System Tuning and Safety Functions System Diagnosis Function The rigidity of a machine is known through a mathematical model The consistency of the machine's batch installation can be checked By comparing the data from different time span, the wear condition of a machine can be acquired Low Frequency Vibration Suppression Function Vibration elimination algorithm is different from command filter and used as a creative algorithm on ASDA-A3 The vibration can be eliminated without slowing down its response In addition to vibration elimination algorithm, the two command filters for low frequency vibration are included 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 Time (sec) 5 ithout Vib ration Suppression D e lta Vibration Suppression Stable U n stable o-Tunin g Function Motor Load (inertia ratio=68 ) Posi Befo tion C re Aut omma o-Tun nd ing After Auto- Tunin g