Mitsumi electronic MR-J3- A Manual De Usuario

 

 

1 -  7 

1. FUNCTIONS AND CONFIGURATION 

 
1.4 Function list 

The following table lists the functions of this servo. For details of the functions, refer to the reference field. 

 

Function Description 

(Note) 

Control mode 

Reference 

Position control mode 

This servo is used as position control servo. 

P 

Section 3.2.1 
Section 3.6.1 
Section 4.2 

Speed control mode 

This servo is used as speed control servo. 

S 

Section 3.2.2 
Section 3.6.2 
Section 4.3 

Torque control mode 

This servo is used as torque control servo. 

T 

Section 3.2.3 
Section 3.6.3 
Section 4.4 

Position/speed control 
change mode 

Using input device, control can be switched between position 
control and speed control. 

P/S Section 

3.6.4 

Speed/torque control change 
mode 

Using input device, control can be switched between speed 
control and torque control. 

S/T Section 

3.6.5 

Torque/position control 
change mode 

Using input device, control can be switched between torque 
control and position control. 

T/P Section 

3.6.6 

High-resolution encoder 

High-resolution encoder of 262144 pulses/rev is used as a 
servo motor encoder. 

P, S, T 

 

Absolute position detection 
system 

Merely setting a home position once makes home position 
return unnecessary at every power-on. 

P Chapter 

14 

Gain changing function 

You can switch between gains during rotation and gains during 
stop or use an input device to change gains during operation. 

P, S 

Section 8.6 

Advanced vibration 
suppression control 

This function suppresses vibration at the arm end or residual 
vibration. 

P Section 

8.4 

Adaptive filter   

Servo amplifier detects mechanical resonance and sets filter 
characteristics automatically to suppress mechanical vibration. 

P, S, T 

Section 8.2 

Low-pass filter 

Suppresses high-frequency resonance which occurs as servo 
system response is increased. 

P, S, T 

Section 8.5 

Machine analyzer function 

Analyzes the frequency characteristic of the mechanical 
system by simply connecting a personal computer installed MR 
Configurator with a servo amplifier. 
MR Configurator is necessary for this function. 

P  

Machine simulation 

Can simulate machine motions on a personal computer screen 
on the basis of the machine analyzer results. 
MR Configurator is necessary for this function. 

P  

Gain search function 

Personal computer changes gains automatically and searches 
for overshoot-free gains in a short time. 
MR Configurator is necessary for this function. 

P  

Robust disturbance 
compensation 

This function provides better disturbance response in case of 
low response level due to high load inertia moment ratio for the 
roll send axes. 
MR Configurator is necessary for this function. 

P, S, T 

 

Advanced Gain search 

Advanced Gain search automatically searches for the optimum 
parameter for settle time to be short. 
The gain can be adjusted by setting sequentially in accordance 
with wizard screens. 
MR Configurator is necessary for this function. 

P  

Slight vibration suppression 
control 

Suppresses vibration of  1 pulse produced at a servo motor 
stop. 

P 

Parameters 
No.PB24 

Electronic gear 

Input pulses can be multiplied by 1/50 to 50. 

P 

Parameters  
No.PA06, PA07 

Auto tuning 

Automatically adjusts the gain to optimum value if load applied 
to the servo motor shaft varies. Higher in performance than 
MR-J2-Super series servo amplifier. 

P, S 

Chapter 7