Mitsubishi Electric A800 Plus Series Function Manual page 55

Parameter setting procedure for dancer feedback speed control
3
Easy gain tuning (tuning with the minimum diameter-roll)
When Pr.819 Easy gain tuning selection = "1", the load inertia
ratio is estimated during acceleration/deceleration, and the gain
for each control is set automatically from this value and the value
1
of Pr.818 Easy gain tuning response level setting. Use Pr.880
Load inertia ratio as the initial value for tuning. During tuning,
the estimated value is set in Pr.880.
Press the FWD or REV key to calculate the continuous load
inertia ratio, or calculate the gain.
2
(The operation command during External operation is the STF or
STR signal.)
Start and stop the inverter repeatedly until the Pr.820 and Pr.880
3
settings are stabilized.
NOTE
• When Pr.819 = "1 or 2" is set, even if the Pr.819 setting value is returned to "0" after tuning is performed, the data that was set
in each parameter is retained in the tuning results.
• If good precision cannot be obtained even after executing easy gain tuning, because of external disturbances or other
reasons, perform fine adjustment manually. At this time, set the Pr.819 setting to "0" (no easy gain tuning).
• The calculation of the load inertia ratio may take excessive time or otherwise not be performed properly if the following
conditions are not satisfied.
- The time in acceleration/deceleration driving until 1500 r/min is reached in 5 s or less.
- The rotation speed in driving is 150 r/min or higher.
- The acceleration/deceleration torque is 10% or higher.
- No sudden external disturbances during acceleration/deceleration.
- The load inertia ratio is about 30-fold or lower.
- No gear backlash or belt sagging.
• If the load inertia ratio is known in advance during vector control, the tuning procedure for Real sensorless vector control
operation is applicable by setting "2" in Pr.819.
4
Gain adjustment (tuning with the minimum diameter-roll)
After the easy gain tuning, increase the Pr.818 setting and perform easy gain tuning again.
Gradually increase the Pr.818 setting and repeat the procedure. In the end, set the value measured shortly
before vibration occurs in Pr.818.
Then, perform easy gain tuning again, and set the automatically set final Pr.820 value in Pr.641 Speed control
proportional gain 1.
5
Installation of the maximum-diameter roll
Install the maximum-diameter roll.
6
Tuning with the maximum-diameter roll
Perform easy gain tuning in the same way used for the tuning with the minimum-diameter roll.
Take a note of the Pr.820 value and set it in Pr.644 Speed control proportional gain 4.
54
DANCER FEEDBACK SPEED CONTROL
Vector control
Real sensorless vector control
Vector control with the load inertia ratio manual input
Set the load inertia ratio for the motor in Pr.880 Load inertia
ratio.
Set "2" (easy gain tuning enabled) in Pr.819 Easy gain tuning
selection. When set, Pr.820 Speed control P gain 1 and Pr.821
Speed control integral time 1 are set automatically. Operation is
performed with the adjusted gain from the next operation.
Perform a test run, and set the response level in Pr.818 Easy
gain tuning response level setting. Setting this parameter
higher improves the trackability for commands, but setting it too
high causes vibration. (The response level can be adjusted
during operation when Pr.77 Parameter write selection = "2"
(parameters can be written during operation).)