Mitsubishi Electric MELSERVO MR-J4-B-LL Series, Instruction Manual

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1. FUNCTIONS AND CONFIGURATION
1 - 15
1.6 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
"MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".
"MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".
Function Description
Detailed
explanation
Model adaptive control
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 a response to the disturbance separately.
This function can also be disabled. To disable this function, refer to section 7.5 of
"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". This is available with servo
amplifiers with software version B4 or later. Check the software version with MR
Configurator2.
The model adaptive control is not used in the pressure control mode.
Position control mode This servo amplifier is used as a position control servo.
Speed control mode This servo amplifier is used as a speed control servo.
Torque control mode This is not available with the MR-J4-(DU)_B_-LL servo amplifier.
Pressure control mode
This servo amplifier is used as a pressure control servo.
Use a pressure control compatible controller.
High-resolution encoder
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary
servo motor compatible with the MELSERVO-J4 series.
Absolute position detection
system Setting a home position once makes home position return unnecessary at every
power-on.
MR-J4-_B_
Chapter 12
Gain switching function
You can switch gains during rotation/stop, and can use input devices to switch gains
during operation. MR-J4-_B_
Section 7.2
Advanced vibration
suppression control II
This function suppresses vibration and residual vibration at an arm end.
This cannot be used in the pressure control mode. When using the pressure control
mode, do not set the vibration suppression control tuning mode to automatic setting
with [Pr. PB02].
MR-J4-_B_
Section 7.1.5
Machine resonance
suppression filter This filter function (notch filter) decreases the gain of the specific frequency to
suppress the resonance of the mechanical system.
MR-J4-_B_
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-_B_
Section 7.1.3
Adaptive filter II
The servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
This cannot be used in the pressure control mode. When using the pressure control
mode, do not set the filter tuning mode selection to automatic setting with [Pr. PB01].
MR-J4-_B_
Section 7.1.2
Low-pass filter
Suppresses high-frequency resonance which occurs as the servo system response is
increased. MR-J4-_B_
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 the servo amplifier.
MR Configurator2 is necessary for this function.
This cannot be used in the pressure control mode.
Robust filter
Improves a disturbance response when a response performance cannot be increased
because of a large load to motor inertia ratio, such as a roll feed axis.
[Pr. PE41]
Slight vibration suppression
control Suppresses vibration of ±1 pulse generated at a servo motor stop.
This cannot be used in the pressure control mode.
[Pr. PB24]
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
This cannot be used in the pressure control mode.
MR-J4-_B_
Section 6.3
Brake unit Used when the regenerative option cannot provide enough regenerative power.
MR-J4-_B_
Section 11.3
MR-J4-_DU_
Section 9.10
Power regeneration converter Used when the regenerative option cannot provide enough regenerative power.
MR-J4-_B_
Section 11.4