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4
PARAMETERS
Speed control
Actual speed response is calculated as below when load inertia is applied.
Adjust in the following procedure:
1) Change the Pr.820 setting so that the actual response becomes 100 rad/s to 200 rad/s.
(Example) When setting the actual speed response to 200 rad/s with double the load inertia
2) Set a reciprocal of 1/20 to 1/5 of the actual speed response in Pr.821.
(Example 1) With the actual speed response of 200 rad/s, and with setting Pr.821 to 1/20 of the speed response
3) Check that the motor rotation speed and torque current command value are stable.
If the motor rotation speed or torque current command is not stable, decrease the actual speed response.
Adjust the gain following the procedure below, as required.
Actual speed response = Speed response of the motor alone
JM
JM: Motor inertia
JL: Load inertia converted as the motor
axis inertia
JM+JL
Actual speed response = Speed response of themotor alone
JM
JM: Motor inertia
JL: Load inertia converted as
the motor axis inertia
JM+JL
200rad/s =
Speed response of themotor alone
JM
JM+2JM
Speed response of the motor alone = 200rad/s3 = 600rad/s Set Pr.820 = "300%".
Pr.821 = =0.100s
1
200rad/s
1
20
No.
Movement/
condition
Adjustment method
1
Load inertia is too
high.
Set Pr.820 and Pr.821 higher.
Pr.820
If acceleration is slow, raise the setting by 10%s and set a value that satisfies the following
condition: The setting immediately before vibration/ noise starts occurring 0.8 to 0.9
Pr.821
If overshoots occur, raise the setting by double the setting and set a value that satisfies the
following condition: The setting where overshoots stop occurring 0.8 to 0.9
2
Vibration or
acoustic noise is
generated from
machines.
Set Pr.820 lower and Pr.821 higher.
Pr.820
Lower the setting by 10%s and set a value that satisfies the following condition: The setting
immediately before vibration/noise starts occurring 0.8 to 0.9
Pr.821
If overshoots occur, raise the setting by double the setting and set a value that satisfies the
following condition: The setting where overshoots stop occurring 0.8 to 0.9
3
Response is slow.
Set Pr.820 higher.
Pr.820
If acceleration is slow, raise the setting by 5%s and set a value that satisfies the following
condition: The setting immediately before vibration/noise starts occurring 0.8 to 0.9
4
Return time
(response time) is
long.
Set Pr.821 lower.
Lower Pr.821 by half the current setting and set a value that satisfies the following condition: The
setting immediately before overshoots or unstable movements stop occurring 0.8 to 0.9
5
Overshoots or
unstable
movements occur.
Set Pr.821 higher.
Raise Pr.821 by double the current setting and set a value that satisfies the following condition: The
setting immediately before overshoots or unstable movements stop occurring 0.8 to 0.9
Setting the proportional gain higher
speeds up the response and reduces the speed fluctuation here.
Load
fluctuation
Rotation
speed
Setting the integral time lower shortens the return time here.