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Example of startup procedure
The following procedure shows the parameter setting example for the dancer feedback speed control.
STEP 1
Basic setting of the inverter
Perform setting according to the motor
type and the control method.
STEP 2
Basic setting of
mechanical specifications
Set the mechanical specifications.
STEP 3
Analog/pulse input
method selection
Select the input method and the input
terminal function for the line speed
command.
STEP 4
PID control adjustment
(Dancer roll target position,
tension PI gain tuning)
Set parameters to control the dancer
roll and adjust the tension PI gain.
Turn ON the X114 signal for using dancer feedback speed control and the winding diameter calculation function.
Basic parameter setting and control method selection
Set the value for each parameter according to the control method and the motor type.
(Speed control gain adjustment or offline auto tuning is required according to the control method.)
Item
Pr.
Applied motor
71
Rated motor frequency
Electronic thermal O/L relay
9
Control method selection*
Motor capacity
80
Torque limit input method selection
Number of motor poles
81
Encoder rotation direction
Rated motor voltage
83
Number of encoder pulses
*1: For the control method, vector control is recommended.
Mechanical specifications setting
Set the mechanical specifications accord-
ing to application.
Intermediate
Pr.
Name
shaft
1235
Maximum winding diameter 1
1236
Minimum winding diameter 1
1230
Winding/unwinding selection
645
Winding diameter storage selection
Winding diameter change
1247
increment amount limit
1243
Gear ratio numerator (follower side)
1244
Gear ratio denominator (driver side)
7
Acceleration time
8
Deceleration time
First acceleration time
394
for line speed command
First deceleration time
395
for line speed command
Second deceleration time
101
for line speed command
Line speed command
393
acceleration/deceleration reference
1231
Material thickness d1
1252
Dancer lower limit position
1255
Accumulated amount
Input method selection for the line speed command,
dancer signal, and actual line speed
The line speed command input method can be selected from the following: analog input
through a terminal (2, 4, 1, 6, etc.), single-phase pulse train input, encoder pulse input, and
input via communication (CC-Link IE Field Network communication, DeviceNet™,
PROFIBUS-DPV0, etc.).
Dancer roll target position setting
Set the target position, upper limit, and
lower limit values for the dancer roll.
Item
Pr.
Set point
133
Upper limit
131
Lower limit
132
PID action selection
128
Dancer roll
upper limit
Pr.131
Dancer roll
target position
Pr.133
Dancer roll
lower limit
Pr.132
TEST RUN
Item
Pr.
Item
84
Motor inertia (integer)*
1
800
Motor inertia (exponent)*
810
Encoder option selection
359
369
*2: Setting is required for a motor other than a Mitsubishi motor (the SF-PR, SF-JR,
SF-HR, SF-JRCA, SF-HRCA, or SF-V5RU (1500 r/min series) motor).
Control accuracy improvement by
the winding diameter calculation
By calculating the winding diameter of the
Winding/unwinding
winding/unwinding shaft, the tension is
shaft
always optimized even if it changes along
with the winding diameter change.
V
d
D: Diameter
n: Motor speed
D
d: Material thickness
V: Line speed
N: Number of rotations
Z: Reduction ratio
PI gain automatic adjustment
The PI gain is automatically adjusted by
tension PI gain tuning. The time required for
gain adjustment can be reduced.
Tuning in progress
70
Before tuning
50
Dancer roll position
fluctuates significantly
30
0
10
20
Time [s]
Fluctuation of the dancer roll position
before and after tension PI gain tuning
Features
1
Pr.
2
707
2
724
862
N
n
Z
After tuning
Dancer roll position
fluctuates a little
30
40
50
15
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