A speed frequency response of 2.5 kHz is achieved by applying our original high-speed servo control architecture evolved from the conventional two-degrees-of-freedom model adaptive control to the dedicated execution engine. Together with a high-resolution absolute position encoder of 4,194,304 pulses/rev, fast and accurate operation is enabled. The performance of the high-end machines is utilized to the fullest.
With improved processing speed, the rotary servo motors equipped with a high-resolution encoder enables high-accuracy positioning and smooth rotation.
Just turn on the one-touch tuning function to complete servo gain adjustment automatically, including machine resonance suppression filter, advanced vibration suppression control II*1, and robust filter for maximizing your machine performance. This function also sets responsivity automatically, while the real-time auto tuning requires manual setting. Moreover, a new method*2 allows to create an optimum tuning command inside the servo amplifier.
The advanced vibration suppression control II suppresses two types of lowfrequency vibrations, owing to vibration suppression algorithm which supports three-inertia system. This function is effective in suppressing residual vibration with relatively low frequency of approximately 100 Hz or less generated at the end of an arm and in a machine, enabling a shorter settling time.
Achieving both high responsivity and stability was difficult with the conventional control in high-inertia systems with belts and gears such as printing and packaging machines. Now, this function enables the high responsivity and the stability at the same time without adjustment. The robust filter gradually reduces the fluctuation of torque in a wide frequency range and achieves more stability as compared to the prior model.
With advanced filter structure, applicable frequency range is expanded from between 100 Hz and 4500 Hz to between 10 Hz and 4500 Hz. Additionally, the number of simultaneously applicable filters is increased from two to five, improving vibration suppression performance of a machine.
This function suppresses quadrant protrusion caused by friction and torsion generated when the servo motor rotates in a reverse direction. Therefore, the accuracy of circular path will be improved in trajectory control used in XY table, etc.
This function reduces a position deviation to nearly zero not only during constant-velocity operation, but also during constant acceleration/deceleration. The trajectory accuracy will be improved in high-rigidity machines.
* Use a compatible controller.
This function switches position/speed control mode to torque control mode smoothly without a stop or a sudden change in speed and torque, and thus reduces load to a machine. This function is best suit for an application where control is switched from position to torque such as Tightening & Press-fit control or insertion of a work, and cap or screw tightening.
The controller controls the master axis by using the driver communication function of MR-J4-B servo amplifiers. The servo amplifier of the master axis transmits the torque data to the other servo amplifiers on SSCNET III/H, and the others also drive the servo motors on the basis of the torque data transmitted from the master axis. The data is transmitted via SSCNET III/H, and thus no special wiring is necessary.
The scale measurement function of MR-J4-GF/MR-J4-B/MR-J4W2-B*1 servo amplifiers*2 enables to transmit position information of a scale measurement encoder to the controller when the scale measurement encoder is connected in semi closed loop control. The data of linear or synchronous encoders are transmitted to the servo system controller via the servo amplifier, resulting in less wiring.
MR-J4 series servo amplifier operates rotary servo motors, linear servo motors, and direct drive motors as standard*.
For SSCNET III/H compatible servo amplifiers, 2-axis and 3-axis types are available in addition to 1-axis type, enabling flexible systems based on the number of control axes.
Supporting a fully closed loop control system*1 as standard, MR-J4-GF/MR-J4-B/MR-J4-A servo amplifiers enable further precise positioning*2.
Each servo amplifier supports the following main circuit power supplies:
MR-J4-B/MR-J4-A: 3-phase 200 V AC/400 V AC,
1-phase 100 V AC, and 48 V DC/24 V DC
They also support a wide range of capacities from 30 W* to 55 kW.
MR-J4-GF: 3-phase 200 V AC/400 V AC, 1-phase 100 V AC
MR-J4-GF-RJ/MR-J4-B-RJ/MR-J4-A-RJ also supports DC power input.
General-purpose interface compatible MR-J4-A servo amplifier supports maximum command pulse frequency of 4 Mpulses/s (when differential receiver is used).
When open collector is used, both sink and source inputs are enabled.
MR-J4-GF(-RJ) and MR-J4-A-RJ have a built-in positioning function, enabling positioning operation with point table, program-based*, and indexer methods. With these servo amplifiers, a positioning system is configured without a Positioning module (command pulse). Positioning command is executed by CC-Link IE Field network, input/output signals, or RS-422/RS-485 communication (up to 32 axes). MR Configurator2 allows easy setting of the positioning data.
Point table method
Set position data (target position), servo motor speed, and acceleration/deceleration time constants in point table. Setting the point table data (settable up to 255 points) is as easy as setting parameters. Perform positioning operation with a start signal after selecting the point table Nos.
Program method*
Create positioning programs with dedicated commands, and perform positioning operation with a start signal after selecting the program Nos. The program-based method enables more complex positioning operation than the point table method. Maximum of 256 programs are settable. (The total number of steps of all programs: 640)
Indexer method*
Perform positioning operation by specifying equally divided stations (up to 255 stations) and the number of gear teeth on machine and motor sides. The travel distance will be calculated automatically based on the number of equally divided stations set in the parameter. The positioning operation is performed with a start signal after the station position Nos. are selected.
Rotation direction specifying indexer or shortest rotating indexer can be set.
* Not supported by MR-J4-03A6-RJ.
