Mitsubishi Electronics FR-V500 Parameter, Easy gain tuning execution procedure, Start signal

Easy gain tuning

4.5 Easy gain tuning

The ratio of the load inertia to the motor inertia (load inertia moment ratio) is estimated in real time from the torque command and speed during motor operation to automatically set the optimum gains for speed control/ position control from that ratio and response level setting.

4.5.1Parameter

Parameter	Name	Factory	Setting Range	Remarks
		Setting
818	Easy gain tuning	2	1 to 15	Set the response level.
	response level setting			1: Slow response to 15: Fast response
				0: No tuning
819	Easy gain tuning	0	0, 1, 2	1: With load estimation, with gain calculation
	selection			2: Manual load input (Pr. 880), with gain
				calculation

4.5.2Easy gain tuning execution procedure

(1)Setting the response level in 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.

Pr. 818 setting	1	2	3	4	5	6	7	8	9	10 11	12	13		14	15
Response level	Slow							Middle					Fast
	response							response					response

Guideline of machine

resonance frequency 8 10 12 15 18 22 28 34 42 52 64 79 98 122 150 (Hz)

Large conveyor	General machine
	tool, conveyor

Arm robot

Precision

machine tool

(2) Setting easy gain tuning enable in Pr. 819 "easy gain tuning selection"

Pr. 819 Setting		Description
0	•	Easy gain tuning is invalid.
(factory setting)	•	None of the load inertia ratio, position control gain and speed control gain values are updated.
	•	Easy gain tuning is valid.
	•	Each control gain is automatically set from the load inertia ratio estimated during acceleration/
1		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.
	•	Used when the load inertia ratio cannot be estimated well due to load disturbance and such or when
2		the load inertia ratio is known in advance, for example. At this time, the load inertia ratio is not
		estimated and each control gain is automatically set from the Pr. 880 "load inertia ratio" setting and
		Pr. 818 "easy gain tuning response level setting" value.

(3) Start signal

Press FWD or REV to estimate the load inertia ratio or calculate gain any time. (The operation command for external operation is the STF or STR signal.)

REMARKS

When "1 or 2" is set in Pr. 819 "easy gain tuning selection" and then returned to "0", tuning results which are automatically set in each parameter remain unchanged.

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