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175
Control system functions (Pr. 818 to Pr. 837)
P
A
RAMETERS
3
3.32 Control system functions (Pr. 818 to Pr. 837)
3.32.1 Easy gain tuning selection (Pr. 818, Pr. 819
)
Refer to the Instruction Manual (basic) for details.
3.32.2 Speed loop proportional gain setting (Pr. 820, Pr. 830
)
z 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.
disturbance, but a too large gain will produce vibration and/or sound.
z 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
factory setting is 60%. For general adjustment, set them within the range of 20 to 200%.
3.32.3 Speed control integral time setting (Pr. 821, Pr. 831
)
z 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.
small value will cause a speed overshoot.
A large value improves stability but increases the recovery time (response time) and may cause an undershoot.
3.32.4 Speed setting circuit filter function (Pr. 822, Pr. 832
)
The ratio of load inertia to motor inertia (load inertia moment ratio) is estimated in real time from the torque
command and speed during motor operation, and this value is used to automatically set the optimum gain for
speed/position control, reducing the time and effort of making gain adjustment.
Parameter
Name
Factory Setting
Setting Range
818
Easy gain tuning response level setting
2
1 to 15
819
Easy gain tuning selection
0
0
No tuning
1
With load estimation
2
Manual load input
Related parameters
• Adjusted gains
⇒ Pr. 820 "speed control P gain 1", Pr. 821 "speed control integral time 1", Pr. 828 "model speed control gain",
Pr. 422 "position loop gain"
• Adjusted load inertia ratio
⇒ Pr. 880 "load inertia ratio"
Parameter
Name
Factory Setting
Setting Range
Remarks
820
Speed control P gain 1 (when RT signal is off)
60%
0 to 1000%
Extended mode
830
Speed control P gain 2 (when RT signal is on)
9999
0 to 1000%
,
9999
REMARKS
1. The response level will be worse when the coupling is loose.
2. When performing positioning, increase the setting to enhance accuracy.
3. Decrease the setting when there is gear backlash, etc.
2. When performing positioning, increase the setting to enhance accuracy.
3. Decrease the setting when there is gear backlash, etc.
Parameter
Name
Factory Setting
Setting Range
Remarks
821
Speed control integral time 1 (when RT signal is off)
0.333s
0 to 20s
Extended mode
831
Speed control integral time 2 (when RT signal is on)
9999
0 to 20s
,
9999
REMARKS
You can switch between PI control and P control under speed control using the X44 signal. (Refer to page 34.)
Set the time constant of the primary delay filter relative to the external speed command (analog input
command).
Set a large time constant when you want to delay the tracking of the speed command, when the analog input
voltage fluctuates, etc.
Parameter
Name
Factory Setting
Setting Range
Remarks
822
Speed setting filter 1 (when RT signal is off)
0s (without filter)
0 to 5s
Extended mode
832
Speed setting filter 2 (when RT signal is on)
9999
0 to 5s
,
9999
speed
position
speed
position
speed
position
speed
position