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1. FUNCTIONS AND CONFIGURATION
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field.
Function
Cyclic synchronous position
mode (csp)
Cyclic synchronous velocity
mode (csv)
Cyclic synchronous torque
mode (cst)
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Model adaptive control
Touch probe
High-resolution encoder
Absolute position detection
system
Gain switching function
Advanced vibration
suppression control II
Machine resonance
suppression filter
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Electronic gear
S-pattern
acceleration/deceleration time
constant
POINT
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
EtherNet/IP is available with servo amplifiers with software version B0 or later.
The position control operation performed by a synchronous sequential position command
through network is supported.
The speed control operation performed by a synchronous sequential speed command
through network is supported.
The torque control operation performed by a synchronous sequential torque command
through network is supported.
The positioning operation performed by an asynchronous end position command through
network is supported.
The speed control operation performed by an asynchronous speed command through
network is supported.
The torque control operation performed by an asynchronous torque command through
network is supported.
The home position return operation specified in each network is supported.
This function achieves a high response and stable control following the ideal model. The
two-degrees-of-freedom model adaptive control enables you to set a response to the
command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.5 for disabling this function.
When the touch probe signal turns on, the current position is latched.
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary
servo motor compatible with the MELSERVO-J4 series.
Setting a home position once makes home position return unnecessary at every power-
on.
You can switch gains during rotation/stop, and can use input devices to switch gains
during operation.
This function suppresses vibration at an arm end or residual vibration.
This filter function (notch filter) decreases the gain of the specific frequency to suppress
the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
driving may generate a mechanical vibration at high frequency. The shaft resonance
suppression filter suppresses the vibration.
The servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as the servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting an
MR Configurator2 installed personal computer and the servo amplifier.
MR Configurator2 is necessary for this function.
For roll feed axis, etc. of which a response level cannot be increased because of the
large load to motor inertia ratio, this function improves a disturbance response.
This function suppresses vibration of ±1 pulse generated at a servo motor stop.
Positioning control is performed with the value obtained by multiplying the position
command from the controller by a set electronic gear ratio.
Speed can be increased and decreased smoothly.
Description
1 - 21
Network
Detailed
explanation
ECT EIP
(Note)
Section 3.5
(2)
[Pr. PD37]
(Note)
Chapter 12
Section 7.2
Section 7.1.5
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
[Pr. PB24]
[Pr. PA06]
[Pr. PA07]
[Pr. PT51]
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