Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 21 / 610

1. FUNCTIONS AND CONFIGURATION
1 - 6
Function Description
Control mode
Detailed
explanation
CP/BCD
CL PS
home position return
Dog type/count type/data setting type/stopper type/home position
ignorance/dog type rear end reference/count type front end reference/dog
cradle type/dog type last Z-phase reference/dog type Z-phase
reference/dogless Z-phase reference
Section 4.4
Section 5.4
Torque limit changing dog type/torque limit changing data set type
Section 6.4
High-resolution encoder
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the
rotary servo motor compatible with the MELSERVO-J4 series. However, the
encoder resolution of the rotary servo motor compatible with MR-J4-03A6-
RJ servo amplifiers will be 262144 pulses/rev.
Absolute position
detection system
Home position return is required only once, and not required at every power-
on. Only "12.1 Summary" and "12.2 Battery" will be appropriate references
for the positioning mode.
MR-J4-_A_
chapter 12
Gain switching function
You can switch gains during rotation/stop, and can use input devices to
switch gains during operation. MR-J4-_A_
section 7.2
Advanced vibration
suppression control II
This function suppresses vibration at the arm end or residual vibration.
MR-J4-_A_
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. MR-J4-_A_
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.
MR-J4-_A_
section 7.1.3
Adaptive filter II
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration. MR-J4-_A_
section 7.1.2
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system
response is increased. MR-J4-_A_
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
Position commands can be multiplied by 1/864 to 33935.
[Pr. PA06]
[Pr. PA07]
Position commands can be multiplied by 1/9999 to 9999.
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies. MR-J4-_A_
section 6.3
Brake unit
Used when the regenerative option cannot provide enough regenerative
power.
Can be used for the 5 kW or more servo amplifier.
This is not available with MR-J4-03A6-RJ servo amplifiers.
MR-J4-_A_
section 11.3
Power regeneration
converter
Used when the regenerative option cannot provide enough regenerative
power.
Can be used for the 5 kW or more servo amplifier.
This is not available with MR-J4-03A6-RJ servo amplifiers.
MR-J4-_A_
section 11.4
Regenerative option
Used when the built-in regenerative resistor of the servo amplifier does not
have sufficient regenerative capability for the regenerative power generated.
This is not available with MR-J4-03A6-RJ servo amplifiers.
MR-J4-_A_
section 11.2
Alarm history clear Alarm history is cleared.
[Pr. PC18]
Input signal selection
(device settings) ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-
on) and other input device can be assigned to any pins.
[Pr. PD04]
[Pr. PD06]
[Pr. PD08]
[Pr. PD10]
[Pr. PD12]
[Pr. PD14]
[Pr. PD18]
[Pr. PD20]
[Pr. PD22]
[Pr. PD44]
[Pr. PD46]
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