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7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 26
7.4 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.
(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.
Parameter Symbol Name
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
(2) Parameter setting
Set [Pr. PB25] to "_ _ _ 2".
(3) Restrictions
The following functions are not available at model adaptive control disabled.
Function Explanation
Forced stop deceleration function
([Pr. PA04])
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).
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20])
Vibration suppression control 2
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
disable the vibration suppression control.
Overshoot amount compensation
([Pr. PB12])
The overshoot amount compensation uses data used by
the model adaptive control. Disabling the model adaptive
control will also disable the overshoot amount
compensation.