Mitsubishi Electric MR-J4W2, Инструкция по эксплуатации

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1. FUNCTIONS AND CONFIGURATION
1 - 9
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference 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 by servo amplifiers with software version B4 or later. Check
the software version using MR Configurator2.
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 servo amplifier is used as a torque control servo.
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
Using an input device or gain switching conditions (including the servo motor
speed) switches gains.
Section 7.2
Advanced vibration
suppression control II This function suppresses vibration at the arm end or residual vibration of the
machine.
Section 7.1.5
Machine resonance
suppression filter
The machine resonance suppression filter 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 produced at a servo motor stop.
[Pr. PB24]
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Chapter 6
Regenerative option
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
Section 11.2
Alarm history clear Alarm history is cleared. [Pr. PC21]
Output signal selection
(Device settings)
The pins that output the output devices, including ALM (Malfunction) and INP (In-
position), can be assigned to certain pins of the CN3 connectors. [Pr. PD07] to
[Pr. PD09]
Output signal (DO) forced
output Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check and others. Section 4.5.1 (1)
(d)
Test operation mode
Jog operation, positioning operation, motor-less operation, DO forced output, and
program operation
MR Configurator2 is necessary for this function.
Section 4.5
MR Configurator2
Using a personal computer, you can perform the parameter setting, test operation,
monitoring, and others.
Section 11.4
Linear servo system
Linear servo system can be configured using a linear servo motor and liner
encoder.
Chapter 14
Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. Chapter 15
One-touch tuning
One click on a certain button on MR Configurator2 adjusts the gains of the servo
amplifier.
MR Configurator2 is necessary for this function.
Section 6.2