Super Trace Control - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

7.7

Super trace control

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 Position command (the same command)
Normal control
Feed forward gain
Super trace control
Adjustment procedure
• In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-
position) may always be turned on. Be sure to set "INP (In-position) on condition selection" in [Pr. PD13] to
" _ 1 _ _".
• When you use the super trace control, it is recommended that the acceleration time constant up to the rated
speed be set to 1 s or more.
The following shows the adjustment procedure.
Step Operation
1 Execute the gain adjustment with one-touch tuning, auto tuning, etc.
Page 227 NORMAL GAIN ADJUSTMENT
2 Change the setting of auto tuning mode to the manual mode ([Pr. PA08]: _ _ _ 3).
3 Change the setting of feed forward gain ([Pr. PB04]), and adjust that droop pulses will be 0 at a constant speed.
4 Set the setting of INP (In-position) on condition selection ([Pr. PD13]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
6 Change the setting of model loop gain ([Pr. PB07]), and adjust droop pulses during acceleration/deceleration.
Time
Time
Time
Droop pulses
Time
Droop pulses are always generated.
Time
Droop pulses are generated during acceleration/
deceleration.
Time
Droop pulses are almost 0 including the time of acceleration
or deceleration.
7 SPECIAL ADJUSTMENT FUNCTIONS
7.7 Super trace control
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