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IPM motor control <IPM>
4.3.4 Adjusting the speed control gain (Pr.820, Pr.821)
<IPM>
The above parameters can be set when Pr.160 User group read selection = "0." (Refer to page 201)
(1) Adjusting the speed control gain manually
· The speed control gain can be adjusted for the conditions such as abnormal machine vibration, acoustic noise, slow
response, and overshoot.
· Actual speed gain is calculated as below when load inertia is applied.
Manual adjustment of gain is useful to exhibit the optimum performance of the machine or to improve
unfavorable conditions such as vibration and acoustic noise during the operation with high load inertia or gear
backlashes.
Parameter
Number
Name
Initial
value
Setting
range
Operation
820 Speed control P gain 1
25%
0 to
1000%
The proportional gain during speed control is set.
(Setting this parameter higher improves the
trackability for speed command changes. It also
reduces the speed fluctuation due to a load
fluctuation.)
821 Speed control integral time 1
0.333s 0 to 20s
The integral time during speed control is set.
(Setting this parameter lower shortens the return
time to the original speed when the speed fluctuates
due to a load fluctuation.)
· Pr.820 Speed control P gain 1 = "25% (initial setting)" is equivalent to
50rad/s (speed response of a single motor). (Half the value for 75K or
higher.) Setting this parameter higher speeds up the response, but
setting this too high causes vibration and acoustic noise.
· Setting Pr.821 Speed control integral time 1 lower shortens the return time
to the original speed at a speed fluctuation, but setting it too low causes
overshoot.
Actual speed gain = Speed gain of a single
motor ×
JM JM: Motor inertia
JL: Load inertia converted as the motor axis inertia
JM+JL
IPM
IPM
IPM
Pr.820
Setting
100%
25%
(Initial setting)
Proportional gain
200(100)rad/s
50(25)rad/s
* The values for 75K or higher are indicated in
parenthesis.
Setting the proportional gain higher
speeds up the response and reduces the speed fluctuation here.
Load fluctuation
Speed
Setting the integral time lower shortens the return time here.