18. MR-J4-03A6(-RJ) SERVO AMPLIFIER
18 - 5
18.1.5 Function list
The following table lists the functions of MR-J4-03A6(-RJ) servo amplifier. For details of the functions, refer
to each section indicated in the detailed explanation field.
Function Description
Detailed
explanation
Model adaptive control
This realizes a high response and stable control following the ideal model. The two-
degree-of-freedom-model 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.
Position control mode
This servo amplifier is used as a position control servo.
Section
18.3.5 (1)
Section 3.6.1
Section 4.2
Speed control mode
This servo amplifier is used as a speed control servo.
Section
18.3.5 (2)
Section 3.6.2
Section 4.3
Torque control mode
This servo amplifier is used as a torque control servo.
Section
18.3.5 (3)
Section 3.6.3
Section 4.4
Position/speed control switch
mode
Using an input device, control can be switched between position control and speed
control.
Section 3.6.4
Speed/torque control switch
mode
Using an input device, control can be switched between speed control and torque
control.
Section 3.6.5
Torque/position control switch
mode
Using an input device, control can be switched between torque control and position
control.
Section 3.6.6
Positioning mode
Positioning mode is compatible with MR-J4-03A6-RJ servo amplifier.
For details, refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning
Mode)".
High-resolution encoder
High-resolution encoder of 262144 pluses/rev is used for the encoder of the rotary
servo motor compatible with the MR-J4-03A6(-RJ) servo amplifier.
Absolute position detection
system
Setting a home position once makes home position return unnecessary at every
power-on.
Chapter 12
Gain switching function
You can switch gains during rotation/stop, and can use input devices to switch gains
during operation.
Section 7.2
Advanced vibration
suppression control II
This function suppresses vibration at the arm end or residual vibration.
Section 7.1.5
Machine resonance
suppression filter
This is a filter function (notch filter) which decreases the gain of the specific frequency
to suppress the resonance of the mechanical system.
Section 7.1.1
Shaft resonance suppression
filter
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.
Section 7.1.3
Adaptive filter II
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Section 7.1.2
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Section 7.1.4
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply connecting
an MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
Robust filter
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
[Pr. PE41]
Slight vibration suppression
control
Suppresses vibration of ±1 pulse generated at a servo motor stop.
[Pr. PB24]
Electronic gear
Input pulses can be multiplied by 1/10 to 4000.
[Pr. PA06]
[Pr. PA07]
S-pattern acceleration/
deceleration time constant
Speed can be increased and decreased smoothly.
[Pr. PC03]
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...