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Notes
Model tracking control can only be used under position control mode.
Model tracking control can only operate under 17bit and 23bit encoders.
When model tracking control is used, please disable the on-line tuning function (tn837.0 =
H'□□□X).
When model tracking control is used, please disable the P/PI control switch function (Cn015 =
H'□□□X).
When model tracking control is used, please disable the two-stage gain switch function (Cn015 =
H'□□X□).
Adjustment steps for model tracking control
1. Disable model tracking control flag (tn850.0=0).
2. Set the model tracking control related parameters to their default values; set the position
feedforward gain (tn844) as 0.
3. Please set the load inertia ratio correctly (Cn025). If the load inertia ratio was not set correctly,
it may not be able to be controlled normally and vibrations will be generated.
4. Adjust the servo gain (Pn310 position control gain, Sn211 speed control gain and Sn212 speed
integral constant). Increase the system control gain within the range of not causing overshoot
or vibrations.
5. Enable model tracking control flag (tn850.0=1); set the speed feedforward gain (Pn312) as
100.
6. Within the range of not causing overshoot or vibrations, please use 10rad/s as the base unit to
increase the model tracking control gain (tn851).Please set the adjustment range within 4 times
the position gain (Pn310).
7. If overshoot occurred or the forward and reverse responses are different, please finetune the
forward torque feedforward gain (tn852) and the reverse torque feedforward gain (tn853) using
5% as the base unit.
8. If overshoot was still generated after adjusting the torque feedforward gain system, please
finetune the position feedforward gain (tn844) using 5% as the base unit.
※ Model tracking control can be adjusted through automatic gain tuning (off-line tuning)
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