FA-EBGFA-EBG

SERVO AND MOTIONS SYSTEMSSERVO AND MOTIONS SYSTEMS

MARKET NEEDSMARKET 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

MELSERVO ROADMAPMELSERVO ROADMAP

J2S – J2MJ3

１９８０ １９８５ １９９０ １９９５ ２０００ ２００５

・ Increase productivity ・ Maintenance free ・ Down-sizing ・ Overseas standards ・ Network ・ Intelligence

diagnosis

・ FMS ・ High response ・ Low noise ・ Envelopment

・ Low cost ・ Reduce wiring ・ High performance

A SA - SBJ

H

CJ2

・ All digital

・ Wire less

・ Bus type

・ ｄーｑ axes control

・ Pulse train

・ General purpose

・ Model Adaptive Control・ Real time Auto tuning・ Serial bus SSCNET

・ 32-bit RISC CPU・ Notch filter

・ Smallest size Amplifier

・ Original ＩＰＭ・ Compact size

・ Auto tuning

・ ABS Encoder

・ CE ,UL

・ Motor ID

・ High density

・ Machine analyzer SW

・ Adaptive Oscillation

Control

・ Machine Simulation

・ Gain Search

Developed to MITSUBISHI original

technology in advance of

servo/motion field

Vibration suppression control

Linear AC servo motor

400V class

Open networks

・ High speed / torque

・ High resolution encoder

・ Advanced control

・ Robust to external

Force compensation

MarketMarket

requirementsrequirements

FunctionalityFunctionality

andand

performanceperformance

DEVELOPMENT CONCEPTDEVELOPMENT CONCEPTAchieve to more capable performance easily for the

machine and downsizing the component

Competitor productsCompetitor products

Yaskawa – Sigma III

Panasonic Minas - AIII

• High-level auto-tuning• Advanced vibration suppression control• High performance servo motor• Evolutional configuration software

Easy to use

Maximumperfomance

Machine performance

Operation / tuning

POSITION OF MR-J3POSITION OF MR-J3

50W 3.5kW 55kW7kW 110kW

J2-Super

750W

J3

Per

form

ance

and

fu

nctio

nalit

y

ULTRA-SMALL SERVO MOTORULTRA-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 The length (L) compared to HC series has been reduced by

23%23%

SizeSizereductionreduction

Possible to change the cable direction- Either towards motor shaft or encoder

Smallestin industry

LOW COGGING TORQUE LOW COGGING TORQUE SERVO MOTORSERVO MOTOR

MORE STABLE MOTOR ROTATION

HALF COGGING TORQUE

HC MOTOR HF MOTOR

750W MOTORCOGGING WAVEFORM

HIGH SPEED – HIGH TORQUEHIGH SPEED – HIGH TORQUE

Torque increase4500rpm -> 6000rpm

0 1000 2000 3000 5000 6000

100%

300%

J2S

4500rpm

4000

J3J3

6000rpm

Best in industry

ENCODER RESOLUTIONENCODER RESOLUTION

Best in industry

J2S

8192

16384

131072

262144

10000

100000

Re

so

luti

on

(Pulse/rev) J2 J3

1999 2003

Smooth and high accurate operation with 260k ppr encoder

J3 : 260k

HIGH PERFORMANCE AMPLIFIERHIGH PERFORMANCE AMPLIFIER

MR-J3-A SeriesMR-J3-A Series

INCREASED SPEED RESPONSEINCREASED SPEED RESPONSE

Hz J2-Super

J2

J3J3

0

200

400

600

800

1000

Achieve higher response

Velocity speed-frequencyVelocity speed-frequency 900Hz !

1996 1998 2000 2002 2004

Response (dB)

-3dB

Board chart

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5- 1000

- 500

0

500

1000

time[sec]

[rad/ s] 速度指令[um]位置ﾄ ﾙ゙ ｰﾌﾟ

INP(± 10um)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5- 1000

- 500

0

500

1000

time[sec]

[rad/ s] 速度指令[um]負荷側ﾄ ﾙ゙ ｰﾌﾟ

ADVANCED CONTROLADVANCED CONTROLVIBRATION SUPPRESSION CONTROLVIBRATION SUPPRESSION CONTROL

Tuning on

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5- 1000

- 500

0

500

1000

time[sec]

[rad/ s] 速度指令[um]位置ﾄ ﾙ゙ ｰﾌﾟ

INP(± 10um)

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5- 1000

- 500

0

500

1000

time[sec]

[rad/ s] 速度指令[um]負荷側ﾄ ﾙ゙ ｰﾌﾟ

Machine will vibrate withHigh gain setting Eliminate vibration High responseHigh response

Motor position

In-position signal

Machine position

・ Suppress the mechanical vibration by auto-tuning

0 0.5 1 1.5 2 2.5 3 3.5-2000

-1000

0

1000

2000

[r/

min

]速

度

[sec]時間

Experimental Result of J 3 Auto-Notch, FixedplntAatu12SmallAdapting.mat, 20-May-2003

wm wmref

0 0.5 1 1.5 2 2.5 3 3.5-200

-100

0

100

200

[%]

トル

ク

[sec]時間

Tsample=0.002[sec], Ttotal=4[sec]

ADVANCED CONTROLADVANCED CONTROLADAPTIVE FILTER IIADAPTIVE FILTER II

• Suppresses vibration at high gain settings• Frequency range increases – about 4.5kHz

Auto-tuning ONAuto-tuning ON

Appling patent

ULTRA COMPACT SIZE AMPLIFERULTRA COMPACT SIZE AMPLIFERSMALLEST

70mm 40mm

168mm

118cm2 67cm2

400W

J2S J3

40% size reduction

SET-UP CONFIGURATION SOFTWARESET-UP CONFIGURATION SOFTWAREMR-CONFIGURATOR -MR-CONFIGURATOR - MRZJW3-SETUP211EMRZJW3-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

USB 1.1 INTERFACEUSB 1.1 INTERFACE

• USB 1.1 interface as standard– Fast response– Read time of graphic data : 20 times faster

USB1.1

USB mini-B5

USB A

Improve setting stage period

SIMPLE AUTO-TUNING SCREENSIMPLE AUTO-TUNING SCREEN

Suppress vibration auto-tuning

FilterAuto-tuning

31 step response gain auto-

tuning

GRAPHIC FUNCTIONSGRAPHIC FUNCTIONS

Command/Droop/Torqueat same time monitoring

3 channel oscilloscope

Settling/mechanical characteristics confirmation

History function(Overwrite function)

Sampling data : 0.4ms/30000points 12sec (J2S : 0.8ms/1024points)

MACHINE ANALYSER IIMACHINE ANALYSER II

• More accurate mechanical characteristics• Frequency range : 10Hz – 1kHz => 3Hz – 4.5kHz• New algorithm

More accurate

J2-Super (151E software) J3 (211E software)