FR-A701 INSTRUCTION MANUAL (Applied) - Automation Systems ...

4PARAMETERSTorque control by real sensorless vectorcontrol, vector control4.5.6 Gain adjustment of torque control (Pr. 824, Pr. 825, Pr. 834, Pr. 835)SensorlessVectorAlthough stable operation is possible with the initial value, make adjustment when any of such phenomena asunusual motor and machine vibration/noise and overcurrent has occurred.ParameterNumberName(1) Adjustment of current loop proportional (P) gain⋅ For general adjustment, make setting within the range 50 to 200% as a guideline.⋅ Set the proportional gain for torque control.⋅ Increasing the value improves trackability in response to a current command change and reduces current variationwith disturbance. However, a too large gain will cause instability, generating harmonic torque pulsation.(2) Adjustment of current control integral time⋅ Set the integral time of current control during torque control.⋅ A small value enhances the torque response level, but a too small value will cause current fluctuation.⋅ Decreasing the value shortens the time taken to return to the original torque if current variation with disturbanceoccurs.(3) Use multiple gainsInitial ValueSettingRange824 Torque control P gain 1 100% 0 to 200%825Torque control integraltime 1834 Torque control P gain 2 9999835Torque control integraltime 2DescriptionSet the current loop proportional gain.100% is equivalent to 2000rad/s.5ms 0 to 500ms Set the current loop integral compensation time.99990 to 200%Set the current loop proportional gain when the RTsignal is on.9999 Without torque control P gain 2 function0 to 500msSet the current loop integral compensation time whenthe RT signal is on.9999 Without torque control integral time 2 function⋅ When you want to change the gain according to applications, switch multiple motors with one inverter, etc., useTorque control P gain 2 and Torque control integral time 2 .⋅ Pr. 834 Torque control P gain 2 and Pr. 835 Torque control integral time 2 are valid when the RT signal is on.REMARKS⋅ The RT signal acts as the second function selection signal and makes the other second functions valid. (Refer to page 210.)⋅ The RT signal is assigned to the terminal RT in the initial setting. By setting "3" in any of Pr. 178 to Pr. 189 (input terminal functionselection) , you can assign the RT signal to the other terminal.113