1. If vibration
occurs after the position is settled, decrease the P gain by 0.1.
• By setting A526, feed forward control can be performed.
The output is A526 (%) x amount of change of position command + PID output.
• The upper/lower limit can be set for the deviation. (Upper limit: A516, A517, lower limit: -A516, A517)
• In the case of positioning control by pulse train input (A510=2, 3), a limit can be set with ±A538 for the frequency
target value calculated in PID control.
(In the case of positioning control by multi-step point (A510=1), the frequency target value is limited with ±UL.)
2.5.2 How to set electronic gears
If the unit of the target position at the time of multi-step point setting or the unit of the number of input pulses at the
time of pulse train input is different from the unit of the feedback pulses, setting of the electronic gears (A524,
A525) is required.
• Set the number of encoder feedback pulses for one rotation of the motor in A524 and the number of position
command pulses for one rotation of the motor in A525. (Multiply A524 and A525 as necessary to become an
integer)
• The electronic gear setting is valid for the upper/lower limit of the target position (A512 and A513, and A514 and
A515).
(Setting example)
For example, if there is a machine that moves for 432 mm in one rotation of the motor and has an encoder with
1024 pulses for one rotation, the target position can be input by 1 mm instead of the number of encoder pulses by
setting A524=1024 and A525=432.
For example, in the case of multi-step point setting, the machine can be moved 10000 mm if desired, by setting
A544=1 and A545=0. In the case of pulse train input, it can be realized by inputting 10000 pulses.
When the limit of the target value should be set to ±500000 mm, it can be realized by setting A512=50, A513=0,
A514=50, and A515=0.
(Caution)
• The ratio of the electronic gear (A524/A525) should be in the range of 1/20 to 50.
• If the electronic gear ratio is 1, set the target position at the time of multi-step point setting or the number of input
pulses at the time of pulse train input with the unit of feedback pulses.
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