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Easy gain tuning
CONTROL
4
4.5.3 Precautions 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.
(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.
4.5.4 Automatically set parameters by easy gain tuning
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.
Pr. 800 Setting Drive System Control Mode Easy Gain Tuning
0
PLG vector control
Speed control
1 Torque control
2 Speed-torque switchover
When speed is selected:
When torque is selected:
3 Position control
4 Speed-position switchover
5 Position-torque switchover
When position is selected:
When torque is selected:
20 V/F control Speed control
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
integration time
0.333s 0 to 10s
828
Model speed control
gain
60% 0 to 1000%
Valid during model
adaptive control
880 Load inertia ratio 7 0, 1 to 200 times
Setting value when easy
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.
Valid
Invalid
Valid
Invalid
Valid
Valid
Valid
Invalid
Invalid