100
Speed control by real sensorless vector
control, vector control
(2) 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
position control mode under vector control.
It is invalid under torque control, V/F control,
advanced magnetic flux vector control and real
sensorless vector control.
1) Set the response level using
Pr. 818 Easy gain
tuning response level setting
.
Refer to the diagram on the right and set the
response level.
Increasing the value will improve trackability
to the command, but too high value will
generate vibration. The relationship between
the setting and response level are shown on
the right.
2) Each control gain is automatically set from the
load inertia ratio estimated during
acceleration/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.
3) Press
or
to estimate the load inertia ratio or calculate gain any time. (The operation command for
external operation is the STF or STR signal.)
(3) Easy gain tuning execution procedure (
Pr.819
= "2" load inertia manual input)
Easy gain tuning (load inertia ratio manual input) is valid only in the speed control mode under real sensorless vector
control or in the speed control or position control mode under vector control.
1) Set the load inertia ratio to the motor in
Pr. 880 Load inertia ratio
.
2) Set "2" (with easy gain tuning) in
Pr. 819 Easy gain tuning selection
. Then,
Pr. 820 Speed control P gain 1
and
Pr. 821
Speed control integral time 1
are automaticaly set by gain calculation.
Operation is performed in a gain adjusted status from the next operation.
3) Perform a test run and set the response level in
Pr. 818 Easy gain tuning response level setting
. Increasing the value will
improve trackability to the command, but too high value will generate vibration. (When "2" (parameter write enabled
during operation) is set in
Pr. 77 Parameter write selection
, response level adjustment can be made during operation.)
REMARKS
· When "1 or 2" is set in
Pr. 819
and then returned the
Pr. 819
setting to "0" after tuning is executed, tuning results which are set in
each parameter remain unchanged.
· When good tuning accuracy is not obtained after executing easy gain tuning due to disturbance and such, perform fine
adjustment by manual input. Set "0" (without easy gain tuning) in
Pr. 819
.
Pr. 818
setting
Guideline of
mechanical resonance
frequency (Hz)
Response level
8
10 12 15 18 22 28 34 42 52 64 79
98 122 150
1
2
3
4
5
6 7
8
9 10 11 12
13 14 15
Slow
response
Fast
response
Middle
response
Large conveyor
Arm robot
Precision
machine tool
General machine tool,
conveyor
Summary of Contents for FR-A740-00023-EC
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