Mitsubishi Electric MR-J4, Инструкция по эксплуатации

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18. MR-J4-03A6 SERVO AMPLIFIER
18 - 5
18.1.5 Function list
The following table lists the functions of MR-J4-03A6 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 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]