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Manual Mitsubishi MR-J3-T

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  • Mitsubishi MR-J3-T - page 1

    MR-J3-T Ser v o Amplifier Quic k Star t Manu al MR-J3-T Ser v o Amplifier With P oint T ab le P ositioning (P oint-to-P oint P ositioning) Art. No.: xxxxxx 21122007 Version A MI T SU BI S HI ELE C TRI C MIT SU BI S HI ELE C TRI C INDUSTRIAL AUTOMATION ...

  • Mitsubishi MR-J3-T - page 2

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  • Mitsubishi MR-J3-T - page 3

    About This Manual If you ha ve any questions about prog ramming or operating the equipment described in this manual please don’t hesitate to contact your dealer or one of our official distributors (see back co ver). Y ou can find up-to-date inf or mation and ans wers to frequently-ask ed questions on our website (www .mitsubishi-automation.com). ...

  • Mitsubishi MR-J3-T - page 4

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  • Mitsubishi MR-J3-T - page 5

    Quick Start Manual MR-J3-T Servo Amplifier with Integrated Point Table Positioning Art. No.: xxxxxx Version Changes / Additions / Corrections A 10/2007 pdp First Edition ...

  • Mitsubishi MR-J3-T - page 6

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  • Mitsubishi MR-J3-T - page 7

    This Quick Start Manual for the servo amplifiers of the MR-J3-T series with point table positio - ning is designed to enable you to get your system installed and configured for use as quickly as possible. Please note that this guide only covers the basic functions with the instructions neces - sary to use these functions. Complete descriptions of a ...

  • Mitsubishi MR-J3-T - page 8

    Contents ii MITSUBISHI ELECTRIC 1 Introduction 1.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 2 Installing the Equipment 2.1 Installing the MR-J3-D01 Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 3 First Functional T est 3 . 1 Minimu ...

  • Mitsubishi MR-J3-T - page 9

    1 Introduction The servo amplifiers of the MR-J3-T series are designed specifically for drive positioning appli - cations using point-to-point positioning without interpolation or trajectory control . The positions to be accessed stored in a table and can be selected cyclically, individually or in any order with: 쎲 Digital signals 쎲 CC-Link com ...

  • Mitsubishi MR-J3-T - page 10

    Required for positioning contr ol via a CC-Link network: 쎲 Q-Rack with PLC and the CC-Link module QJ61BT11N or A–Rack with PLC and CC-Link module A1SJ61BT11, A1SJ61QBT11 or FX2N-16CCL-M 쎲 CC-Link cable compatib le with version V 1.10 Standard 쎲 Cable f or connecting the PC/notebook to the PLC CPU: Q series: SC-Q QC30R2 A and FX series: SC-0 ...

  • Mitsubishi MR-J3-T - page 11

    2 Installing the Equipment The procedure for the physical installation of the MR-J3-T series hardware is exactly the same as for the MR-J3-A and MR-J3-B models. The dimensions of the MR-J3-T series amplifiers are identical to those of the matching models of the MR-J3-A and MR-J3-B series. NO TE Please consult the instr uction manual f or detailed i ...

  • Mitsubishi MR-J3-T - page 12

    NO TE T o uninstall the extension perform the abov e steps in the rev erse order . T o release the retai- ning clips press the retaining tabs mar ked “Push” inwards and pull the e x tension out to the side. Installing the MR-J3-D01 Extension Installing the Equipment 2-4 MITSUBISHI ELECTRIC Fig. 2-2: F astening screw dimensions f or extension MR ...

  • Mitsubishi MR-J3-T - page 13

    3 First Functional Test The wiring diagram below (Fig. 3-1) shows the minimum connections that you must make to test an MR-J3-T series amplifier with the MR Configurator setup software. In test mode you can check whether all the components are working properly. NO TE Y ou can also use the optional MR-PR U-03 HMI control ter minal f or perf orming i ...

  • Mitsubishi MR-J3-T - page 14

    3 . 1 . 1 Connector pin assignments Minimum Connections for the Functional Check First Functional Test 3-6 MITSUBISHI ELECTRIC Fig. 3-2: P ow er and control connector pin assignments f or minimum configur ation P ower ter minals Servo amplifier MR-J3- 첸 T USB por t I/O extension MR-J3-D01 Connector CN2 ...

  • Mitsubishi MR-J3-T - page 15

    3 . 2 Functional T est Settings The following input signals are required to activate the servo amplifier’s motor output: 쎲 EMG -> F orce stop (saf ety signal) 쎲 SON -> Ser v o ON 쎲 LSP -> F orward rotation strok e end (limit s witch) 쎲 LSN -> Rev erse rotation stroke end (limit s witch) You can configure the servo amplifier to ...

  • Mitsubishi MR-J3-T - page 16

    – Set the parameter f or the automatic activation of the EMG, SON and LSP/LSN input signals: P arameter PD01 “Input signal automatic ON selection 1” = 1C04 – T ur n the ser vo amplifier off and then tur n it on again to initialise the new parameter set - ting. Functional Test Settings First Functional Test 3-8 MITSUBISHI ELECTRIC Fig. 3-4: ...

  • Mitsubishi MR-J3-T - page 17

    3 . 3 Configuring P ositioning P oint T ables The position values, travel speeds and acceleration and deceleration times are stored in tables known as “point tables”. We will now go through the steps required to configure and define a point table. Procedure: 햲 Select the P oint T able option from the P oint-data menu. 햳 Enter the values for ...

