91
Disturbance
observer gain
6.2 Adaptive
6.2.1 Overview
Adaptive function means that no matter what kind of machine and load fluctuation, it can obtain stable
response through automatic adjustment. It starts to automatically adjust when servo is ON.
6.2.2 Notes
When the servo unit is installed on the machine, it may produce instantaneous sound when
the servo is ON. This is the sound when the automatic notch filter is set, not the fault. For the
next time the servo is ON, no sound will be emitted.
When the inertia of the motor exceeds the allowable load, the motor may produce vibration.
At this time, please modify the adaptive parameters to match the present load inertia.
In adaptive operation, in order to ensure safety, the adaptive function should be executed at
any time when the servo enablement can be stopped or turned off urgently.
6.2.3 Operation steps
The factory settings are self-adaptive effective without modifying other parameters. The effectiveness
of self-adaptation is controlled by the following parameters.
6.2.4 Inertia mode
The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the
allowable load inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia
mode can be turned on.
Adaptive small inertia mode
Adaptive large inertia mode
Adaptive speed loop integral
Adaptive position loop gain
Adaptive speed observer gain
Adaptive stable max inertia ratio
Adaptive motor rotor inertia coefficient
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