Pr. 820, 830
Pr. 828, 877 to 881
Speed loop proportional gain setting Pr.820 Speed control P gain 1
Sensorless
Pr.830 Speed control P gain 2
Set the proportional gain of the speed loop. Increasing the gain enhances the speed response level and decreases the speed fluctuation relative to disturbance, but a too large gain will produce vibration and/or sound. The setting range of Pr.820 Speed control P gain 1 and Pr.830 Speed control P gain 2 is 0 to 1000% and the initial value is 60%. For general adjustment, set them within the range 20 to 200%.
Pr. 821, 831 Speed control integral time setting Pr.821 Speed control integral time 1
Sensorless
Pr.831 Speed control integral time 2
Set the integral compensation time of the speed loop. If speed fluctuation occurs relative to disturbance, decreasing the value shortens the recovery time, but a too small value will cause a speed overshoot. A large value improves stability but increases the recovery time (response time) and may cause an undershoot.
Pr. 822
Refer to the section about Pr.74.
Pr. 824, 834 Current loop proportional gain setting Pr.824 Torque control P gain 1
Sensorless
Pr.834 Torque control P gain 2
Set the current loop integral compensation time for vector control. A small value enhances the torque response level, but a too small value will cause current fluctuation.
Pr. 825, 835 Current control integral time setting Pr.825 Torque control integral time 1
Sensorless
Pr.835 Torque control integral time 2
Set the proportional gain of the speed loop. Increasing the gain enhances the speed response level and decreases the speed fluctuation relative to disturbance, but a too large gain will produce vibration and/or sound. The setting range of Pr.820 Speed control P gain 1 and Pr.830 Speed control P gain 2 is 0 to 1000% and the initial value is 60%. For general adjustment, set them within the range of 20 to 200%.
Pr. 826
Refer to the section about Pr.74.
Pr. 827, 837 Torque detection filter function Pr.827 Torque detection filter 1
Sensorless
Pr.837 Torque detection filter 2
Set the time constant of the primary delay filter relative to the torque feedback signal. Since the current loop response reduces, use it with the initial value.
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When setting parameters, refer to the instruction manual (applied) and understand instructions.
Speed feed forward control, model adaptive speed control Sensorless Pr.828 Model speed control gain Pr.877 Speed feed forward control/model adaptive speed control selection Pr.878 Speed feed forward filter Pr.879 Speed feed forward torque limit Pr.880 Load inertia ratio Pr.881 Speed feed forward gain
By making parameter setting, select the speed feed forward control or model adaptive speed control. The speed feed forward control enhances the trackability of the motor in response to a speed command change. The model adaptive speed control enables individual adjustment of speed trackability and motor disturbance torque response. Pr.877 Setting 0 (initial value) 1 2
Description Normal speed control is exercised. Speed feed forward control is exercised. Model adaptive speed control is enabled.
(1) Speed feed forward control ⋅ Calculate required torque in responce to the acceleration/ deceleration command for the inertia ratio set in Pr.880 and generate torque immediately. ⋅ When the speed feed forward gain is 100%, the calculation result of the speed feed forward is reflected as-is. ⋅ If the speed command changes suddenly, large torque is generated due to the speed feed forward calculation. The maximum value of the speed feed forward is limitted using Pr.879. ⋅ Using Pr.878, the speed feed forward result can be dulled by the primary delay filter.
(2) Model adaptive speed control ⋅ The motor's model speed is calculated to feed back the model side speed controller. This model speed is also used as the actual speed controller command. ⋅ The inertia ratio in Pr. 880 is used for calculation of the torque current command value given by the model side speed controller. ⋅ The torque current command value of the model side speed controller is added to the output of the actual speed controller, and the result is used as the iq current control input. ⋅ Pr.828 is used for model side speed control (P control), and the first gain in Pr. 820 is used for the actual speed controller. The model adaptive speed control is valid for the first motor only. ⋅ When Pr.877 = 2, switching to the second motor handles the second motor as Pr.877 = 0.
Pr. 830
Refer to the section about Pr.820.
Pr. 831
Refer to the section about Pr.821.
Pr. 832
Refer to the section about Pr.74.
Pr. 834
Refer to the section about Pr.824.
Pr. 835
Refer to the section about Pr.825.
Pr. 836
Refer to the section about Pr.74.
Pr. 837
Refer to the section about Pr.827.
Pr. 849
Refer to the section about Pr.74.
Pr. 850
Refer to the section about Pr.10.