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1. FUNCTI ONS AND CONF IGURATION 1 - 22 Function Description Detailed explanati on Dire ct dri ve ser vo sy stem Dir ect dri ve se rvo system can b e co nf igured to drive a direct drive motor. C hapter 15 Fully closed l…

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

1. FUNCTIONS AND CONFIGURATION

1 - 22

Function Description

Detailed

explanation

Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. Chapter 15

Fully closed loop system

Fully closed loop system can be configured using the load-side encoder.

This is used with servo amplifiers with software version A3 or later.

Chapter 16

One-touch tuning

Gain adjustment is performed just by one click on a certain button on MR

Configurator2.

MR Configurator2 is necessary for this function.

Section 6.2

SEMI-F47 function (Note)

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged

in the capacitor in case that an instantaneous power failure occurs during operation.

Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100

V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

[Pr. PA20]

[Pr. PF25]

Section 7.4

Tough drive function

This function makes the equipment continue operating even under the condition that

an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the

instantaneous power failure tough drive.

Section 7.3

Drive recorder function

This function continuously monitors the servo status and records the status transition

before and after an alarm for a fixed period of time. You can check the recorded data

on the drive recorder window on MR Configurator2 by clicking the "Graph" button.

However, the drive recorder will not operate on the following conditions.

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

3. [Pr. PF21] is set to "-1".

4. The controller is not connected (except the test operation mode).

5. An alarm related to the controller is occurring.

[Pr. PA23]

STO function

This function is a functional safety that complies with IEC/EN 61800-5-2. You can

create a safety system for the equipment easily.

Servo amplifier life diagnosis

function

You can check the cumulative energization time and the number of on/off times of the

inrush relay. This function gives an indication of the replacement time for parts of the

servo amplifier including a capacitor and a relay before they malfunction.

MR Configurator2 is necessary for this function.

Power monitoring function

This function calculates the power running energy and the regenerative power from

the data in the servo amplifier such as speed and current. For the SSCNET III/H

system, MR Configurator2 can display the data, including the power consumption.

Since the servo amplifier can send the data to a servo system controller, you can

analyze the data and display the data on a display.

Machine diagnosis function

From the data in the servo amplifier, this function estimates the friction and vibrational

component of the drive system in the equipment and recognizes an error in the

machine parts, including a ball screw and bearing.

MR Configurator2 is necessary for this function.

Master-slave operation

function

The function transmits a master axis torque to slave axes using driver communication

and the torque as a command drives slave axes by torque control.

This is used with servo amplifiers with software version A8 or later.

Section 17.2

Scale measurement function

The function transmits position information of a scale measurement encoder to the

controller by connecting the scale measurement encoder in semi closed loop control.

This is used with servo amplifiers with software version A8 or later.

Section 17.3

J3 compatibility mode

This amplifier has "J3 compatibility mode" which compatible with the previous MR-J3-

B series. Refer to section 17.1 for software versions.

Section 17.1

Continuous operation to

torque control mode

This enables to smoothly switch the mode from position control mode/speed control

mode to torque control mode without stopping. This also enables to decrease load to

the machine and high quality molding without rapid changes in speed or torque. For

details of the continuous operation to torque control mode, refer to the manuals for

servo system controllers.

[Pr. PB03]

[Pr. PB09]

Refer to the

servo system

controller

manual used.

Lost motion compensation

function

This function improves the response delay occurred when the machine moving

direction is reversed. This is used with servo amplifiers with software version B4 or

later.

Section 7.6

Super trace control

This function sets constant and uniform acceleration/deceleration droop pulses to

almost 0. This is used with servo amplifiers with software version B4 or later.

Section 7.7

Note. For servo s

stem controllers which are available with this, contact

our local sales office.

1. FUNCTIONS AND CONFIGURATION

1 - 23

1.6 Model designation

(1) Rating plate

The following shows an example of rating plate for explanation of each item.

Country of origin

Model

Capacity

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

KC number, The year and month of manufacture manufacture

Serial number

TOKYO 100-8310, JAPAN MADE IN JAPAN

IP20

KCC-REI-MEK-TC300A624G51

Max. Surrounding Air Temp.: 55°C

POWER :100W

MR-J4-10B

AC SERVO

SER.A45001001

OUTPUT: 3PH170V 0-360Hz 1.1A

MAN.: IB(NA)0300175

INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz

STD.: IEC/EN 61800-5-1

DATE:2014-05

MODEL

(2) Model

The following describes what each block of a model name indicates. Not all combinations of the symbols

are available.

MR - J 4 - 6 0 B 4 - RJ

Series

Rated output

SSCNETIII/H interface

Special specifications

Symbol Rated output [kW]

10 0.1

20 0.2

40 0.4

Symbol Special specifications

None Standard

MR-J4-_B_ without regenerative resistor (Note 1)

MR-J4-_B_-RJ without regenerative resistor (Note 1)

MR-J4-_B_ with a special coating specification (3C2) (Note 3)

MR-J4-_B_-RJ with a special coating specification (3C2) (Note 3)

-RJ

Fully closed loop control four-wire type/load-side encoder

A/B/Z-phase input compatible/Compatible with MR-D30

functional safety unit

60 0.6

70 0.75

100 1

200 2

350 3.5

500 5

700 7

11K 11

15K 15

22K 22

-PX

-RZ

-EB

-KS

Power supply

Symbol Power supply

None

3-phase or 1-phase

200 V AC to 240 V AC

3-phase 380 V AC to 480 V AC

1-phase 100 V AC to 120 V AC

MR-J4-_B_ without a dynamic brake (Note 2)

MR-J4-_B_-RJ without a dynamic brake (Note 2)

-ED

-RU

Note 1. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.

Refer to app. 11.2 for details.

2. D

namic brake which is built in 7

W or smaller servo amplifiers is removed. Refer to app. 11.1 for details.

3. Type with a specially-coated servo amplifier board (IEC 60721-3-3:1994 Class 3C2). Refer to app. 11.3 for

details.