Transcript MR-J3 - General introduction presentation

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MR-J3 SERIES
GENERAL PRODUCT
INTRODUCTION
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 SERIES
• Development Concept
– Achieve higher performance
•
•
•
•
High-level auto tuning
Advanced vibration suppression
High-performance servo motors
Ultra high-performance positioning
– Reduce component size
• Amplifier and Motor downsizing
• Reduced wiring
– Simplify operation
• New configuration software
Easier operation
Simplified tuning
Enhanced setup and maintenance functions
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 AMPLIFIER FEATURES
• Reduced Size
– Example of 400W capacity amplifier
MR-J2S
MR-J3
MR-J2-Super
168mm
70mm
118cm2
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
40mm
67cm2
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MR-J3 AMPLIFIER FEATURES
• Hardware Features
– Front side connectors
– Easier connections
• Insertion style power connectors
• One 50 pin I/O connector
• One accessory terminal block and
cable
• Encoder connector size reduction
• External battery mounting
• RJ-45 connector for RS-485 multidrop
• USB1.1 for configuration software
• Pushbuttons with 5 digit display
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 AMPLIFIER FEATURES
• Speed frequency response
1000
800
Hz
600
400
900Hz !
J3
J2ｰSuper
J2
200
0 1996
Response (dB)
1998
2000
-3dB
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
2002
900Hz
2004
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MR-J3 AMPLIFIER FEATURES
• Industry leading feedback loop times
• Current loop – 11us
• Speed loop – 55us
• Position loop – 222us
POSITION
SPEED
CURRENT
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 AMPLIFIER FEATURES
Advanced Vibration Suppression
Control
Suppress the mechanical vibration on machines
with low rigidity
Motor position
1000
1000
速度指令[rad/s]
位置ﾄﾞﾙｰﾌﾟ[um]
INP(±10um)
500
0
0
-500
-500
-1000
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
5
1000
速度指令[rad/s]
位置ﾄﾞﾙｰﾌﾟ[um]
INP(±10um)
500
-1000
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
5
1000
速度指令[rad/s]
負荷側ﾄﾞﾙｰﾌﾟ[um]
速度指令[rad/s]
負荷側ﾄﾞﾙｰﾌﾟ[um]
500
500
0
0
-500
-500
-1000
4.5
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
5
-1000
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
5
Machine position
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 AMPLIFIER FEATURES
Adaptive filter II - Machine
resonance suppression filter
Frequency range increases from (10Hz-1kHz) to (3Hz-4.5kHz)
速度 [r/min]
Experimental Result of J3 Auto-Notch, FixedplntAatu12SmallAdapting.mat, 20-May-2003
2000
wm
wmref
1000
0
-1000
-2000
0
0.5
1
0
0.5
1
200
1.5
2
2.5
時間 [sec]
Tsample=0.002[sec], Ttotal=4[sec]
3
3.5
3
3.5
トルク [%]
100
0
-100
-200
1.5
2
時間 [sec]
2.5
Auto-tuning ON
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 AMPLIFIER FEATURES
Adaptive Vibration Compensation Function
Gain can be increased without increasing machine resonance
Velocity control
＋
Position
command
＋
Position
control
－
Adaptive vibration
compensation function
Motor
－
Differential
The error value
of droop pulse is
reduced
Position droop data
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 MOTOR FEATURES
HIGH-PERFORMANCE SERVO MOTORS
HF SERIES
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 MOTOR FEATURES
• Ultra Compact Size:
– High density coil using new joint-wrap core method
– New, smaller size encoder development
• High resolution, absolute – 262,144ppr
• IP65 (HF-MP – HF-KP) and IP67 (HF-SP) is
standard
Reduced length compared to HC-Series
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
Cable direction can be
changed 180 degrees
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MR-J3 MOTOR FEATURES
• Ultra Compact Size
– High density coil using new joint-wrap core method
Circular core + mass winding
Flat core + mass
winding
Joint-wrap core + Flyer mass winding
– New, small size encoder development
Prism
1000 ppr
130k ppr
Glass disc
Permeate optical and Increment
260k ppr
Glass disc
(ABS code)
ABS and High resolution (self-development)
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 MOTOR FEATURES
• High-speed - High torque motors
– Up to 6000rpm maximum continuous speed
300%
Torque
Rating
Torque
300%
6000rpm
100%
0
1000 2000 3000 4000 5000 6000
Speed
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 Setup Software
• MR-Configurator (Servo Setup Software)
– USB Compatible
– Improved Functionality
– Improved Performance
USB A
USB mini-B
USB1.1
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 Setup Software
• Graphical representation of parameters
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 Setup Software
• Easy-to-use Auto-Tuning features
31 step
auto-tuning
gain response
Auto-tuning
notch filter
Vibration suppression auto-tuning
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 Setup Software
• Trend graphs via oscilloscope function
3 channel oscilloscope
Command / Droop / Torque
simultaneous monitoring
History function
（overwrite function）
Settling / mechanical
characteristics confirmation
Sampling data: 0.4ms/30000points = 12 seconds (MR-J2S: 0.8ms/1024points)
