Super Trace Control - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

7. SPECIAL ADJUSTMENT FUNCTIONS

7.7 Super trace control

(1) Summary
In the normal position control, droop pulses are generated against the position control command from
the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However,
droop pulses generated during acceleration/deceleration cannot be suppressed.
With the ideal model in the servo amplifier, the super trace control enables to set constant speed and
uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed
forward gain.
Control
Normal
control
Feed
forward gain
Super trace
control
Position command (the same command)
Time
Time
Time
Droop pulses are always generated.
Droop pulses are generated during acceleration/
deceleration.
Droop pulses are almost 0 including the time of
acceleration or deceleration.
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Droop pulses
Time
Time
Time