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17. APPLICATIO N OF FUNCTIONS 17 - 2 17.1.3 J3 c ompat ibility mod e suppor ted func tion lis t The foll owing sho ws funct ions which ar e compat ible w ith J 4 mode and J3 comp atibility m ode. T he lett ers such a s &…

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17. APPLICATION OF FUNCTIONS
17 - 1
17. APPLICATION OF FUNCTIONS
This chapter explains application of using servo amplifier functions.
17.1 J3 compatibility mode
POINT
The fully closed loop control in the J3 compatibility mode is available for the
servo amplifiers with software version A3 or later.
Specifications of the J3 compatibility mode of the servo amplifier with software
version A4 or earlier differ from those with software version A5 or later.
The J3 compatibility mode is not compatible with the master-slave operation
function.
17.1.1 Outline of J3 compatibility mode
MR-J4W_-_B servo amplifiers and MR-J4-_B_(-RJ) servo amplifiers have two operation modes: "J4 mode" is
for using all functions with full performance and "J3 compatibility mode" for using the conventional MR-J3-B
servo amplifiers.
When you connect a servo amplifier with SSCNET III/H communication for the first controller communication
by factory setting, the operation mode will be fixed to "J4 mode". To restore the factory settings or select a
desired mode, change the settings using the application "MR-J4(W)-B mode selection" or "MR Mode
Change".
The application "MR-J4(W)-B mode selection" or "MR Mode Change" is included in MR Configurator2 with
version 1.12N or later. The application "MR-J4(W)-B mode selection" is packed with MR Configurator2 of
software version 1.12N or later.
For information on the operating conditions of the application "MR-J4(W)-B mode selection" and "MR Mode
Change", refer to the operating conditions of MR Configurator2. (Refer to section 11.7.)
17.1.2 Operation modes supported by J3 compatibility mode
The J3 compatibility mode supports the following operation modes.
Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B
MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B
MR-J3-B fully closed loop control mode MR-J3-_B-RJ006 MR-J3-_BS
MR-J3-B linear servo motor control mode MR-J3-_B-RJ004 MR-J3W-_B
MR-J3-B DD motor control mode MR-J3-_B-RJ080W MR-J3W-_B
Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is
compatible with their settings.
In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3
series. By enabling the J3 extension function, control response will be equal to MR-J4 series using a
controller compatible with SSCNET III.
17. APPLICATION OF FUNCTIONS
17 - 2
17.1.3 J3 compatibility mode supported function list
The following shows functions which are compatible with J4 mode and J3 compatibility mode. The letters
such as "A0" described after
and mean servo amplifier software versions which compatible with each
function. Each function is used with servo amplifiers with these software versions or later.
Compatibility
(
: J4 new, : Equivalent to J3, : Not available)
Function Name MR-J4 series
MR-J3/MR-J3W series
(Note 8)
J4 mode
J3 compatibility
mode
Basic specification
Speed frequency response 2.5 kHz 2.1 kHz 2.1 kHz
Encoder resolution 22 bits (Note 1) 18 bits (Note 1) 18 bits
SSCNET III/H
communication or
SSCNET III
communication
Communication baud rate 150 Mbps 50 Mbps 50 Mbps
Maximum distance between stations 100 m 50 m 50 m
Basic function
Absolute position detection system
A0 A0
Fully closed loop control (Note 9)
A3
(Two-wire type only)
(Note 13)
A3
(Two-wire type only)
(Note 13)
MR-J3-_B-RJ006
MR-J3-_S
Linear servo motor driving
A0
