SERVO AMPLIFIERS & MOTORS

For your all production needs

MELSERVO -J4 Solutions

vol.04 Gantry Application
Vibration Suppression
Functions (a)
Control Flow
5 , 6
All axes

Move to the home position.

2
3 , 4
(a)
Y1, Y2, Z1, Z2-axis
1

Move to its wait point.

Advanced Synchronous Control

(b) X1, X2-axis

Move to the target position from the home

position. (for spraying, material handling)
1 X1-axis (Linear Servo Motor) 5 Z1-axis (Vertical
call a
axi
axis)
xis)
s))
Linear Servo Motor
2 X2-axis (Linear Servo Motor) cal axi
6 Z2-axis (Vertical is))
axis)
3 Y1-axis (Linear Servo Motor) (a) Light Curtain
4 Y2-axis (Linear Servo Motor) (b) GOT (Graphicall Operat
tio Terminal)
Operation Move back to its wait position.

Issue Issue Issue

1 2 Simpler construction for a 3 Axis 1 and 2 synchronized
Issues at Less machine vibration
multi-head. movement
production
sites Vibration Suppression
Linear Servo Motor Tandem Configuration
Functions

System Example
GT1665HS-VTBD

(MCCB) A p p l i cati o n
(MC)

• General material handling

Q06UDEHCPU
Q172DSCPU
QY40P
QX40
Q173DSXY
• Automotive assembly

• Machine tool loading

Mitsubishi solution
Motion CPU : Q172DSCPU Servo amplifier : MR-J4-B,MR-J4-W2-B Servo motor : HG-KR
• Aircraft assembly

Linear servo motor : LM-H3

PLC CPU
Safety signal module : Q173DSXY
: Q06UDEHCPU GOT : GT1665HS-VTBD
Main base unit : Q35DB
I/O module : QX40,QY40P
• Scanning device

Step1
S Step2 Step3 Step4
System Parameter
Setup Configuration Parameter Settings Settings for Vibration Program Edit
Procedure for Linear Control
Setting Suppression Control
 Offering the
Best Solution

Solution Vibration Suppression

Advanced Servo Gain Adjustment Enables
1 Functions Precise Vibration Suppression Control with
One-touch Ease
Patent
Advanced Vibration Suppression Control II Two types of the vibrations are Pendin
g
suppressed at the same time.
Due to vibration suppression algorithm Three-inertia Vibration at
which supports three-inertia system, system the end of an arm
Without vibration Advanced vibration Advanced vibration
suppression control suppression control suppression control II
two types of low frequency vibrations
are suppressed at the same time.
Droop pulses
Adjustment is performed with one-touch
Vibration in Torque
operation. This function is effective in a machine Speed command
suppressing vibration at the end of an arm and
Two different vibrations One of them is Both of them are
in reducing residual vibration in a machine. are mixed. suppressed. suppressed.

Machine Resonance Suppression Filter

Applicable frequency range of
With advanced filter structure, Frequency at which MR-J4
The number of notch filters
applicable frequency range is filter is applied is Applicable frequencyrange of
MR-J3 is increased from two to five.
expanded from between 100Hz expanded. [MR-J3] [MR-J4]
and 4500Hz to between 10Hz
Filter Filter Filter
and 4500Hz. Additionally, the number of
Filter Filter Filter
simultaneously applicable filters is increased
from two to five, improving vibration Filter
suppression performance of machine. 10 100 4500[Hz]

Solution Controlling the Multi-head Freely and

Linear Servo Motor
2 Dynamically

The multi-head system can be structured with the linear servo motor. (maximum speed: 3m/s (LM-H3 series), max. thrust: 150N to
7200N, compatible with a variety of serial interface linear encoders with resolution range from 0.005μm and up.)

