Mitsubishi Electric MR-J4, Instruction Manual

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1. FUNCTIONS AND CONFIGURATION
1 - 19
1.5 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.
Function Description
Detailed
explanation
Model adaptive control
This realizes a high response and stable control following the ideal model. The two-
degrees-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. This is used with
servo amplifiers with software version B4 or later. Check the software version of the
servo amplifier using MR Configurator2.
Position control mode This servo amplifier is used as a position control servo.
Section 3.2.1
Section 3.6.1
Section 4.2
Speed control mode This servo amplifier is used as a speed control servo.
Section 3.2.2
Section 3.6.2
Section 4.3
Torque control mode This servo amplifier is used as a torque control servo.
Section 3.2.3
Section 3.6.3
Section 4.4
Positioning mode
Used when you use an MR-J4-_A_-RJ servo amplifier in the positioning mode under
the point table/program/indexer method.
Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual (Positioning Mode)" for
details.
The positioning mode is used by MR-J4-_A_-RJ servo amplifier with software version
B3 or later.
Position/speed control
change mode Using an input device, control can be switched between position control and speed
control.
Section 3.6.4
Speed/torque control change
mode Using an input device, control can be switched between speed control and torque
control.
Section 3.6.5
Torque/position control
change mode Using an input device, control can be switched between torque control and position
control.
Section 3.6.6
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.
Absolute position detection
system Merely 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 and during stop, and can use an input device 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 axis.
[Pr. PE41]
Slight vibration suppression
control
Suppresses vibration of ±1 pulse produced 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]