Specifications

14.2
Servo control
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• MD3087 (Pn139) PARAM_C_PREDICTED_2
Meaning: 2nd predictive control parameter C
Setting value: [0.01]
• MD3088 (Pn13A) PARAM_CD_PREDICTED_2
Meaning: 2nd predictive control parameter Cd
Setting value: [0.01]
• MD3089 (Pn13B) PARAM_ALPHA_PREDICTED_2
Meaning: 2nd predictive control parameter α
Setting value: [0.01]
• MD3090 (Pn13C) EQUIV_KP_ADJ_PREDICTED_2
Meaning: 2nd predictive control equivalent Kp fine adjustment amount
Setting value: [0.1/s]
• MD3091 (Pn13D) SPD_FF_GAIN_PREDICTED_2
Meaning: 2nd predictive control speed FF gain
(Added to predictive feed forward control.)
Setting value: [%]
• MAD3092 (Pn13E) TRQ_FF_GAIN_PREDICTED_2
Meaning: 2nd predictive control torque FF gain
(Added to predictive feed forward control.)
Setting value: [%]
• MD3093 (Pn13F) TRQ_FF_FIL_T_CONST_PREDIC_2
Meaning: 2nd predictive control torque FF filter time constant
(Added to predictive feed forward control.)
Setting value: [0.01 ms]
14.2.9 Model following control
To use model following control for positioning, set the following machine data and parame-
ters.
When model following control is enabled with the following machine data and parameters,
each of the parameters becomes always active for positioning (during RAPID, JOG, and pro-
grammed operation excluding handle feed or step feed operation.) (For cutting feed, rigid
tapping, and handle or step feed operation, the model following control becomes inactive.)
For procedures how to adjust model following control, refer to a separate manual.
If you want to use predictive control for positioning, disable model following control.
IMPORTANT