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5.3 Procedure of Adjusting the Unbalanced Load Compensation
1. Procedure of control parameter setting
Set the function code as follows.
Code Name
Data
setting
L05
ACR P Constant
1.5 to 4.0
*1
L06
ACR I Constant
0.80 ms
L65
Unbalanced Load Compensation (Operation)
1 (Enable)
L68
Unbalanced Load Compensation (ASR P constant)
4.00
*2
L69
Unbalanced Load Compensation (ASR I constant)
0.010s
*2
L73
Unbalanced Load Compensation (APR Gain)
3.00
*2
*1
Calculate the setting value of L05 as follows.
n
n
V
L
×
I
×
3
×
2.5
=
L05
L: Motor Inductance [mH] the value of small one among Ld and Lq.
Vn: Motor Rated Voltage [V] (F05)
In: Motor Rated Current [A] (P03)
*2
Adjust the following parameters to eliminate vibration, and the rollback becomes small.
The following table shows the tendency to the phenomenon by setting of the parameter.
Function Code
Code Setting
value
Rollback
Vibration generation
probability
Condition
Too small
Small
High
1
L69
ASR I
Too big
Big
Low
2
Too small
Big
Low
3
L73
APR Gain
Too big
Small
High
4
Set L68 to the same value as L38.
2. Procedure of timing adjustment
Unbalanced load compensation requires keeping the reference speed (pre-ramp) at 0.00 r/min and releasing the brake
during unbalanced load compensation is activated (that is, during the activation timer setting specified by L66).
If the reference speed (pre-ramp) other than 0.00 r/min is entered before the time length specified by L66 elapses,
unbalanced load compensation immediately finishes.
