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Fine adjustment for torque control
2.5 Fine adjustment for torque control
Current loop gain parameter for adjusting torque control operation state is available with the FR-V500 series. Stable
operation is possible with the factory-set parameter.
Refer to the next page and adjust the parameters when torque pulsation or any other unfavorable phenomenon
occurs depending on the machine and operating conditions or when you want to exhibit the best performance that
matches the machine.
2.5.1 Control block diagram
Pr. 905, torque
command terminal 3 gain
Pulse
train
option
OFF
Terminal
3
Torque
setting filter
Pr.826
Pr.836
Pr.804
Torque command source selection
0
1
Pr.805 torque command source/RAM
Pr.432 pulse train torque command bias
Pr.433 pulse train torque command gain
2
Constant power
range torque
characteristic
selection
Pr.803
Pr.902 speed
setting terminal 2
bias
Pr.903 speed
setting terminal 2
gain
0
2
RH
RM
RL
REX
0
PU
0
1
Pr.2
Pr.1
Max./min. speed
Acc/dec
processing
Speed
control
Pr.79
Speed feedback
speed limit value
RT
Torque
detection filter
IM
Speed
feedback
< speed
limit
value
ON
OFF
ON
OFF
ON
Pr.806 torque command source /E PROM
2
FR-A5AX
FR-V5AH
digital
input
option
4
Pr.447 digital torque command bias
Pr.448 digital torque command gain
Pr. 917
terminal 1 bias
Pr. 918
terminal 1 gain
Speed
setting filter
Pr.822
Pr.832
OFF
RT
ON
External
PU
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
Parameter
Pr.827
Pr.837
Pr. 904, torque
command terminal 3 bias
PU/external
RT
+
-
+
+
+
+
-
+
Speed limit
direct setting
Pr. 808 forward
rotation speed
limit
Pr. 809 reverse
rotation speed
limit
*
*
FR-V5AP
Torque
control
p gain 1
Pr. 824
Torque control
integral time 2
Pr. 835
Torque
control
p gain 2
Pr. 834
Torque control
integral time 1
Pr. 825
speed limit selection
Pr. 807
Encoder
3
FR-A5NC
option
RT
Pr.806 torque
command source
/E PROM
2
Pr.805 torque
command source
/RAM
Terminal
2
Terminal
1