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1. FUNCTIONS AND CONFIGURATION
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
Model adaptive control
Position control mode
Speed control mode
Torque control mode
Pressure control mode
High-resolution encoder
Absolute position detection
system
Gain switching function
Advanced vibration
suppression control II
Machine resonance
suppression filter
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Auto tuning
Brake unit
Power regeneration converter Used when the regenerative option cannot provide enough regenerative power.
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.
This servo amplifier is used as a position control servo.
This servo amplifier is used as a speed control servo.
This is not available with the MR-J4-(DU)_B_-LL servo amplifier.
This servo amplifier is used as a pressure control servo.
Use a pressure control compatible controller.
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary
servo motor compatible with the MELSERVO-J4 series.
Setting a home position once makes home position return unnecessary at every
power-on.
You can switch gains during rotation/stop, and can use input devices to switch gains
during operation.
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].
This filter function (notch filter) decreases the gain of the specific frequency to
suppress the resonance of the mechanical system.
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.
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].
Suppresses high-frequency resonance which occurs as the servo system response is
increased.
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.
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.
Suppresses vibration of ±1 pulse generated at a servo motor stop.
This cannot be used in the pressure control mode.
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.
Used when the regenerative option cannot provide enough regenerative power.
Description
1 - 15
Detailed
explanation
MR-J4-_B_
Chapter 12
MR-J4-_B_
Section 7.2
MR-J4-_B_
Section 7.1.5
MR-J4-_B_
Section 7.1.1
MR-J4-_B_
Section 7.1.3
MR-J4-_B_
Section 7.1.2
MR-J4-_B_
Section 7.1.4
[Pr. PE41]
[Pr. PB24]
MR-J4-_B_
Section 6.3
MR-J4-_B_
Section 11.3
MR-J4-_DU_
Section 9.10
MR-J4-_B_
Section 11.4
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