MELSERVO-J4

A Variety of Functions Harmony with Machine

Positioning System without a Positioning Module

Bu i l t - i n Pos i t i on i ng Func t i on for Simp l e Sys t em

MR-J4-GF(-RJ) and MR-J4-A-RJ with Built-in Positioning Function

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 (turret) 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.

Example of a setting display (point table)

MR-J4-GF MR-J4-A-RJ

Built-in positioning function Positioning module is not required.

Easy setting of positioning data with MR Configurator2.

● Point table method ● Program method* ● Indexer (turret) method Fully closed loop control is also supported by point table and program methods.

Personal computer

Rotary servo motor, linear servo motor, and direct drive servo motor are compatible.

* The program-based method is supported only by MR-J4-A-RJ.

Setting position data (target position), servo motor speed, and acceleration/deceleration time constants in point table is as easy as setting a parameter. Up to 255 points are settable for the point table. The positioning operation is performed with a start signal after selecting the point table No. Point table method

Continuous operation without a stop

Operation

Point table example Point table No. Position data

Speed

Servo motor speed

Acceleration time constant

Deceleration time constant

Sub function

Dwell

M code

2000 1600

1 2

1000 2000

2000 1600

200 100

200 100

0 0

1 0

1 2

Point table No. 1

Point table No. 2

255

3000

3000

100

100

0

2

99

0

1000

2000

Position address

* For MR-J4-A-RJ, point table can be set with push buttons on the servo amplifier or with MR-PRU03 parameter unit.

Start signal

Create positioning programs with dedicated commands. The positioning operation is performed with a start signal after selecting the program No. 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) Program method*

Repeats (2) and (3) for the number of times specified by (1).

Acceleration time constant (20 ms)

Deceleration time constant (20 ms)

Operation

Program example

256 programs max

Speed

3000

Program No. 1

SPN (3000) STC (20) MOV (1000) TIM (100) FOR (3) MOVI (100) TIM (100)

(1) (2) (3)

Dwell (100 ms)

Dwell (100 ms)

Dwell (100 ms)

Dwell (100 ms)

NEXT STOP

0

1000

1100

1200

1300

Position address

Start signal

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 No. is selected. Rotation direction specifying indexer or shortest rotating indexer can be set. * Fully closed loop control mode and linear servo motor control mode are not supported by the indexer (turret) method. Indexer (turret) method* * MR Configurator2 is required to create programs. Program No.

1

MR-J4-GF MR-J4-A-RJ

• Rotation direction specifying indexer • Shortest rotating indexer

Station No. 0

Station No. 7

Station No. 1

Station No. 6

Station No. 2

Station No. 3

Station No. 5

Station No. 4

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