MELSERVO-J4

Harmony with Machine Basic Performance/Servo Gain Adjustment Function

Robust Filter

Patented

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.

Application examples [Printing machines]

Gain

Conventional low-pass filter

Conventional control

With robust filter

[Packaging machines]

Speed command Position deviation Torque

Robust filter

Vibrating

Stable

Frequency

Expanded Machine Resonance Suppression Filter

Enhanced functions

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 is not supported by MR-J4W2-B and MR-J4W3-B. 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. * This function is not supported by MR-J4W2-B and MR-J4W3-B. Super Trace Control

Applicable frequency range of MR-J4 Applicable frequency range of MR-J3

Wider applicable frequency range

The number of notch filters is increased from two to five.

[MR-J4]

[MR-J3]

Filter Filter Filter

Filter Filter

Filter Filter

[Hz] 4500

10

100

Lost Motion Compensation Function

Application example [X-Y table]

Validate the lost motion compensation function.

Y

Y

Before

After

X

X

Suppression of quadrant protrusion of circular trajectory

Conventional control

Feed forward

Super trace control

Speed

Speed

Speed

Time

Time

Time

Position deviation

Position deviation

Position deviation

Time

Time

Time

Position deviation is nearly zero during a constant-velocity operation.

Position deviation increases with the speed.

Position deviation is nearly zero during a constant acceleration/deceleration.

9