Filter
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45
Fine adjustment of gains for speed control
VECTOR CONTROL
2
2.3 Fine adjustment of gains for speed control
If easy gain tuning does not provide high accuracy, refer to the next page and make adjustment.
Make adjustment when vibration, noise or any other unfavorable phenomenon occurs due to large load inertia or
gear backlash, for example, or when you want to exhibit the best performance that matches the machine.
2.3.1 Control block diagram
J (Pr.880)
Torque factor
OFF
ON
Pr.13
Speed
Pr.902 "speed setting
terminal 2 bias"
Pr.903 "speed setting
terminal 2 gain
"
Pr.881
Speed
setting filter
Pr.73
Speed setting
signal
Override
Pr.822
Pr.832
RT
PU04V
DU04
--1
Pr.2
Speed
jump
Pr.31 to
Pr.36
FWD
STF
REV
STR
Acc/dec
processing
LX
Pre-excitation
Pr.802
0 : 0 speed control
1 : Servo lock
Pr.1
Pr.7, Pr.8
Pr.44, Pr.45 RT ON
Pr.110, Pr.111 X9 ON
Pr.16 Jog acceleration/
deceleration
Pr.29, Pr.20, Pr.21
Pr.140 to Pr.143
Pr.380 to Pr.383
Terminal
1
Terminal
2
RH
RM
RL
REX
Pr.79
Pr.877
1
Pr.880
Load inertia
ratio
Speed feed
forward gain
Pr.878
Pr.879
2 Model speed
control gain
Pr.820
Pr.821
+
Pr.810
Pr. 22,
Pr.812
Torque
limit
Encoder
IM
(Torque control)
Current control of iq
Torque bias
Speed feed
forward/model
adaptive speed
control selection
+
Torque
setting filter
Pr.826
Pr.836
Pr.904 Torque
command terminal 3 bias
Pr.905 Torque
command terminal 3 gain
Terminal
3
0,10
ON
4,14
OFF
Pr.902 "speed setting terminal 2 bias"
Pr.903 "speed setting terminal 2 gain"
1
0
Speed feed
forward control
Model adaptive
speed control
Pr.828
12
Model speed calculation
Pr.877
Option
Operation
mode
Maximum, minimum
speeds
Starting speed
Speed feed
forward
torque control
Speed feed
forward filter
-
Torque
limit
input
method
selection
to Pr.817
Speed control
P gain 1
Speed control
integral time 1
+
+
+
-
RT
Pr.823
Pr.833
OFF
ON
Speed
detection filter
RT
*
*
Terminal 1 at
setting Pr.868="0"
OFF
ON
Pr.830
Speed control
P gain 2
Parameters automatically tuned when tuning
is selected in Pr.819 "easy gain tuning". Refer
to the Instruction Manual (basic) for details.
:
+
+
1
X44 OFF
0
X44 ON
Pr.831
Speed control
integral time 2
X44 OFF
0
X44 ON
Integration cleared to 0
Integration cleared to 0
1
J·s
Pr.840 to Pr.848
RT
RT
0
2