47
Settings of speed control gain
Console
panel
monitor
display
Contents
Setting range (selecting item)
Setting
resolution
Initialized
data
Unit
7.ASrP
Speed control proportion gain (1)
1 to 50
1
15
-
8.ASri
Speed control integral time constant (1) 2 to 10000
1
40
msec
9.ASrJ
System inertia moment (1)
0 to 65535
1
10
gm
2
In the VF66B (DC motor drive), you can control speed with the MFC control which combines the feed forward
with the cancellation using the disturbance torque observer.
Speed control proportion gain(1) (7.ASrP)
Set the speed control proportion gain.
Speed control integral time constant(1)
(8.ASri)
Set the speed control integral gain equivalent
with a filter time constant.
System inertia moment(1) (9.ASrJ)
Set the inertia moment used for speed control
cancellation and feed forward in gm
2
.
Typically, input 20 to 100% of a value where
inertia moment of the motor itself is added to a
load inertia moment value converted to the
motor shaft.
In case of the gear rattle caused by large gear
backlash or the belt vibration connected motor
and load, take the following measures:
・
Set a smaller value.
・
Change the settings of the ASR cancelation
usage selection (i-14) and the ASR
feed-forward usage selection (i-15). Not use
the cancellation and feed forward.
*
For information on settings of the ASR
cancellation usage selection (i-14) and ASR
feed-forward usage selection (i-15), refer to
"6.10. Area i" in Chapter 6 and "7.10. Area i"
in Chapter 7.
Speed control block
7.2. Area A (Maximum Speed, Rated Motor, Parameters Setting Area)
In the area A, set the motor parameters required for control by VF66B (DC motor drive).
Before operating VF66B (DC motor drive), be sure to set each parameter for your motor and system.
Settings of maximum/minimum speeds of motor
Console
panel
monitor
display
Contents
Setting range (selecting item)
Setting
resolution
Initialized
data
Unit
A-00
Maximum speed
300 to 30000
1
1800
r/min
A-01
Minimum speed
0 to maximum speed (A-00)
1
0
r/min
Speed
command
Kp
Filter
Motor speed
G(s)
Js
／
(1+Tis)
+
+
+
+
-
+
-
Torque command
Speed control
integral time
constant
8.ASri
Speed control
proportion gain (1)
7.ASrP
Moment of inertia
of system
9.ASrJ
ASR cancellation usage
selection (i-14)
ASR feed-forward
usage selection
(i-15)