New useful functions are added to the positioning function: simple cam function, encoder following function, pulse input through function, simple cam position compensation function, and communication functions (MODBUS® RTU, Point to Point positioning, and current position latch function). Apply these useful functions to a wide variety of applications to configure positioning system easily.
Simple cam function
Various patterns of cam data are created easily with MR Configurator2. Command pulse or point table/program start signal is used as input to the simple cam. The input command will be outputted to the servo motor according to the cam data.
Encoder following function/Pulse input through function*
With the encoder following function, the servo amplifier receives A/B-phase output signal from the synchronous encoder as command pulse, and the input command will be outputted to the servo motor according to the cam data. Setting cam data that matches with the sheet length, a circumference of the rotary knife axis, and the synchronous section of the sheet enables a system in which the conveyor axis and the rotary knife axis are synchronized. Up to 4 Mpulses/s of input from a synchronous encoder is compatible with the servo amplifier. The pulse input through function allows the first axis to output A/B-phase pulses which are received from the synchronous encoder to the next axis, enabling a system in which the subsequent axes are synchronized with the synchronous encoder.
Simple cam position compensation function*
The actual position of the servo motor is obtained based on the inputs from the sensor that detects the registration marks printed on the high-speed moving film. The servo amplifier calculates compensation amounts and corrects position errors of the rotary knife axis based on those inputs from the sensor so that the film can be cut at the set position.
Communication function (MODBUS® RTU)
In addition to RS-422/RS-485 communication (Mitsubishi Electric general-purpose AC servo protocol), RS-485 communication (MODBUS® RTU protocol) is supported. MODBUS® RTU protocol is compatible with function code 03h (Read holding registers), etc.
Controlling and monitoring of the servo amplifier is possible by external devices.
Communication function (Point to Point positioning)
Up to 255 points of Point to Point positioning are enabled when the target position is set in the point table in advance. Rewriting the next target position during an operation is also possible by the communication function.
Communication function (current position latch)
Based on the data latched by the mark detection function (current position latch*), a target position is compensated by being written in the point table.
The network is designed to simultaneously handle distributed control, I/O control, and motion control. CC-Link IE Field Network lets you connect field devices such as programmable controllers, I/O modules, high-speed counter modules, servo amplifiers, inverters, and displays, providing optimal network which best fits the needs of the application.
Choose from star, line, or ring* topology suitable for layout of lines and machines.
This all-in-one MELSOFT GX Works3 covers all aspects of the product development cycle from system design to maintenance - including programming, setting of CC-Link IE Field Network and Simple Motion modules, and adjustment of servo amplifiers.
MR-J4-GF(-RJ) is compatible with CC-Link IE Field Network as standard.
The servo amplifier is connectable with Ethernet-based CC-Link IE Field Network, enabling high-speed, seamless communication.
A combination of a master module and MR-J4-GF(-RJ) allows positioning operation with point table method or indexer method, not requiring a Positioning module. With the point table method, just set the point table No. and turn on the start signal, and then the positioning operation will be started. A continuous operation of the next point table is also possible without stopping.
In the indexer method, the travel amount is automatically calculated based on the number of stations set in the parameter.
For more details of the positioning function, refer to "Positioning Function".
A combination of a Simple Motion module and MR-J4-GF(-RJ) enables high-performance synchronous control and interpolation control with simple parameter setting and a start from a sequence program. Speed control and torque control are also possible, suitable for converting machines. In addition, using remote inputs/outputs which are compatible with the synchronized communication function enables a system synchronized with the command cycle of the servo amplifier.
An example of inputs/outputs synchronized with the command cycle of the servo amplifier
A synchronous encoder, unwinder, printing machine can be synchronized with the servo command communication cycle.
With recent trends of IoT *1, network connection of devices and equipment for small-scale systems are becoming more mainstream. CC-Link IE Field Network Basic realizes easier network integration of Ethernet devices, as its cyclic communications stack is software-based, without requiring a dedicated ASIC helping to reduce implementation costs for device partners.
Transparent communications are achieved by utilizing SLMP *2 that enables seamless connectivity within all levels of manufacturing.
Communication speed is increased to 150 Mbps full duplex (equivalent to 300 Mbps half duplex), three times faster than the conventional speed. System response is dramatically improved.
Synchronous communication is achieved with SSCNET III/H, offering technical advantages for machines in printing and food processing industry that require deterministic control.
Smooth control of a machine is possible using high-speed serial communication with a cycle time of 0.222 ms.
The fiber-optic cables thoroughly shut out noise that enters from the power cable or external devices. Noise tolerance is dramatically improved as compared to metal cables.
Long distance wiring is possible up to 3200 m per system (maximum of 100 m between stations × 32 axes), suitable for large-scale systems.
Large amounts of servo data are exchanged in real-time between the controller and the servo amplifier.
Using MELSOFT MR Configurator2 on a personal computer that is connected to the Motion controller or the Simple Motion module helps consolidate information such as parameter settings and monitoring for the multiple servo amplifiers.
Star and line topologies are available with MR-MV200 optical hub unit* through SSCNET III/H for a network configuration. Maintenance can be executed without stopping the whole system, and thus the operation rate will be increased.
MR-MT2000 series sensing modules including the I/O module, analog I/O module, pulse I/O module, and encoder I/F module are connected to SSCNET III/H.
These various modules enable a faster, more accurate machine operation by synchronizing the I/Os of a general-purpose pulse train driver, sensor, and SSI encoder with the motion control.
* For MR-MV200 optical hub unit and MR-MT2000 sensing module, refer to
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