(1) Control block diagram
Purpose Parameter that should be Set Refer to Page
To perform torque limit during speed control Torque limit Pr. 22, Pr. 803, Pr. 810, Pr. 812 to Pr. 817,
Pr. 858, Pr. 868, Pr. 874 100 Gain adjustment of speed control Easy gain tuning
Gain adjustment Pr. 818 to Pr. 821, Pr. 830,
Pr. 831, Pr. 880 105
To enhance the trackability of the motor in
response to a speed command change Speed feed forward control,
model adaptive speed control Pr. 828, Pr. 877 to Pr. 881 112 Stabilize the speed detection signal Speed detection filter Pr. 823, Pr. 833 144 Accelerates the rise of the torque at a start Torque bias Pr. 840 to Pr. 848 114
Avoid mechanical resonance Notch filter Pr. 862, Pr. 863 118
Speed control is exercised to match the speed command and actual motor speed.
Terminal 2 Terminal 4 [Pr. 858 = 0]
Terminal 1 [Pr. 868 = 0]
RL RM RH REX Option Operation panel
Multi-speed selection [Pr. 4 to 6,
24 to 27, 232 to 239]
Speed setting filter
RT
RT
[Pr. 822]
[Pr. 832]
AU
AU
Terminal 2 bias [C2, C3 (Pr. 902)]
Terminal 2 gain [Pr. 125, C4 (Pr. 903)]
Terminal 4 bias [C5, C6 (Pr. 904)]
Terminal 4 gain [Pr. 126, C7 (Pr. 905)]
Analog input offset adjustment [Pr. 849]
Analog input selection
[Pr. 73]
Operation Mode [Pr. 79]
Servo lock zero speed control
Maximum/minimum setting [Pr. 1]
[Pr. 2]
[Pr. 13]
Acceleration/deceleration processing
[Pr. 10]
Vector control [Pr. 800 = 0]
Real sensorless Vector control [Pr. 800 = 10]
[Pr. 802 = 1]
[Pr. 802 = 0]
[Pr. 850 = 1]
LX
[Pr. 7] [Pr. 8]
A [Pr. 74]
[Pr. 74]
[Pr. 832 = 9999]
[Pr. 832 = 9999]
[Pr. 822 = 9999]
[Pr. 822 = 9999]
Running During stop
Decelerates to stop [Pr. 11]
Zero speed control LX
LX
Speed control by Real sensorless vector control, vector control
4
P ARAME T E RS
Load inertia ratio J s [Pr. 880]
Speed feed forward gain [Pr. 881]
Speed feed forward control
Model adaptive speed control
Model speed control gain [Pr. 828]
Speed feed forward torque limit
[Pr. 879]
Speed feed forward filter [Pr. 878]
J [Pr. 880]
Model speed calculation
1 J s
Speed control P gain 1
[Pr. 820] Speed control
integral time 1 [Pr. 821]
Speed control integral
time 2 [Pr. 831]
Integration cleared to 0
Integration cleared to 0
Real sensorless vector control
[Pr. 800 = 10]
Vector control [Pr. 800 = 0]
Speed estimation
RT RT
RT RT
[Pr. 877 = 1]
[Pr. 877 = 0]
0 0
X44 X44 X44 X44
Speed detection filter
RT RT
[Pr. 823]
[Pr. 833]
Torque bias selection [Pr. 840 = 0 to 2]
Torque bias
Torque bias balance compensation
[Pr. 846] Terminal 1 bias [C16, C17(Pr. 919)]
Terminal 1 gain [C18, C19(Pr. 920)]
Fall-time torque bias terminal 1 bias [Pr. 847]
Fall-time torque bias terminal 1 gain [Pr. 848]
Terminal 1 [Pr. 868 = 6]
Torque setting filter
Torque bias [Pr. 841 to 843]
X42 X43
Torque bias selection [Pr. 840 = 1, 2]
Torque bias filter [Pr. 844]
[Pr. 840 = 0]
Torque limit
Terminal 1 [Pr. 868 = 4]
Terminal 4 [Pr. 858 = 4]
Torque setting filter
Terminal 1 bias [C16, C17(Pr. 919)]
Terminal 1 gain [C18, C19(Pr. 920)]
Terminal 4 bias [C38, C39(Pr. 932)]
Terminal 4 gain [C40, C41(Pr. 933)]
[Pr. 22, 812 to 817] [Pr. 810 = 0]
[Pr. 810 = 1]
Torque limit input method
selection
Constant power range torque characteristic selection
[Pr. 803]
Torque
control Motor
Torque limit
Encoder [Pr. 840 = 9999]
A
B
B [Pr. 877 = 2]
Torque coefficient
RT
RT
[Pr. 826]
[Pr. 826]
[Pr. 836]
[Pr. 74]
[Pr. 74]
[Pr. 826 = 9999]
[Pr. 836 = 9999]
[Pr. 836 = 9999]
[Pr. 826 = 9999]
RT
RT
Notch filter [Pr. 862]
[Pr. 863]
Torque bias operation time [Pr. 845]
When torque bias is selected
Torque bias operation time [Pr. 845]
Vector control [Pr. 800 = 0]
Real sensorless vector control
[Pr. 800 = 10]
Speed control P gain 2 [Pr. 830]
When torque bias is selected
[Pr. 826 = 9999]
[Pr. 826 = 9999]
[Pr. 836 = 9999]
[Pr. 836 = 9999]
[Pr. 74]
[Pr. 74]
[Pr. 836]
4.4.1 Setting procedure of Real sensorless vector control (speed control)
CAUTION
⋅ Make sure to perform offline auto tuning before performing Real sensorless vector control.
