Mitsubishi Electric MELSERVO-J4 MR-J4 TM Instruction Manual page 247

7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Adjustment procedure
The following shows the adjustment procedure.
POINT
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.
Step
Execute the gain adjustment with one-touch tuning, auto tuning,
1
etc. Refer to chapter 6 for details.
Change the setting of auto tuning mode to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Change the setting of feed forward gain ([Pr. PB04]), and adjust
3
that droop pulses will be 0 at a constant speed.
Set the setting of INP (In-position) on condition selection ([Pr.
4
PD13]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
Change the setting of model loop gain ([Pr. PB07]), and adjust
6
droop pulses during acceleration/deceleration.
Operation
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