Disabling Model Adaptive Control; Instructions On Disabling Model Adaptive Control; How To Disable Model Adaptive Control - Mitsubishi Electric MR-J5 User Manual

10.2

Disabling model adaptive control

The servo amplifier has model adaptive control. The servo amplifier with model adaptive control uses a virtual motor model
inside the servo amplifier and drives the servo motor following the output of the motor model. Disabling model adaptive control
means to drive the servo motor with PID control instead.
The following shows the available servo parameters when model adaptive control is disabled.
Servo parameter Symbol
PB08 PG2
PB09 VG2
PB10 VIC

Instructions on disabling model adaptive control

• The following functions are not available when model adaptive control is disabled.
Function Servo parameter
Forced stop deceleration PA04
function
Vibration suppression control PB02/PB19/PB20
1
Vibration suppression control PB02/PB52/PB53
2
Overshoot amount PB12
compensation
Super trace control PA22
• Change the servo parameters only when the servo motor is at a stop.
• When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust with checking operation
status of the servo motor.

How to disable model adaptive control

When disabling model adaptive control, set [Pr. PB25.0 Model adaptive control selection] to "2" (Disabled (PID control)).
Servo parameter
PB25.0
Name
Position control gain
Speed control gain
Speed integral compensation
Explanation
When the forced stop deceleration function is enabled, disabling the model adaptive control triggers
[AL. 037 Parameter error]. The forced stop deceleration function is enabled at the factory setting. Set
[Pr. PA04.3 Forced stop deceleration function selection] to "0" (Forced stop deceleration function
disabled).
Vibration suppression control uses model adaptive control. Therefore, vibration suppression control
cannot be used when model adaptive control is disabled.
The overshoot amount compensation uses data which are also used by model adaptive control.
Therefore, the overshoot amount compensation is disabled when model adaptive control is disabled.
The super trace control uses the model adaptive control. Disabling the model adaptive control will also
disable the super trace control.
Description
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
10 MODEL ADAPTIVE CONTROL
10.2 Disabling model adaptive control
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