Mitsubishi Electric MR-J4 TM Series, Instruction Manual

Page: 38 / 594

1. FUNCTIONS AND CONFIGURATION
1 - 21
1.5 Function list
POINT
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
EtherNet/IP is available with servo amplifiers with software version B0 or later.
The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field.
Function Description
Detailed
explanation
Network
ECT EIP
Cyclic synchronous position
mode (csp) The position control operation performed by a synchronous sequential position command
through network is supported.
(Note)
Cyclic synchronous velocity
mode (csv) The speed control operation performed by a synchronous sequential speed command
through network is supported.
Cyclic synchronous torque
mode (cst) The torque control operation performed by a synchronous sequential torque command
through network is supported.
Profile position mode (pp)
The positioning operation performed by an asynchronous end position command through
network is supported.
Profile velocity mode (pv)
The speed control operation performed by an asynchronous speed command through
network is supported.
Profile torque mode (tq)
The torque control operation performed by an asynchronous torque command through
network is supported.
Homing mode (hm) The home position return operation specified in each network is supported.
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 response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.5 for disabling this function.
Touch probe When the touch probe signal turns on, the current position is latched.
Section 3.5
(2)
[Pr. PD37]
(Note)
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.
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 an arm end or residual vibration. 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.
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
The 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 the 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 the servo amplifier.
MR Configurator2 is necessary for this function.
Robust filter
For roll feed axis, etc. of which a response level cannot be increased because of the
large load to motor inertia ratio, this function improves a disturbance response.
[Pr. PE41]
Slight vibration suppression
control
This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
Electronic gear
Positioning control is performed with the value obtained by multiplying the position
command from the controller by a set electronic gear ratio.
[Pr. PA06]
[Pr. PA07]
S-pattern
acceleration/deceleration time
constant
Speed can be increased and decreased smoothly. [Pr. PT51]