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SERVO AND MOTIONS SYSTEMS
My name is Kouki Matsumoto of drive design section one manager. It’s my great pleasure to meet you all and having opportunity for this presentation of our latest servo MR-J3. FA-EBG SERVO AND MOTIONS SYSTEMS
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MARKET NEEDS High speed and high accuracy control for machines
Vibration suppression control at mechanical end Ultra high speed position control More downsizing Amplifier / motor downsizing Less wiring Tuning set-up and maintenance ability have been improved New auto-tuning functionaility New maintenance functions
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・ High resolution encoder
MELSERVO ROADMAP １９８０ １９８５ １９９０ １９９５ ２０００ ２００５ Market requirements Functionality and performance ・ Increase productivity ・ Maintenance free ・Down-sizing ・Overseas standards ・Network ・Intelligence diagnosis ・ FMS ・ High response ・Low noise ・Envelopment ・ Low cost ・Reduce wiring ・High performance Developed to MITSUBISHI original technology in advance of servo/motion field ・ High speed / torque ・ High resolution encoder ・ Advanced control ・ Robust to external Force compensation ・Machine analyzer SW ・Adaptive Oscillation Control ・Machine Simulation ・Gain Search ・ All digital ・ Wire less ・ Bus type ・ ｄーｑ axes control ・ Model Adaptive Control ・ Real time Auto tuning ・ Serial bus SSCNET ・ 32-bit RISC CPU ・ Notch filter ・ ABS Encoder ・ CE ,UL ・ Motor ID ・ High density ・ Compact size ・ Auto tuning ・ Smallest size Amplifier ・ Original ＩＰＭ J3 ・ Pulse train ・ General purpose J2S – J2M H J2 Vibration suppression control Linear AC servo motor 400V class Open networks C J SA - SB A
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DEVELOPMENT CONCEPT Achieve to more capable performance easily for the machine and downsizing the component Easy to use Operation / tuning Maximum perfomance Machine performance High-level auto-tuning Advanced vibration suppression control High performance servo motor Evolutional configuration software Competitor products Yaskawa – Sigma III Panasonic Minas - AIII
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Performance and functionality
POSITION OF MR-J3 Performance and functionality J3 J2-Super 50W 750W 3.5kW 7kW 55kW 110kW
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ULTRA-SMALL SERVO MOTOR
Highest density coil by "joint-wrap" core method Smallest new development encoder IP65 The length (L) compared to HC series has been reduced by 23% Possible to change the cable direction - Either towards motor shaft or encoder Smallest in industry Size reduction
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LOW COGGING TORQUE SERVO MOTOR
HALF COGGING TORQUE MORE STABLE MOTOR ROTATION 750W MOTOR COGGING WAVEFORM HC MOTOR HF MOTOR
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HIGH SPEED – HIGH TORQUE
4500rpm -> 6000rpm Torque increase J3 300% Best in industry J2S 100% 6000rpm 1000 2000 3000 4000 5000 6000 4500rpm
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Smooth and high accurate operation with 260k ppr encoder
ENCODER RESOLUTION (Pulse/rev) J2 J2S J3 Resolution 262144 100000 J3 : 260k 131072 16384 10000 Best in industry 8192 1999 2003 Smooth and high accurate operation with 260k ppr encoder
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HIGH PERFORMANCE AMPLIFIER
MR-J3-A Series
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INCREASED SPEED RESPONSE
900Hz ! Velocity speed-frequency 1000 J3 800 Hz J2-Super 600 Achieve higher response 400 J2 200 1996 1998 2000 2002 2004 Board chart -3dB Response (dB)
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ADVANCED CONTROL VIBRATION SUPPRESSION CONTROL
・Suppress the mechanical vibration by auto-tuning Motor position In-position signal Machine position Machine will vibrate with High gain setting Tuning on Eliminate vibration High response
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ADVANCED CONTROL ADAPTIVE FILTER II
Suppresses vibration at high gain settings Frequency range increases – about 4.5kHz Appling patent Auto-tuning ON
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ULTRA COMPACT SIZE AMPLIFER
J2S J3 SMALLEST 400W 168mm 70mm 40mm 118cm2 67cm2 40% size reduction
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SET-UP CONFIGURATION SOFTWARE MR-CONFIGURATOR - MRZJW3-SETUP211E
USB 1.1 Easy to set parameters Set-up support and diagnostics Simple to tune Simple – easy to use auto-tuning High level of tuning Graphic function – Graphic history function / Speed-Torque curve Machine Analyser II – Wide frequency range / more accurate Diagnostics Amplifier diagnostics – External interface for self diagnostics
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Improve setting stage period
USB 1.1 INTERFACE USB 1.1 interface as standard Fast response Read time of graphic data : 20 times faster Improve setting stage period USB mini-B5 USB A USB1.1
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SIMPLE AUTO-TUNING SCREEN
31 step response gain auto-tuning Filter Auto-tuning Suppress vibration auto-tuning
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GRAPHIC FUNCTIONS 3 channel oscilloscope History function
(Overwrite function) Command/Droop/Torque at same time monitoring Settling/mechanical characteristics confirmation Sampling data : 0.4ms/30000points 12sec (J2S : 0.8ms/1024points)
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MACHINE ANALYSER II More accurate mechanical characteristics
Frequency range : 10Hz – 1kHz => 3Hz – 4.5kHz New algorithm More accurate J2-Super (151E software) J3 (211E software)
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