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Gain adjustment for torque control
VECTOR CONTROL
2
2.6 Gain adjustment for torque control
When exercising torque control, do not perform easy gain tuning. Easy gain tuning produces no effects.
If torque accuracy is necessary, perform online auto tuning. (Refer to the Instruction Manual (basic).)
2.6.1 Concept of torque control gains
(1) Torque control P gain 1
2000rad/s when Pr. 824 = 100% (factory setting).
(2) Torque control integral time 1
Pr. 825 = 5ms (factory setting)
2.6.2 Gain adjustment procedure
Refer to the following table for manual input gain adjustment.
z Manual input gain adjustment
Pr. 824 "torque control P gain 1", Pr. 834 "torque control P gain 2"
Pr. 825 "torque control integral time 1", Pr. 835 "torque control integral time 2"
Make adjustment when any of such phenomena as unusual machine vibration/noise and overcurrent has occurred.
(1) First check the conditions and simultaneously change Pr. 824 "torque control P gain 1" value.
(2) If you cannot make proper adjustment, change Pr. 825 "torque control integral time 1" value and repeat step (1).
CAUTION
Normally, the current loop gains in Pr. 824 and Pr. 825 need not be changed. Fully note that unnecessarily
changing the settings of the current loop gains will result in unstable phenomena and/or reduced response level.
CAUTION
Pr. 834 "torque control P gain 2" and Pr. 835 "torque control integral time 2" are made valid when the RT
terminal is switched on. Make adjustments in the same way as Pr. 824 and Pr. 825.
No.
Phenomenon/Condition
Adjustment Method
1
• Unusual noise
generated from motor
• Unusual current flows
Set Pr. 824 a little lower and Pr. 825 a little higher. First lower Pr. 824 and check the motor for
unusual vibration/noise and overcurrent. If the problem still persists, increase Pr. 825.
Pr. 824
Decrease the value 10% by 10% until just before the phenomenon on the left is
improved, and set about 0.8 to 0.9 of that value.
Note that a too low value will produce current ripples, causing the motor to
generate sound synchronizing the cycle of current ripples.
Pr. 825
Double the value until just before the phenomenon on the left is improved, and
set about 0.8 to 0.9 of that value.
Note that a too high value will produce current ripples, causing the motor to
generate sound synchronizing the cycle of current ripples.
2 Overcurrent occurs.
Set Pr. 824 a little lower and Pr. 825 a little higher. First lower Pr. 824 and check the motor for
unusual vibration/noise and overcurrent. If the problem still persists, increase Pr. 825.
Pr. 824
Decrease the value 10% by 10% until just before an overcurrent does not occur,
and set about 0.8 to 0.9 of that value.
Pr. 825
Double the value until just before the phenomenon on the left is improved, and
set about 0.8 to 0.9 of that value.