6.Adjustments
Selection of tuning method
6-2
■
Model following control
Model following control is a control method that ensures a higher detection response by
composing a model control system including the mechanical system in a driver to operate the
actual motor in order to follow the model control system.
◆
Model following control
Use Model control system to ensure higher detection response.
◆
Model following vibration suppression control
Use the model control system to ensure a higher detection response by suppressing the machine
stand vibration.
2) Tuning method selection procedure
The selection procedure is displayed in the following chart:
✔
Depending on the combination of these functions, use of more than two (2) methods jointly will invalidate the
procedure.
Start tuning
Tune the servo gain automatically?
>> (Auto-tuning)
Auto tuning functions
Need to restrain external load disturbance on the machine?
>> (Disturbance observer)
Tuning to suppress external servo motor disturbance
Need to suppress machine resonance?
>>(Automatic tuning of notch filter)
Usage of automatic notch filter
Need to suppress machine resonance?
>> (Automatic FF vibration control frequency tuning)
Need to ensure higher efficiency of tracking
ability?
>>(Model following control)
Tuning for greater tracking ability
Need to suppress machine stand vibration?
>> (Model following vibration control)
Tuning to suppress the machine stand
vibration
Tune servo gain manually?
>> (Manual tuning)
How to use manual tuning
Summary of Contents for M-EGA-15A2301
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