⋅ Speed command setting range is 0 to 120Hz for Real sensorless vector control.
⋅ The carrier frequencies are selectable from among 2k, 6k, 10k, 14kHz for Real sensorless vector control.
⋅ Torque control cannot be performed in the low speed (approx. 10Hz or less) regeneration range and with light load at low speed (approx. 20% or less of rated torque at approx. 5Hz or less). Choose vector control.
⋅ Performing pre-excitation (LX signal and X13 signal) under torque control may start the motor running at a low speed even when the start command (STF or STR) is not input. The motor may run also at a low speed when the speed limit value = 0 with a start command input. Perform pre-excitation after making sure that there will be no problem in safety if the motor runs.
⋅ Do not switch between the STF (forward rotation command) and STR (reverse rotation command) during operation under torque control. Overcurrent trip (E.OC ) or opposite rotation deceleration fault (E.11) occurs.
⋅ For the 0.4K to 3.7K, the speed deviation may become large at 20Hz or less and torque may become insufficient in the low speed range under 1Hz during continuous operation under Real sensorless vector control. In this case, stop the inverter once, then start
Sensorless Sensorless Sensorless
Set the torque limit. (Pr. 810) (Refer to page 100.)
Test run
Perform secure wiring. (Refer to page 14.) Set the motor. (Pr. 71) (Refer to page 187.)
Perform offline auto tuning. (Pr. 96) (Refer to page 189.) Select a control method. (Refer to page 92)
As required
⋅ Select online auto tuning. (Pr. 95) (Refer to page 199)
⋅ Easy gain tuning (Refer to page 105)
⋅ Manual input speed control gain adjustment (Refer to page 108)
Set "10" (speed control) or "12" (speed-torque switchover) in Pr. 800 and make speed control valid.
Select the start command and speed command.
(1) Start command
1) Operation panel: Setting by pressing / of the operation panel 2) External command: Setting by forward rotation and reverse rotation
command (terminal STF or STR) (2) Speed command
1) Operation panel: Setting by turning of the operation panel 2) External analog command (terminal 2 or 4) :
Give a speed command using the analog signal input to terminal 2 (or terminal 4).
3) Multi-speed command:
The external signals (RH, RM, RL) may also be used to give speed command.
Set the motor capacity and the number of motor poles. (Pr. 80, Pr. 81) (Refer to page 92.)
Set the operation command. (Refer to page 313)
Set the motor capacity (kW) in Pr. 80 Motor capacity and set the number of motor poles (number of poles) in Pr. 81 Number of motor poles.
(V/F control is performed when the setting is "9999" (initial value).)
Set "3" (standard motor) or "13" (constant-torque motor) in Pr. 71 Applied motor.
4
P ARAME T E RS
Speed control by Real sensorless vector control, vector control 4.4.2 Setting procedure of vector control (speed control)
CAUTION
⋅ Speed command setting range is 0 to 120Hz for vector control.
⋅ The carrier frequencies are selectable from among 2k, 6k, 10k, 14kHz for vector control.
(2k and 6kHz for the 75K or higher)
Vector Vector Vector
Test run
Perform secure wiring. (Refer to page 36.)
