Adjusting The Speed Control Gain (Pr.820, Pr.821) <Ipm - Mitsubishi Electric FR-F720P-0.75K to 110K Instruction Manual

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IPM motor control <IPM>
4.3.4
Adjusting the speed control gain (Pr.820, Pr.821)
Manual adjustment of gain is useful to exhibit the optimum performance of the machine or to improve
unfavorable conditions such as vibration and acoustic noise during the operation with high load inertia or gear
backlashes.
Parameter
Number
820
Speed control P gain 1
821
Speed control integral time 1
The above parameters can be set when Pr.160 User group read selection = "0." (Refer to page 201)
(1) 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.
Proportional gain
200(100)rad/s
50(25)rad/s
25%
(Initial setting)
* The values for 75K or higher are indicated in
parenthesis.
· Actual speed gain is calculated as below when load inertia is applied.
Load fluctuation
Speed
Actual speed gain = Speed gain of a single motor
84
Initial
Name
value
0.333s
· Pr.820 Speed control P gain 1 = "25% (initial setting)" is equivalent to
50rad/s (speed response of a single motor). (Half the value for 75K 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
Pr.820
to the original speed at a speed fluctuation, but setting it too low causes
Setting
100%
overshoot.
Setting the integral time lower shortens the return time here.
×
Setting
range
The proportional gain during speed control is set.
(Setting this parameter higher improves the
0 to
25%
trackability for speed command changes. It also
1000%
reduces the speed fluctuation due to a load
fluctuation.)
The integral time during speed control is set.
(Setting this parameter lower shortens the return
0 to 20s
time to the original speed when the speed fluctuates
due to a load fluctuation.)
Setting the proportional gain higher
speeds up the response and reduces the speed fluctuation here.
JM
JM: Motor inertia
JM+JL
JL: Load inertia converted as the motor axis inertia
IPM
IPM
IPM
< I P M >
Operation

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