7 SPECIAL ADJUSTMENT FUNCTIONS
7.7 Super trace control
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7
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.
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.
Control
Position command (the same command)
Droop pulses
Normal control
Droop pulses are always generated.
Feed forward gain
Droop pulses are generated during acceleration/
deceleration.
Super trace control
Droop pulses are almost 0 including the time of acceleration
or deceleration.
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
Servo motor speed
Time
Droop pulses
Time
Servo motor speed
Time
Droop pulses
Time
Servo motor speed
Time
Droop pulses
Содержание MELSERVO-J4 series
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