NSK M-EGA-15A2301, User Manual

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6.Adjustments Model following control
6-16
6.6 Model following control
Model following control is a method used to obtain a higher response. Model control systems
include mechanical devices in a driver and run a motor in order to track the Model control system.
Select [Position control form] in [Control mode]
Select [Model following control] in [Position control selection]
ID Content
09
Control Mode Selection
Select value Content
02
Position Position control form
0A
Position Control Selection
Select value Content
01 Model1 Model following control
✔
Model following control cannot be used when in velocity control mode or torque control mode.
✔
Model following control can be used with auto-tuning at the same time.
✔
Model following control can be used with fully closed control at the same time.
1) Automatic tuning method for model following control
Model following control can be used with auto-tuning at the same time.
Follow the tuning procedure shown in [Adjustment method for auto-tuning].
Model Control Gain 1 is tuned in addition to tuning the parameter at Standard position control.
■
Automatically adjust parameters using Model following control auto-tuning.
◆
General parameters Group1 [Basic control parameter settings]
ID Symbol Name
Notes
02 KP1 Position Loop Proportional Gain 1
Note 1)
12 KVP1 Velocity Loop Proportional Gain 1
13 TVI1 Velocity Loop Integral Time Constant 1
14 JRAT1 Load Inertia Moment Ratio 1
Note 2)
20 TCFIL1 Torque Command Filter 1
Note 1) Manual setting is available in Trajectory Control 2 [KP, FFGN manual setting]
Note 2) Manual setting is available in Automatic Tuning [JRAT Manual Setting]
◆
General parameters Group3 [Model following control settings]
ID Symbol Name Notes
00 KM1 Model Control Gain 1
Note 3)
Note 3) KP1 setting value is set in Trajectory Control 2 [KP, FFGN Manual Setting]
✔
Parameters automatically adjusted by the driver vary according to selected Auto-Tuning Characteristic.