sh030106u.pdf - 第37页

1. FUNCTI ONS AND CONF IGURATION 1 - 20 (2) 400 V clas s Servo am plifi er Rotary s ervo mot or Linear s ervo mot or (prima ry side) HG-SR HG-JR MR-J4- 60B4(-R J) 524 534 MR-J4- 100B4( -RJ) 1024 534 (Note ) 734 1034 MR-J…

1. FUNCTIONS AND CONFIGURATION

1 - 19

1.4 Combinations of servo amplifiers and servo motors

POINT

When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot

be achieved with HG-JR series servo motor.

When you use the MR-J4-100B(-RJ) or MR-J4-200B(-RJ) with the 1-phase 200

V AC input, contact your local sales office for the torque characteristics of the

HG-UR series, HG-RR series, and HG-JR series servo motors.

(1) 200 V class

Servo amplifier

Rotary servo motor

Linear servo motor

(primary side)

Direct drive motor

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

MR-J4-10B(-RJ) 053

053

MR-J4-20B(-RJ)

23 23

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

TM-RFM002C20

TM-RG2M002C30 (Note 1)

TM-RU2M002C30 (Note 1)

TM-RG2M004E30 (Note 1)

TM-RU2M004E30 (Note 1)

MR-J4-40B(-RJ)

43 43

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-K2P1A-01M-2SS1

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

TM-RFM004C20

TM-RG2M004E30 (Note 1, 3)

TM-RU2M004E30 (Note 1, 3)

TM-RG2M009G30 (Note 1)

TM-RU2M009G30 (Note 1)

MR-J4-60B(-RJ)

LM-U2PBD-15M-1SS0 TM-RFM006C20

TM-RFM006E20

MR-J4-70B(-RJ)

73 73 72 73

LM-H3P3B-24P-CSS0

LM-H3P3C-36P-CSS0

LM-H3P7A-24P-ASS0

LM-K2P2A-02M-1SS1

LM-U2PBF-22M-1SS0

TM-RFM012E20

TM-RFM012G20

TM-RFM040J10

MR-J4-100B(-RJ)

102

53 (Note 2)

103

TM-RFM018E20

MR-J4-200B(-RJ)

121

201

152

202

152

103

153

73 (Note 2)

103 (Note 2)

153

203

LM-H3P3D-48P-CSS0

LM-H3P7B-48P-ASS0

LM-H3P7C-72P-ASS0

LM-FP2B-06M-1SS0

LM-K2P1C-03M-2SS1

LM-U2P2B-40M-2SS0

MR-J4-350B(-RJ)

301

352

202 203

153 (Note 2)

203 (Note 2)

353

LM-H3P7D-96P-ASS0

LM-K2P2C-07M-1SS1

LM-K2P3C-14M-1SS1

LM-U2P2C-60M-2SS0

TM-RFM048G20

TM-RFM072G20

TM-RFM120J10

MR-J4-500B(-RJ)

421

502

352

502

353

503

353 (Note 2)

503

LM-FP2D-12M-1SS0

LM-FP4B-12M-1SS0

LM-K2P2E-12M-1SS1

LM-K2P3E-24M-1SS1

LM-U2P2D-80M-2SS0

TM-RFM240J10

MR-J4-700B(-RJ)

702

503 (Note 2)

601

701M

703

LM-FP2F-18M-1SS0

LM-FP4D-24M-1SS0

MR-J4-11KB(-RJ)

801

12K1

11K1M

903

LM-FP4F-36M-1SS0

MR-J4-15KB(-RJ)

15K1

15K1M

LM-FP4F-48M-1SS0

MR-J4-22KB(-RJ)

20K1

25K1

22K1M

Note 1. This is available with servo amplifiers with software version C8 or later.

2. This combination increases the maximum torque of the servo motor to 400%.

3. This combination increases the rated torque and the maximum torque.

1. FUNCTIONS AND CONFIGURATION

1 - 20

(2) 400 V class

Servo amplifier

Rotary servo motor

Linear servo motor

(primary side)

HG-SR HG-JR

MR-J4-60B4(-RJ) 524 534

MR-J4-100B4(-RJ)

1024

534 (Note)

734

1034

MR-J4-200B4(-RJ)

1524

2024

734 (Note)

1034 (Note)

1534

2034

MR-J4-350B4(-RJ)

3524

1534 (Note)

2034 (Note)

3534

MR-J4-500B4(-RJ)

5024

3534 (Note)

5034

MR-J4-700B4(-RJ)

7024

5034 (Note)

6014

701M4

7034

MR-J4-11KB4(-RJ)

8014

12K14

11K1M4

9034

MR-J4-15KB4(-RJ) 15K14

15K1M4

MR-J4-22KB4(-RJ) 20K14

25K14

22K1M4

LM-FP5H-60M-1SS0

Note. This combination is for increasin

the maximum torque of the servo motor to 400%.

(3) 100 V class

Servo amplifier

Rotary servo motor

Linear servo motor

(primary side)

Direct drive motor

HG-KR HG-MR

MR-J4-10B1(-RJ) 053

053

MR-J4-20B1(-RJ)

23 23

LM-U2PAB-05M-0SS0

LM-U2PBB-07M-1SS0

TM-RFM002C20

TM-RG2M002C30 (Note 1)

TM-RU2M002C30 (Note 1)

TM-RG2M004E30 (Note 1)

TM-RU2M004E30 (Note 1)

MR-J4-40B1(-RJ)

43 43

LM-H3P2A-07P-BSS0

LM-H3P3A-12P-CSS0

LM-K2P1A-01M-2SS1

LM-U2PAD-10M-0SS0

LM-U2PAF-15M-0SS0

TM-RFM004C20

TM-RG2M004E30 (Note 1, 2)

TM-RU2M004E30 (Note 1, 2)

TM-RG2M009G30 (Note 1)

TM-RU2M009G30 (Note 1)

Note 1. This is available with servo amplifiers with software version C8 or later.

2. This combination increases the rated torque and the maximum torque.

1. FUNCTIONS AND CONFIGURATION

1 - 21

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section of the

detailed description 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.

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

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

a 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.

Section 6.3

Brake unit

Used when the regenerative option cannot provide enough regenerative power.

Can be used for the 5 kW or more servo amplifier.

Section 11.3

Power regeneration converter

Used when the regenerative option cannot provide enough regenerative power.

Can be used for the 5 kW or more servo amplifier.

Section 11.4

Multifunction regeneration

converter

Use this function if the regenerative option does not have sufficient regenerative

capacity.

Section 11.19

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 output devices including ALM (Malfunction) and DB (Dynamic brake interlock)

can be assigned to certain pins of the CN3 connector.

[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 checking output signal wiring, etc.

Section 4.5.1

(1) (d)

Test operation mode

Jog operation, positioning operation, motor-less operation, DO forced output, and

program operation can be used.

MR Configurator2 is necessary for this function.

Section 4.5

Analog monitor output Servo status is output in terms of voltage in real time.

[Pr. PC09],

[Pr. PC10]

MR Configurator2

Using a personal computer, you can perform the parameter setting, test operation,

monitoring, and others.

Section 11.7

Linear servo system Linear servo system can be configured using a linear servo motor and linear encoder. Chapter 14