Model Adaptive Control Disabled - Mitsubishi MR-JE-10A Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.4 Model adaptive control disabled

(1) Summary
The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and
drives the servo motor following the output of the motor model in the model adaptive control. At model
adaptive control disabled, the servo amplifier drives the motor with PID control without using the model
adaptive control.
The following shows the available parameters at model adaptive control disabled.
(2) Parameter setting
Set [Pr. PB25] to "_ _ _ 2".
(3) Restrictions
The following functions are not available at model adaptive control disabled.
POINT
Change the parameters while the servo motor stops.
When setting auto tuning response ([Pr. PA09]), change the setting value one by
one to adjust it while checking operation status of the servo motor.
This is used with servo amplifiers with software version B4 or later. Check the
software version of the servo amplifier using MR Configurator2.
Parameter Symbol
PB08
PB09
PB10
Function
Forced stop deceleration function
([Pr. PA04])
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20])
Vibration suppression control 2
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
Overshoot amount compensation
([Pr. PB12])
Name
PG2 Position loop gain
VG2 Speed loop gain
VIC Speed integral compensation
Disabling the model adaptive control while the forced stop
deceleration function is enabled, [AL. 37] will occur.
The forced stop deceleration function is enabled at factory
setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop
deceleration function disabled).
The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
disable the vibration suppression control.
The overshoot amount compensation uses data used by
the model adaptive control. Disabling the model adaptive
control will also disable the overshoot amount
compensation.
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Explanation