3.2.4 Vector control setting parameter. Toshiba E6580772

E6580772③

3.2.4 Vector control setting parameter

During operation with vector control with sensor, it is necessary to set the following parameters shown in the table below.

<Basic parameters>

Title

Function

Name

Parameter Setting

Setting at

Shipment pt

Motor control mode selection

0: Constant torque

1: Variable torque mode

2: Automatic torque boost

3: Sensorless vector control (speed)

4: Automatic torque boost + automatic energy-saving

5: Sensorless vector control (speed) + automatic energy-saving

6: V/F 5-points setting

7: Sensorless vector control (speed/torque switching)

8: PG feedback vector control (speed/torque switching)

9: PG feedback vector control (speed/position switching)

0

Standard : speed control

When conducting vector control with sensor (speed/torque control) with this F10M option unit is added, pt=8 should be set.

For torque control operation, it is necessary to allocate control switching (torque/position) to one of the terminal function selection f110 to f118 (input terminal selection 1 to 8) (cmod =0) or to set operation switching by communication system (cmod = 2 to 4) in addition to the above parameters.

For details of adjustment methods by the speed control command and torque control command, refer to the inverter’s instruction manual.

Title Function Name

Extended Parameter

Parameter Setting f367

Number of PG input pulse f368

Selection of number of PG input phases 1: Single phase input

2: 2-phase input f374

Current control proportional gain 0.1～1000 f375

Current control integral gain f376

Speed loop proportional gain f377

Speed loop integral gain

1～9999

0.1～1000

3.2～3270

0.8～125.0(rad/sec) f400

Auto tuning 0: No auto tuning (internal table)

1: Motor constant initialization

2: Auto tuning (0 after execution) f401

Slip frequency gain f402

Motor constant 1

(primary resistance)

0.00～2.55

0.01～100000mΩ f403

Motor constant 2

(secondary resistance)

0.01～100000mΩ f404

Motor constant 3

(exciting inductance) f405 f410

Motor constant 5

(leak inductance) f411

Motor constant 4

(load inertia moment)

Number of poles of motor f412

Rated capacity of motor

0.1～6500mH

0.1～100.0

0.01～650.0mH

2, 4, 6, 8, 10, 12, 14, 16 f413

Motor type

0.1～280kW

0: TOSHIBA Standard Motor 1

1: TOSHIBA VF motor

2: TOSHIBA V3 motor

3: TOSHIBA Standard motor 2

4: Other

Setting at Shipment

500

2

Depends on type.

Depends on type.

Depends on type.

Depends on type.

0

0.60

Depends on type.

Depends on type.

Depends on type.

1.0

Depends on type.

4

Depends on type.

0

The motor constant parameter (f400 to f413) requires setting according to the motor used.

For details, refer to the inverter manual.

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E6580772③

(1) Number of PG input pulse (f367) is the number of encoder output pulses per one motor rotation.

(2) For selection of number of PG input phases (f368), set as follows:

If the encoder pulse is single-phase: 1

If the encoder pulse is two-phase: 2 (Phase A and Phase B or Phase A and Pulse B + Z origin signal)

When the settings for the above (1) and (2) are wrong, the motor rotation will become abnormal.

(3) Adjustment methods for current control proportional gain (f374) and current control integral gain

(f375):

These need to be adjusted when it is necessary to fine-tune torque responses. (Normally, standard setting should be used.) For details of adjustment, refer to the inverter manual.

(4) Adjustment method for speed loop proportional gain (f376) and speed loop integral gain (f377)

The principle of the feedback control is a proportional action. This action produces output in proportion to the speed deviation. It is a simple mechanism but it takes some time until the speed becomes stable.

Proportional action merely produces some offset values. (The speed deviation will not be eliminated completely with reference to the command frequency.)

In order to eliminate the offset, integration action is effective where the output is calculated by the accumulation of past deviations (from start of operation until now) and added to the proportional action.

<Speed loop ratio gain>

Adjustments are necessary in accordance with the inverter capacity and load inertia ratio.

Set the ratio referring the formulae below as the rule of thumb.

Speed loop ratio gain = (50 + A x P w

) x J

0.12

A : Coefficient by number of motor poles (2 poles: 1.8 4 poles: 2.0 6 poles: 2.2)

P w

J

: Inverter capacity (Example: in case of 3.7kW unit P

: Load inertia/TOSHIBA standard motor inertia w

=3.7)

(Example: In case of inertia ratio being 4, J = 4)

<Speed loop integration gain>

Standard setting at shipment should be used usually.

In case fine-tuning of speed response is necessary, adjust parameters by the following procedure.

Measurement device needed for adjustment: Waveform measurement device such as an oscilloscope.

① Connect the probe of the measurement device to the analog monitor output terminal of the inverter

(between the FM terminal and CC terminal).

Set FM terminal output to Speed Feedback (real-time value). (Refer to 3.2.5 Monitoring method for feedback amount.)

② Set the acceleration time to minimum, so that there will be no over-current stall.(c blinking)

③ Set the operation command mode selection (cmod) and speed setting mode selection (fmod) to panel input effective. ( cmod = ”1”, fmod = “5”)

④ Set the speed setting to about 10Hz and press (RUN) key to measure the speed response waveform at operation start. Press (STOP) key to stop operation.

⑤ In order to improve the speed response, gradually make the speed ratio gain greater

(f376) and repeat above④ operation and adjust to immediately prior to motor oscillation.

⑥ Adjust the speed loop integral gain (f377). Repeat the operation in④ above and adjust the parameter so that the speed deviation is contained at expected response time.

This concludes the speed loop gain setting.

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