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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MR-J3 Setup Software
• Machine Analyzer II
– Provides highly accurate mechanical characteristics
Frequency range – from 3Hz up to 4.5kHz
Advanced algorithm
MR-J2S SERIES
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
MR-J3 SERIES
More
accurate
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SSCNET III
MOTION CONTROL STRATEGY
PRODUCT STRATEGY
AND UPDATE
DECEMBER 2005
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• Introducing the new QH-Series Motion
Controller with SSCNETIII and MR-J3-B
Servos
Q172HCPU
Q173HCPU
QD75MH1 / 2 / 4
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
MR-J3-B
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SSCNET
Communication speed
 High speed dedicated motion network
 Fiber optic medium
SSCNET III
50Mbps
8 axes/0.44ms
SSCNET II
16 axes/0.88ms
5.6Mbps
6 axes/0.88ms
SSCNET
5.6Mbps
8 axes/3.55ms
1994
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
2004
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SSCNET SPECIFICATION
NETWORK
BAUD
RATE
CYCLE
TIME –
NUMBER
OF AXES
CABLE
CABLE
LENGTH
SSCNET III
SSCNET
50Mbps
5.6Mbps
Send
Receive
Servo
Send
0.22ms
0.22ms
J3-B
(4 axes)
0.88ms
0.44ms
0.44ms
J3-B
(8 axes)
1.77ms
0.88ms
0.88ms
J3-B
(16 axes)
3.55ms
Receive Servo
3.55ms
Optical fibre
Metal cable
20m between each node (standard cable)
50m between each node (long cable type)
Total 30m
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
J2S-B
(8 axes)
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SSCNET III OPTICAL FIBRE
ITEM
APPLICATION
FEATURES
Standard cable
Standard cable
Long cable
Internal to the panel
External to the
panel
External to the panel
Easy to make the cable and attach node
Long distance wiring is possible, bending
radius and protection against oil
20m
50m
Standard stock product
Stocked with limited quantities
MAXIMUM LENGTH
BETWEEN NODES
STOCK
0.15 – 0.3 – 0.5 – 1 - 3
5 – 10 - 20
30 – 40 -50
OUTER DIAMETER
4.4 +/-0.1mm
6.0 +/-0.2mm
7.6 +/- 0.5mm
SMALLER
BENDING RADIUS
25mm
50mm
50mm
STANDARD
LENGTH (m)
BENDING LIFETIME
Same as the standard "ENC" cable
(MR-J3ENCBLE_-L)
CONNECTOR
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
Same as the long bending life cable
(MR-J3ENCBL_-H)
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QH-Motion Controllers
•
•
•
•
•
Q172HCPU – 1 channel SSCNET III - up to 8 axes
Q173HCPU – 2 channels SSCNET III - up to 32 axes
Up to 16 axes per channel
Up to 50 meters between stations (800 meters per channel)
50Mbps communication speed
Q172H – axes 1 - 8
Q173H – axes 1 - 16
Q173H – axes 17 - 32
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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SSCNET III – HIGH SPEED
DEDICATED MOTION NETWORK
• The network
communication
speed has been
increased to
50Mbps
• The overall
network wiring
length has been
increased to
800m
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• Faster cycle times produce a smoother operation
Position command
SSCNET III
Operation cycle
0.44ms
Communication cycle time
Position command
SSCNET II
Operation cycle
0.88ms
Communication cycle time
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• External Input Signals Available on MR-J3-B Amplifier
• Selectable I/O connection to Q172LX or
MR-J3-B amplifier
• Q172LX is not necessary when
connecting directly to amplifier
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• MT-Developer now incorporates MR-Configurator
– Motion controller and servo amplifier software – integrated
into a single software package
– Servo parameter setting and monitoring functions have the
same look and feel as MR-Configurator
– Multi-axis screens for parameters and monitoring
– A single point of connection (USB) to the Q-Motion CPU –
communicate with all connected servo amplifiers
USB
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• New and Improved Synchronous Encoder – Q170ENC
– Q172EX changes to Q172EX-S2
– 262,144ppr high-resolution feedback
– IP65 protection rating
– Serial communication
– Absolute feedback system
– 3600rpm speed rating
– Cable lengths up to 50 meters
Q172EX-S2 module
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
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QH-Motion Controllers
• Phase Delay Compensation Function
•
In case of encoder following function,
compensate the encoder data feedback
delay time + droop pulses delay time.
Cutting the sheet with CAM axis
by following conveyer line speed
using synchronous encoder
CAM axis
Phase delay compensation
Encoder F/B
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
Delay to Encoder command
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MOTION OPERATING SYSTEMS
• Motion control operating
systems
– SV13 uses Motion SFC
compatible language for
programming
• Applications include: Inserter –
Feeder – Conveyor X-Y table
SV13
– SV22 uses both Motion SFC and
unique Mechanical system
software
• Applications include: Food
packaging – Textile machine –
Printing machine
Mitsubishi Electric – MR-J3 General introduction presentation - September 2005
SV22