Mitsubishi Electronics FR-V500 Easy gain tuning Precautions for easy gain tuning

Easy gain tuning

4.5.3Precautions for easy gain tuning

(1) Checking the Pr. 800 "control system selection" value

Easy gain tuning is valid only for the speed control/position control mode under PLG vector control.

It is invalid for torque control and V/F control.

Pr. 800 Setting	Drive System	Control Mode	Easy Gain Tuning
0		Speed control	Valid
1		Torque control	Invalid
2		Speed-torque switchover	When speed is selected:	Valid
			When torque is selected: Invalid
	PLG vector control
3		Position control	Valid
4		Speed-position switchover	Valid
5		Position-torque switchover	When position is selected:	Valid
			When torque is selected: Invalid
20	V/F control	Speed control	Invalid

(2) Load inertia estimation restriction conditions

When "1" is set in Pr. 819 "easy gain tuning selection", 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.

4.5.4Automatically set parameters by easy gain tuning

Parameter	Name	Factory Setting	Setting Range	Remarks
422	Position loop gain	1	0 to 150	Valid during position
				control (1/s)
820	Speed control P gain	60%	0 to 1000%	100%:200rad/s
821	Speed control	0.333s	0 to 10s
	integration time
828	Model speed control	60%	0 to 1000%	Valid during model
	gain			adaptive control
				Setting value when easy
880	Load inertia ratio	7	0, 1 to 200 times	gain tuning load estimation
				is performed
				Inertia ratio with load only

REMARKS

Operation when the first or second function is selected

Load inertia estimation and gain calculation are performed only when the RT terminal is off. The gain calculated is also reflected only on these parameters. When the RT terminal is on, both the inertia estimation value and gain remain unchanged from the previous values.

When some adjustments are required after executing easy gain tuning due to disturbance and such,

perform fine adjustment (adjustment of Pr. 820, Pr. 821) by manual input. (Set "0" (without gain tuning) in Pr. 819 "easy gain tuning".)

If the fast responsiveness to the speed command is desired, consider exercising speed feed forward control or model adaptive speed control. Refer to the Instruction Manual (detailed) for details.

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CONTROL

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