Mitsubishi Electric FR-A820-00046 Instruction Manual page 392

Position control under vector control and PM sensorless vector control
Position feed forward gain (Pr. 423)
● This function is designed to cancel a delay caused by the droop pulses in the deviation counter.
Set this parameter when a sufficient position response cannot be obtained after setting Pr. 422.
● When a tracking delay for command pulses poses a problem, increase the setting gradually and
use this parameter within the range where an overshoot or vibration will not occur.
● This function has no effects on servo rigidity at a stop.
● Normally set this parameter to 0.
● When setting Pr. 423, set Pr. 877 = "0 or 1" to enable position feed forward control.
Model adaptive position control (Pr. 446)
● Set each response for position commands and for load and external disturbances individually.
● Set this parameter when a sufficient position response cannot be obtained after setting Pr. 422.
● When setting Pr. 446, set Pr. 877 = "2" to enable the model adaptive position control, Pr. 828 "Model
speed control gain" ≠ "0", and a load inertia ratio in Pr. 880 "Load inertia ratio".
● Set a small value in Pr. 446 first, and then increase the setting gradually and use this parameter
within the range where an overshoot or vibration will not occur.
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Parameters