Mitsubishi Electric FR-A800 Series Instruction Manual page 256

 Block diagram of easy gain tuning function
NOTE
• Easy gain tuning is valid for the first motor. When applying the second motor (RT signal is ON), tuning is not performed.
 Execution procedure for easy gain tuning (Pr.819 = "1" Load inertia ratio
automatic calculation)
Easy gain tuning (load inertia ratio automatic calculation) is only valid in the speed control and position control modes of Vector
control. It is invalid under torque control, V/F control, Advanced magnetic flux vector control, Real sensorless vector control,
and PM sensorless vector control.
1.
Set the response level in Pr.818 Easy gain tuning response level setting.
Setting this parameter higher improves the trackability for commands, but setting it too high causes vibration. The
following figure shows the relationship between the setting and the response level.
2.
The load inertia ratio is calculated during acceleration/deceleration, and from this value and the value of Pr.818 Easy
gain tuning response level setting, the gain for each control is set automatically.
Pr.880 Load inertia ratio is used as the initial value of the load inertia ratio when performing tuning. During tuning,
the estimated value is set in Pr.880.
The calculation of the load inertia ratio may take excessive time or otherwise not be performed properly if the
following conditions are not satisfied.
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<Vector control>
Speed control/position loop gain
+
Model speed control gain
Command
-
[Pr.820, Pr.821, Pr.828, Pr.422]
ON when [Pr.819 = "1, 2"]
Gain table
Response level
setting [Pr.818]
Pr. 818 setting 1 2
Slowest
Response level
response
Guideline of
mechanical resonance
8 10
frequency (Hz)
Inverter
application
5.3 Speed control under Real sensorless vector control, vector control, PM sensorless vector control
search engine
Automatic setting
+
-
ON when
[Pr.819 = "1"]
Load inertia
Load inertia ratio
ratio estimation
[Pr.880]
3 4 5 6 7 8 9
Middle
response
12 15 18 22 28 34 42
Large
General machine
conveyor
tool, conveyor
Arm robot
Precision
machine tool
Load
inertia
moment
Detector
Current
M Encoder
control
Torque command
Actual motor speed
section
Speed/position feedback
10 11 12 13 14 15
Fastest
response
52 64 79 98 122 150
1
2
3
4
5
6
7
8
9
10
255
5. PARAMETERS