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1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description
(Note)
Control mode
Reference
Position control mode This servo is used as position control servo. P
Section 3.2.1
Section 3.6.1
Section 4.2
Speed control mode This servo is used as speed control servo. S
Section 3.2.2
Section 3.6.2
Section 4.3
Torque control mode This servo is used as torque control servo. T
Section 3.2.3
Section 3.6.3
Section 4.4
Position/speed control
change mode
Using input device, control can be switched between position
control and speed control.
P/S Section 3.6.4
Speed/torque control change
mode
Using input device, control can be switched between speed
control and torque control.
S/T Section 3.6.5
Torque/position control
change mode
Using input device, control can be switched between torque
control and position control.
T/P Section 3.6.6
High-resolution encoder
High-resolution encoder of 262144 pulses/rev is used as a
servo motor encoder.
P, S, T
Absolute position detection
system
Merely setting a home position once makes home position
return unnecessary at every power-on.
P Chapter 14
Gain changing function
You can switch between gains during rotation and gains during
stop or use an input device to change gains during operation.
P, S Section 8.6
Advanced vibration
suppression control
This function suppresses vibration at the arm end or residual
vibration.
P Section 8.4
Adaptive filter
Servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical vibration.
P, S, T Section 8.2
Low-pass filter
Suppresses high-frequency resonance which occurs as servo
system response is increased.
P, S, T Section 8.5
Machine analyzer function
Analyzes the frequency characteristic of the mechanical
system by simply connecting a personal computer installed MR
Configurator with a servo amplifier.
MR Configurator is necessary for this function.
P
Machine simulation
Can simulate machine motions on a personal computer screen
on the basis of the machine analyzer results.
MR Configurator is necessary for this function.
P
Gain search function
Personal computer changes gains automatically and searches
for overshoot-free gains in a short time.
MR Configurator is necessary for this function.
P
Robust disturbance
compensation
This function provides better disturbance response in case of
low response level due to high load inertia moment ratio for the
roll send axes.
MR Configurator is necessary for this function.
P, S, T
Advanced Gain search
Advanced Gain search automatically searches for the optimum
parameter for settle time to be short.
The gain can be adjusted by setting sequentially in accordance
with wizard screens.
MR Configurator is necessary for this function.
P
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor
stop.
P
Parameters
No.PB24
Electronic gear Input pulses can be multiplied by 1/50 to 50. P
Parameters
No.PA06, PA07
Auto tuning
Automatically adjusts the gain to optimum value if load applied
to the servo motor shaft varies. Higher in performance than
MR-J2-Super series servo amplifier.
P, S Chapter 7
