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

Speed control by real sensorless vectorcontrol, vector control4.4.4 To perform high accuracy/fast response operation (gain adjustment of realsensorless vector control and vector control) (Pr. 818 to Pr. 821, Pr. 830,Pr. 831, Pr. 880)SensorlessVectorThe ratio of the load inertia to the motor inertia (load moment of inertia) is estimated in real time from the torquecommand and speed during motor operation by vector control. As optimum gain of speed control and positioncontrol are automatically set from the load inertia ratio and response level, time and effort of making gainadjustment are reduced. (Easy gain tuning)When the load inertia ratio can not be estimated due to load fluctuation or real sensorless vector control isexercised, control gain is automatically set by manually inputting the load inertia ratio.Make a manual input adjustment when vibration, noise or any other unfavorable phenomenon occurs due tolarge load inertia or gear backlash, for example, or when you want to exhibit the best performance that matchesthe machine.ParameterNumber818819Name Initial Value Setting Range DescriptionEasy gain tuningresponse level settingEasy gain tuningselection2 1 to 15820 Speed control P gain 1 60% 0 to 1000%821Speed control integraltime 1830 Speed control P gain 2 9999831Speed control integraltime 200.333s 0 to 20s9999Set the response level.1: Slow response to 15: Fast response0 Without easy gain tuningWith load estimation, with gain calculation1(valid only during vector control)2 With load (Pr. 880) manual input, gain calculationSet the proportional gain for speed control.(Increasing the value improves trackability inresponse to a speed command change andreduces speed variation with disturbance.)Set the integral time during speed control.(Decrease the value to shorten the time taken forreturning to the original speed if speed variationwith disturbance occurs.)0 to 1000%Second function of Pr. 820 (valid when RT signal ison)9999 No function0 to 20sSecond function of Pr. 821 (valid when RT signal ison)9999 No function880 Load inertia ratio 7 times 0 to 200 times Set the load intertia ratio to the motor.88