Model Adaptive Control Disabled - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

7.5

Model adaptive control disabled

• 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.
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.
Parameter
PB08
PB09
PB10
Parameter setting
Set [Pr. PB25] to "_ _ _ 2".
Restrictions
The following functions are not available at model adaptive control disabled.
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])
Super trace control ([Pr. PA22])
Symbol
PG2
VG2
VIC
Explanation
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.
The super trace control uses the model adaptive control. Disabling the model adaptive control will also
disable the super trace control.
Name
Position loop gain
Speed loop gain
Speed integral compensation
7 SPECIAL ADJUSTMENT FUNCTIONS
7.5 Model adaptive control disabled
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