Various Basic Functions
P o s i t i o n / S p e e d / T o r q u e c o n t r o l
Position, speed, and torque controls are available. The
position control performs positioning by following position
commands and is suitable when synchronous or
interpolation control is used. Speed and torque are
controlled to be constant by the speed and torque controls
following the speed and torque commands respectively.
C o n t r o l s w i t c h i n g
Control can be switched among position, speed, and
torque controls.
* Control can be switched between two of the controls for MR-J4-A.
R e a l - t i m e a u t o t u n i n g
The load to motor inertia ratio of a machine is always
estimated from the servo motor current and speed during
acceleration/deceleration. Therefore, gains such as model
loop gain, position loop gain, and speed loop gain are
automatically set just by setting the response level.
M o d e l a d a p t i v e c o n t r o l
Control with high responsivity and high stability is achieved
according to the model control.
The two-degrees-of-freedom model adaptive control
enables to set the response for command and disturbance
respectively.
A d a p t i v e f i l t e r I I
Adaptive filter II is a function in which the servo amplifier
detects machine resonance for a predetermined period of
time and sets the filter characteristics automatically to
suppress mechanical system vibration. Since the filter
characteristics (frequency and depth) are set automatically,
it is not necessary to consider the resonance frequency of
a mechanical system.
This function is effective for the comparatively high
frequency of machine resonance around 100 Hz to 2.25
kHz.
L o w - p a s s f i l t e r
The low-pass filter suppresses high-frequency resonance
which occurs as servo system response is increased. The
filter is enabled as default, and the set frequency is
automatically adjusted.