Set the motor and encoder. (Pr. 71, Pr. 359, Pr. 369)
Set the run command. (Refer to page 313.)
As required
ã Perform offline auto tuning. (Pr. 96) (refer to page 189).
ã Select online auto tuning. (Pr. 95) (refer to page 199).
ã Easy gain tuning (refer to page 105)
ã Manual input speed control gain adjustment (refer to page 108)
Select the start command and speed command.
(1) Start command
1)Operation panel: Setting by pressing / of the operation panel
2)External command: Setting by forward rotation or reverse rotation command (terminal STF or STR)
(2)Speed command
1)Operation panel: Setting by turning of the operation panel 2)External analog command (terminal 2 or 4) :
Give a speed command using the analog signal input to terminal 2 (or terminal 4).
3)Multi-speed command:
The external signals (RH, RM, RL) may also be used to give speed command.
Set the motor capacity and the number of motor poles (Pr. 80, Pr. 81) (Refer to page 92.)
Set the motor capacity (kW) in Pr. 80 Motor capacity and set the number of motor poles (number of poles) in Pr. 81 Number of motor poles. (V/F control is performed when the setting is "9999" (initial value).)
Mount the FR-A7AP/FR-A7AL (option).
Set Pr. 71 Applied motor, Pr. 359 Encoder rotation direction and Pr. 369 Number of encoder pulses according to the motor and encoder used.
(Refer to page 38.)
Select a control method. (Refer to page 92.)
Make speed control valid by selecting "0" (speed control), "2" (speed- torque switchover), or "4" (speed-position switchover) for Pr. 800.
Set the torque limit. (Pr. 810) (Refer to page 100.)
4.4.3 Torque limit level setting for speed control
(Pr. 22, Pr. 157, Pr. 803, Pr. 810 to Pr. 817, Pr. 858, Pr. 868, Pr. 874)
This function limits the output torque to the predetermined value during speed control under Real sensorless vector control or vector control.
Set the torque limit level within the range 0 to 400% in Pr. 22.
When the TL signal is turned ON, torque limit level 2 is activated.
You can select whether the torque limit level is set using parameters or analog input terminals (terminal 1, 4).
In addition, you can set torque limit level for forward (power driving/regeneration) and reverse (power driving/
regeneration) operation individually.
Parameter
Number Name Initial Value Setting Range Description
22*
Stall prevention operation level
(torque limit level)
150/200%* 0 to 400%
Set the torque limit level in % on the assumption that the rated torque is 100%
* For the 3.7Kor lower, the value changes from 150% to 200% when V/F control or Advanced magnetic flux vector control is changed to Real sensorless vector control or vector control.
157 OL signal output timer 0s 0 to 25s Set the output start time of the OL signal output when torque limit is activated.
9999 Without the OL signal output 803
Constant power range torque characteristic selection
0
0 Constant motor output limit
Select the torque limit in the constant output region by torque limit setting.
1 Constant torque limit 810 Torque limit input method
selection 0
0 Internal torque limit (torque limit by parameter settings)
1 External torque limit (torque limit by terminal 1, 4)
811 Set resolution switchover 0
Speed setting and running speed monitor increments from the PU, RS-485 communication or communication option.
Torque limit setting increments
Pr. 22, Pr. 812 to Pr. 817
0 1r/min
1 0.1r/min 0.1%
10 1r/min
0.01%
11 0.1r/min
812 Torque limit level
(regeneration) 9999
0 to 400% Set the torque limit level for forward rotation regeneration.
9999 Limit at the value of Pr. 22 or analog terminal.
813 Torque limit level (3rd
quadrant) 9999
0 to 400% Set the torque limit level for reverse rotation driving.
9999 Limit at the value of Pr. 22 or analog terminal.
814 Torque limit level (4th
quadrant) 9999
0 to 400% Set the torque limit level for reverse rotation regeneration.
9999 Limit at the value of Pr. 22 or analog terminal.
815 Torque limit level 2 9999 0 to 400%
When the torque limit selection (TL) signal is ON, the Pr. 815 value is a torque limit value regardless of Pr. 810 .
9999 The torque limit set to Pr. 810 is valid.
816 Torque limit level during
acceleration 9999
0 to 400% Set the torque limit value during acceleration.
9999 Same torque limit as at constant speed 817 Torque limit level during
deceleration 9999
0 to 400% Set the torque limit value during deceleration.
