99
Speed control by real sensorless vector
control, vector control
4
PARAMETERS
4.4.4 To perform high accuracy/fast response operation (gain adjustment of real
sensorless vector control and vector control) (Pr. 818 to Pr. 821, Pr. 830,
Pr. 831, Pr. 880)
(1) Block diagram of easy gain tuning function
The ratio of the load inertia to the motor inertia (load inertia moment) is estimated in real time from the torque
command and speed during motor operation by vector control. As optimum gain of speed control and position
control are automatically set from the load inertia ratio and response level, time and effort of making gain
adjustment are reduced. (Easy gain tuning)
When the load inertia ratio can not be estimated due to load fluctuation or real sensorless vector control is
exercised, 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 to
large load inertia or gear backlash, for example, or when you want to exhibit the best performance that matches
the machine.
Parameter
Number
Name Initial Value Setting Range Description
818
Easy gain tuning
response level setting
2 1 to 15
Set the response level.
1: Slow response to 15: Fast response
819
Easy gain tuning
selection
0
0 Without easy gain tuning
1
With load estimation, with gain calculation
(valid only during vector control)
2 With load (Pr. 880) manual input, gain calculation
820 Speed control P gain 1
60% 0 to 1000%
Set the proportional gain for speed control.
(Increasing the value improves trackability in
response to a speed command change and
reduces speed variation with disturbance.)
821
Speed control integral
time 1
0.333s 0 to 20s
Set the integral time during speed control.
(Decrease the value to shorten the time taken for
returning to the original speed if speed variation
with disturbance occurs.)
830 Speed control P gain 2
9999
0 to 1000%
Second function of Pr. 820 (valid when RT signal is
on)
9999 No function
831
Speed control integral
time 2
9999
0 to 20s
Second function of Pr. 821 (valid when RT signal is
on)
9999 No function
880 Load inertia ratio
7 times 0 to 200 times Set the load intertia ratio to the motor.
Sensorless
Sensorless Vector
Vector
Load inertia ratio
Pr. 880
Gain table
Motor
Current
control
Load inertia
ratio estimation
section
+
-
+
-
Detecto
Command
Automatic setting
<Vector control>
Easy gain tuning
response level
setting (Pr. 818 )
Easy gain tuning
selection (Pr. 819 )
Encoder
Speed control/position loop gain
Model speed control gain
Pr. 820, Pr. 821,
Pr. 828, Pr. 422
On when
Pr. 819 = "1"
On when Pr. 819 = "1, 2"
Speed/position feedback
Actual motor speed
Load
inertia
moment
Torque command
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