Mitsubishi Electric FR-A700 Instruction Manual page 153

Basic settings
Easy gain tuning execution procedure (Pr. 819 = 1 load inertia ratio automatic estimation)
Easy gain tuning (load inertia ratio automatic estimation) is valid only in the speed control or po-
sition control mode under vector control. It is invalid under torque control, V/f control, advanced
magnetic flux vector control and real sensorless vector control.
Set the response level using Pr. 818 "Easy gain tuning response level setting". Refer to the
diagram below and set the response level. Increasing the value will improve trackability to
the command, but too high value will generate vibration.
Response level
Guideline of machine
resonance frequency [Hz]
Tab. 5-7: Response level setting
Each control gain is automatically set from the load inertia ratio estimated during accelera-
tion/deceleration operation and the Pr. 818 "Easy gain tuning response level setting" value.
Pr. 880 "Load inertia ratio" is used as the initial value of the load inertia ratio for tuning.
Estimated value is set in Pr. 880 during tuning. 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 approx. 30 times or less.
– No gear backlash nor belt looseness is found.
Press the FWD or REV key to estimate the load inertia ratio or calculate gain any time. (The
operation command for external operation is the STF or STR signal.)
FR-A700 EC
Pr. 818 1
Slow response
8
Application
2 3 4 5 6
Middle response
10 12 15 18 22 28
Large
conveyor
Arm robot
Simple mode parameter list
7 8 9 10 11 12
34 42 52 64 79
General machine
tool, conveyor
Precision
machine tool
13 14 15
Fast response
98 122 150
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