9999 Same torque limit as at constant speed 858 Terminal 4 function
assignment 0 0, 1, 4, 9999 When "4" is set in, the torque limit can be changed with a signal to terminal 4.
868 Terminal 1 function
assignment 0 0, 2 to 5, 9999 When "4" is set in, the torque limit can be changed with a signal to terminal 1.
Sensorless Sensorless
Sensorless VectorVectorVector
Speed control by Real sensorless vector control, vector control
4
P ARAME T E RS
(1) Torque limit block diagram
(2) Selection of torque limit input method (Pr. 810)
⋅ Set Pr. 810 Torque limit input method selection to select the method to limit output torque during speed control.
Torque limit by parameter setting is initially set.
(3) Torque limit level by parameter setting (Pr. 810 = "0", Pr. 812 to Pr. 814 )
(4) Torque limit level by analog input (terminal 1, 4) (Pr. 810 = "1", Pr. 858, Pr. 868 ) Parameter
Number
Setting Range
Torque Limit Input
Method Description
810 0 (initial
value) Internal torque limit
Parameter-set torque limit operation is performed.
Changing the torque limit parameter value by communication enables torque limit to be input by communication.
1 External torque limit Torque limit using analog voltage (current) to terminal 1 or terminal 4 is enabled.
⋅ With the initial value, limit is made ON all quadrants on the Pr. 22 Stall prevention operation level (torque limit level) .
⋅ When you want to set the level on a quadrant basis, set the torque limit level in Pr. 812 Torque limit level (regeneration), Pr.
813 Torque limit level (3rd quadrant), Pr. 814 Torque limit level (4th quadrant).
When "9999" is set, Pr. 22 is the torque limit level.
⋅ With the upper limit of torque limit as set in Pr. 22, the analog input from terminal 1 input is used as the torque limit value within the Pr. 22 setting range.
⋅ When torque limit value is input to terminal 1, set "4" in Pr. 868 Terminal 1 function assignment. When torque limit value is input from terminal 4, set "4" in Pr. 858 Terminal 4 function assignment.
⋅ When Pr. 858="4" and Pr. 868="2," torque is limited by analog input to terminal 1 for regeneration and to terminal 4 for driving.
⋅ Torque limit by analog input can be calibrated using calibration parameter C16 (Pr. 919) to C19 (Pr. 920), C38 (Pr. 932) to C41 (Pr. 933) . (Refer to page 300)
* Analog input (terminal 1, 4) or internal torque control (Pr. 22 etc.) whichever is smaller Torque limit
<Vector control>
Speed control Speed command +
-
Iq current control
IM
Encoder
quad1 ( Pr. 22) quad4
( Pr. 814)
( Pr. 813)
quad2 ( Pr. 812) Reverse
rotation
Forward rotation Torque limit
Speed
Reverse driving Reverse regeneration
Rated speed quad3
+
-
Forward regeneration Forward
driving
*
*
*
*
quad1 ( Pr. 22) quad4
( Pr. 814)
( Pr. 813)
quad2 ( Pr. 812) Reverse
rotation
Forward rotation Torque limit
Speed
Reverse driving Reverse regeneration
Rated speed quad3
+
-
Forward regeneration Forward
driving
When Pr.858=4, Pr.868=2
quad1 quad4
quad2
Reverse rotation Forward rotation
Torque limit
Rated speed +
-
Terminal 1 input or internal torque limit (Pr.22 etc.) whichever is smaller
Speed
quad3 Reverse
regeneration
Reverse driving
Forward driving
Forward regeneration Terminal 4 input or
internal torque limit (Pr.22 etc.) whichever is smaller
Terminal 4 input or internal torque limit (Pr.22 etc.) whichever is smaller
Terminal 1 input or internal torque limit (Pr.22 etc.) whichever is smaller
Terminal 1, 4 function according to control (⎯ : without function)
*1 When the Pr. 868 setting is other than "0", other functions of terminal 1 (auxiliary input, override function, PID control) do not function.
*2 When the Pr. 858 setting is other than "0", PID control and speed command from terminal 4 do not function even if the AU signal turns ON.
*3 When "1" (magnetic flux command) or "4" (torque limit) is set in both Pr. 858 and Pr. 868, function of terminal 1 has higher priority and terminal 4 has no function.
*4 Setting is valid only when exercising vector control with the FR-A7AP/FR-A7AL (option).
(5) Second torque limit level (TL signal, Pr. 815)