149
6. Torque Control
6.6 Torque control gain adjustment
1
2
3
4
5
6
7
8
9
10
6.6
Torque control gain adjustment
Operation is normally stable enough in the initial setting, but some adjustments can be made if abnormal vibration, noise or
overcurrent occur for the motor or machinery.
Current loop proportional (P) gain adjustment (Pr.824)
• The 100% current loop proportional gain is equivalent to 1000 rad/s during Real sensorless vector control or PM sensorless
vector control, and to 1400 rad/s during Vector control.
• For ordinary adjustment, try to set within the range of 50% to 500%.
• Set the proportional gain for during torque control.
• If setting value is large, changes in current command can be followed well and current fluctuation relative to external
disturbance is smaller. If the setting value is however too large, it becomes unstable and high frequency torque pulse is
produced.
Current control integral time adjustment (Pr.825)
• Set the integral time of current control during torque control.
• Torque response increases if set small; current however becomes unstable if set too small.
• If the setting value is small, it produces current fluctuation toward disturbance, decreasing time until it returns to original
current value.
Using two types of gain (Pr.834, Pr.835)
• Use
Pr.834 Torque control P gain 2 (current loop proportional gain) and Pr.835 Torque control integral time 2
(current loop integral time)
if the gain setting needs to be switched according to application or if multiple motors are
switched by a single inverter.
•
Pr.834 and Pr.835
is enabled when the second function selection (RT) signal is turned ON.
NOTE
• The RT signal is a second function selection signal which also enables other second functions. (Refer to
• To assign the RT signal, set "3" in any parameter from
Pr.178 to Pr.189 (Input terminal function selection)
.
Adjustment procedure
Adjust if any of phenomena such as unusual vibration, noise, current or overcurrent is produced by the motor or machinery.
1.
Change the
Pr.824
setting while checking the conditions.
Sensorless
Sensorless
Sensorless
Vector
Vector
Vector
PM
PM
PM
Pr.
Name
Initial value
Setting
range
Description
824
G213
Torque control P gain 1 (current loop
proportional gain)
100%
0% to 500% Set the current loop proportional gain.
825
G214
Torque control integral time 1 (current
loop integral time)
5 ms
0 to 500 ms Set current loop integral compensation time.
834
G313
Torque control P gain 2 (current loop
proportional gain)
9999
0% to 500%
Set the current loop proportional gain when RT signal is
ON.
9999
The
Pr.824
setting is applied to the operation.
835
G314
Torque control integral time 2 (current
loop integral time)
9999
0 to 500 ms
Set the current loop integral compensation time when
RT signal is ON.
9999
The
Pr.825
setting is applied to the operation.
Summary of Contents for FR-E800
Page 17: ...16 1 Introduction 1 3 Related manuals MEMO ...
Page 51: ...50 2 Basic Operation 2 8 I O terminal function assignment MEMO ...
Page 89: ...88 3 Parameters 3 4 Parameter list by function group number MEMO ...
Page 135: ...134 5 Speed Control 5 9 Troubleshooting in the speed control MEMO ...
Page 153: ...152 6 Torque Control 6 7 Troubleshooting in torque control MEMO ...
Page 195: ...194 8 E Environment Setting Parameters 8 18 Current average value monitor signal MEMO ...
Page 237: ...236 10 D Operation Command and Frequency Command 10 6 Operation by multi speed setting MEMO ...
Page 339: ...338 13 T Multi Function Input Terminal Parameters 13 9 Start signal operation selection MEMO ...
Page 455: ...454 16 G Control Parameters 16 13 Speed smoothing control MEMO ...
