Hello.
Maybe someone knows.
Servo drivers for this robot model are I believe running in torque mode.
Encoder on drives is abs/inc 12bit resolution.
Servo packs recieve current command from upper controler -> servo control board.
Does anybodu knows is this servo control board (as part of MRC) is closing position or both position and velocity loop inside and then sending current reference for torque amplifier(servo pack)?
I little doubt that “good” velocity loop can be closed with 12bit encoder.
Maybe someone has some info or doc about this servo control board
JANCD-MSV01.
This is what I have found in manuals concerning operation.
“
SERVO CONTROL BOARD
This board controls the robot's 6-axis servo motors. Speed (pps) and position are controlled using the maximum rotation speed and position loop gain (kp). Overspeed is detected by this board. Additional system control boards can be added to the CPU rack to control additional axes.
“
Thanks
Borko