Chapter 10 Model Adaptive Control; Setting Model Adaptive Control; Disabling Model Adaptive Control; Instructions On Disabling Model Adaptive Control - Mitsubishi Electric MELSERVO J5 Series User Manual

10
MODEL ADAPTIVE CONTROL
Achieves a high response and stable control according the ideal model. The two-degrees-of-freedom model adaptive control
enables the response to be set to the command and to the disturbance separately. This function is enabled by default. Refer
to the following for disabling this function.
Page 96 Disabling model adaptive control
10.1

Setting model adaptive control

The characteristics of the model adaptive control is changeable with [Pr. PA24.0 Vibration suppression mode].
For performing path tracking, set "4" (Path tracking mode). This setting improves the path accuracy. Refer to the following for
details.
Page 98 Path tracking model adaptive control
Servo parameter
PA24.0
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
PB08
PB09
PB10

Instructions on disabling model adaptive control

• The following functions are not available when model adaptive control is disabled.
Function
Forced stop deceleration
function
Vibration suppression control
1
Vibration suppression control
2
Overshoot amount
compensation
• 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.
10 MODEL ADAPTIVE CONTROL
96
10.1 Setting model adaptive control
Description
Vibration suppression mode selection
0: Standard mode
1: 3 inertia mode
2: Low response mode
4: Path tracking mode
Symbol Name
PG2 Position control gain
VG2 Speed control gain
VIC Speed integral compensation
Servo parameter Explanation
PA04 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).
PB02/PB19/PB20 Vibration suppression control uses model adaptive control. Therefore, vibration suppression control
cannot be used when model adaptive control is disabled.
PB02/PB52/PB53
PB12 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.