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7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 34
7.5 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 with MR Configurator2.
(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.
Super trace control
([Pr. PA22])
The super trace control uses the model adaptive control.
Disabling the model adaptive control will also disable the
super trace control.
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...