Each of the motor coils can be controlled

individually by different commands.
This simple structure is suitable best for the
Secondary side:magnet machines requiring shorter tact time.
Primary side: coil

Solution Tandem Highly Synchronized Operation Between

3 Configuration Two Axes

The same axis No. for the input modules

The parallel drive (tandem
configuration) is achieved by
(Gear) (Gear)
outputting the same data to the
cams using the advanced Input axis module
(command
Input axis module
(command
generation axis 1) generation axis 1)
synchronous control.
(Clutch) (Clutch) Driven by the
same command

(Cam) (Cam)
 Setup Procedure

Step1
SSCNET Structure Amplifier Setting

Double click
System Configuration
Setting Double click

Set the servo amplifier and

servo motor.
Amplifier Operation Mode:
"Standard" for the rotary motor
"Linear" for the linear motor
"DD motor" for the direct drive motor

Step2 Easy pa
rameter
setting
Parameter Settings for
Linear Control

Set just the Basic and Extension

settings for linear control.
Double click

Easy pa
Step3 rameter
setting

Parameter Settings
for Vibration
Suppression Control

Select "3 inertia mode" in the

"Vibration suppression control
mode selection" to enable the
"Advanced Vibration Double click
Suppression Control II".

Step4
Motion SFC Servo program list
Double click
X1&X2 safety P

Program Edit [G 20]

// STOP check
!M2001*!M2002*!M2003*!M2004*!M2005*!M2006

[K 31:Real Axis]
1 ABS-1
Axis 5
->Address 10000.0 μm
Double click Speed 10000.00 mm/min

Create the Motion SFC program [G 1]

// Start accept flag OFF check
!M2005*!M2006
and the servo program.
END

Click the box to change the value

 Not Only limited to Rotary Servo Motors,
Features but Linear Servo Motors, and Direct Drive Motors Can Be Driven

Flexible Applicable for Various Control and Driving Systems

1-axis/2-axis/3-axis Servo Amplifiers Linear Servo Motor

For SSCNET III/H Four series are available depending on applications.
NEW
compatible servo amplifiers,
2-axis and 3-axis types are
available in addition to 1-axis
type. Flexible system is
LM-H3 series LM-U2 series
configured accordingly with (Core type) (Coreless type)
the number of control axes. Material handlings Screen printing systems
Rated thrust: 70N to 960N Scanning exposure systems
MR-J4-B MR-J4W2-B MR-J4W3-B
Max. thrust: 175N to 2400N Rated thrust: 50N to 800N
Max. thrust: 150N to 3200N

Compatible Servo Motors

MR-J4 series servo amplifier operates rotary servo motors,
linear servo motors*, and direct drive motors* as standard.
*MR-J4-A will be compatible in the future.
LM-F series LM-K2 series
(Core type (natural/liquid cooling)) (Core type with magnetic
Material handlings attraction counter-force)
Press feeders LCD assembly systems
Rated thrust: Semiconductor mounting
300N to 1200N (natural cooling) systems
600N to 2400N (liquid cooling) Rated thrust: 120N to 2400N
Rotary servo motor Linear servo motor Direct drive motor Max. thrust: Max. thrust: 300N to 6000N
1800N to 7200N (natural/liquid cooling)

Energy Saving Energy-conservation Achieved by LM-H3 Linear Servo Motor Series

Reduced Motor Driving Power Space Saving

LM-H3 series achieves reduction of motor driving power due to For LM-H3, widths of the motor coil and the magnet are reduced
optimized magnet form and new magnetic design by 25%*. by 10% from the prior model. Increased thrust to current ratio
Conservation of power is results in using the servo amplifier in smaller capacity, contributing
Reduced
Motor driving current

achieved for machine. by 25% to more compact machine (the reduction of materials).
As compared to the prior
Narrower
model, the motor coil is lighter [LM-H2 series] by 10% [LM-H3 series]

by approximately12%*.
The energy required to drive
the moving part is reduced.
LM-H2 LM-H3
* For 720 N rated linear servo motor.

Maintenance Easier Troubleshooting with 3-digit Alarm Display

In MR-J4 series, servo alarms are [3-digit alarm display] For the undervoltage alarm, whether
displayed in 3 digits. the alarm occurred in the main or
the control circuit is identified by the
Troubleshooting at alarm occurrence is easy. alarm No.

[Alarm window example]

Man, machine and environment in perfect harmony Solution

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI,CHIYODA-KU,TOKYO 100-8310,JAPAN

NAGOYA WORKS: 1-14, YADA-MINAMI 5,HIGASHI-KU,NAGOYA,JAPAN

New publication,effective December 2012.

L ( NA )03074-A 1212(IP) Specifications are subject to change without notice.