(Two-wire type/
four-wire type only)
(Note 13)
A0
(Two-wire type/
four-wire type only)
(Note 13)
MR-J3-_B-RJ004
MR-J3W-_B
Direct drive motor driving A0 A0
MR-J3-_B-RJ080W
MR-J3W-_B
Motor-less operation A0 (Note 2) A0 (Note 2)
Rotation direction selection/travel
direction selection
A0 A0
Encoder output pulses
A/B-phase pulse output
A0 (Note 3) A0 (Note 3)
Z-phase pulse output A0 (Note 4) A0 (Note 4) (Note 4)
Input/output
Analog monitor output
A0 (Note 5) A0 (Note 5)
Motor thermistor A0 A0
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
Position control mode A0 A0
Speed control mode A0 A0
Control mode Torque control mode A0 A0
Continuous operation to torque
control mode
A0 A0
Auto tuning mode 1 A0 A0
Auto tuning mode 2 A0 A0
Auto tuning
2 gain adjustment mode 1
(interpolation mode)
A0 A0
2 gain adjustment mode 2 A0
Manual mode A0 A0
Machine resonance suppression filter
1
A0 A0
Machine resonance suppression filter
2
A0 A0
Filter function
Machine resonance suppression filter
3
A0 B0 (Note 15)
Machine resonance suppression filter
4
A0 B0 (Note 15)
Machine resonance suppression filter
5
A0 B0 (Note 15)
Shaft resonance suppression filter A0 B0 (Note 15)
Low-pass filter A0 A0
Robust disturbance compensation
(Note 10)
A0
Robust filter A0 B0 (Note 15)
17. APPLICATION OF FUNCTIONS
17 - 3
Compatibility
(
: J4 new, : Equivalent to J3, : Not available)
Function Name MR-J4 series
MR-J3/MR-J3W series
(Note 8)
J4 mode
J3 compatibility
mode
Standard mode/3 inertia mode A0 B0 (Note 15)
Vibration suppression
control
Vibration suppression control 1
A0 A0
Vibration suppression control 2 A0 B0 (Note 15)
Command notch filter A0 A0
Gain switching A0 A0
Slight vibration suppression control A0 A0
Overshoot amount compensation A0 A0
PI-PID switching control A0 A0
Feed forward A0 A0
Applied control Torque limit A0 A0
Master-slave operation function A8 (Note 5)
Scale measurement function A8 (Note 3)
Model adaptive control disabled B4 B4
Lost motion compensation function B4 (Note 5) (Note 5, 15)
Super trace control B4 (Note 5)
One-touch tuning A0 B0 (Note 15)
Adjustment function
Adaptive tuning
A0 A0
Vibration suppression control 1 tuning A0 A0
Vibration suppression control 2 tuning A0 B0 (Note 15)
Fully closed loop electronic gear A3 A3
Dual feedback control A3 A3
Fully closed loop control
Semi closed/fully closed switching
loop control
A3 A3
MR-J3-_S
MR-J3-_B-RJ006
Fully closed loop control error
detection function
A3 A3
Linear compatible
Linear servo control error detection
function
A0 A0
MR-J3-_B-RJ004
MR-J3W-_B
Servo motor series/types setting
function
A0 A0
Magnetic pole detection
Direct current exciting method
magnetic pole detection
A0 A0
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
Current detection method magnetic
pole detection
(Note 6) A0
MR-J3-_B-RJ004
MR-J3W-_B
Minute position detection method
magnetic pole detection
A0 A0
MR-J3-_B-RJ004
MR-J3-_B-RJ080W
MR-J3W-_B
Initial magnetic pole detection error
detection function
A0 A0
Encoder
Semi closed loop control two-wire
type/four-wire type selection
A0 A0
Serial interface compatible linear
encoder
A0 A0
MR-J3-_S
MR-J3-_B-RJ006
MR-J3-_B-RJ004
MR-J3W-_B
Pulse train interface (A/B/Z-phase
differential output type) compatible
linear encoder
A5 (Note 14) A5 (Note 14)
MR-J3-_S
MR-J3-_B-RJ006
MR-J3-_B-RJ004
Functional safety
STO function
A0 A0 MR-J3-_S
Forced stop deceleration function at
alarm occurrence
A0 A0 (Note 12) MR-J3-_S
Vertical axis freefall prevention
function
A0 A0 MR-J3-_S
Tough drive function
SEMI-F47 function
A0 B0 (Note 15, 16)
Vibration tough drive A0 B0 (Note 15)
Instantaneous power failure tough
drive
A0 B0 (Note 15)