  • Mitsubishi MR-J3-T - page 18

    3 . 4 Functional T est with MR Configurator Using MR Configurator you can perform a basic test of the individual positioning steps and make adjustments for your application. Note that setting parameter PA14 does not have any effect on the rotation direction in jog mode when using MR Configurator. The rotation directions are defined as follows, look ...

  • Mitsubishi MR-J3-T - page 19

    4 Positioning with Digital Inputs This chapter describes how point table positioning is used in most applications with the MR-J3-T series amplifiers and the MR-J3-D01 I/O extension. NO TE Please ref er to the instruction manual if you need other functions other than those described here f or your application. 4 . 1 Additional Connections The initia ...

  • Mitsubishi MR-J3-T - page 20

    Additional Connections Positioning with Digital Inputs 4-1 2 MITSUBISHI ELECTRIC 1 DI0 2 DI1 3 DI2 4 DI3 5 DI4 6 DI5 7 DI6 8 DI7 13 DICOM 14 DICOM 21 SON 22 ACD0 23 ACD1 24 ACD2 25 ACD3 26 RES 32 MD0 35 ST1 36 ST2 37 DOCOM 49 INP Connector CN6 Connector CN10 CN10 pin assignments Fig. 4-2: Pin assignments of connectors CN6 and CN10 ...

  • Mitsubishi MR-J3-T - page 21

    NO TES Y ou can find a br ief descriptions of the signal functions in Appendix A.1. Please refer to the instruction manual f or a complete ref erence. All digital signals described in this manual use source logic. For safety reasons the EMG signal must be connected to pin 1 of connector CN6 if the ser vo amplifier is not oper ated during the first ...

  • Mitsubishi MR-J3-T - page 22

    4 . 2 T urning off A utomatic Input Signal Activation Procedure: 햲 Reset parameter PD01 to a v alue of "0": Turning off Automatic Input Signal Activation Positioning with Digital Inputs 4-1 4 MITSUBISHI ELECTRIC Fig. 4-4: Switching off automatic input signal activation  ...

  • Mitsubishi MR-J3-T - page 23

    4 . 3 Home P osition Return At the factory the MR-J3-T servo amplifiers are configured with the incremental system acti - vated by default (i.e. the absolute position detection system is switched off). This means that the current position is not stored when the amplifier's power supply is switched off, making it neces - sary to perform a retur ...

  • Mitsubishi MR-J3-T - page 24

    Timing chart: 햲 Y ou m ust turn the power off and on again to activ ate this parameter . Home Position Return Positioning with Digital Inputs 4-1 6 MITSUBISHI ELECTRIC Fig. 4-5: Home position retur n sequence in dogless Z-phase reference mode PC04 “Home pos. retur n speed” PC06 “Home offset” PC05 “Creep speed” Auto/Manual mode (MD0) O ...

  • Mitsubishi MR-J3-T - page 25

    Examples: 햲 The Z-phase of the encoder is defined as the physical home position of the machine. In this e xample we are going to perf or m the home position retur n at 200 r pm in the direction in which the encoder pulses are counted incrementally . Parameter settings: Positioning with Digital Inputs Home Position Return MR-J3-T 4-1 7 Fig. 4-6: R ...

  • Mitsubishi MR-J3-T - page 26

    햳 P erform a home position r eturn as in example 1 but with an offset between the physical and encoder home positions, set with parameter PC06. Parameter settings: Home Position Return Positioning with Digital Inputs 4-1 8 MITSUBISHI ELECTRIC Fig. 4-8: Relev ant parameter settings f or example 2. The offset is entered with param- eter PC06.  ? ...

  • Mitsubishi MR-J3-T - page 27

    4 . 3 . 2 Dog mode home position return In this mode, instead of the encoder Z-phase(Fig. 4-6), the DOG signal is used to switch from “home position return speed” PC04 to “creep speed” PC05 . You can use parameter PD16 “prox - imity dog detection polarity” to specify whether a logical “1” or a logical “0” should be identified as ...

  • Mitsubishi MR-J3-T - page 28

    Timing chart: Home Position Return Positioning with Digital Inputs 4-2 0 MITSUBISHI ELECTRIC Auto/Manual mode (MD0) ON OFF Select point table no . (DI0) Star t command F orward (ST1) ON OFF Star t command Rev erse (ST2) ON OFF Servo motor speed setting Z-phase of encoder ON OFF DOG signal ON OFF Home return complete (ZP) ON OFF Fig. 4-10: Home posi ...

  • Mitsubishi MR-J3-T - page 29

    햲 Y ou m ust turn the power off and on again to activ ate this parameter . Example: In the following example the physical home position is at the position of the Z-phase of the encoder. However, we now want to assign a non-zero value in the physical coordinate system to this position. Positioning with Digital Inputs Home Position Return MR-J3-T 4 ...

  • Mitsubishi MR-J3-T - page 30

    Parameter settings: The position value is calculated as follows: X = PA05 폷 PC07 in [mm] In the above example with PA05 = 1 and PC07 = 1000 [10 STM µm] this gives us: X = 1000 폷 10 1 µm Home Position Return Positioning with Digital Inputs 4-2 2 MITSUBISHI ELECTRIC Fig. 4-11: Rele vant parameter settings for the e xample. The home position val ...

  • Mitsubishi MR-J3-T - page 31

    4 . 4 Configuration f or P ositioning If you install the MR-J3-D01 I/O expansion you can use point table positioning, which allows you to select positions from a list of up to 256 table entries with a combination of eight digital inputs. Table 4-3 shows how binary input signals are encoded to address the point table entries. In the factory default ...

  • Mitsubishi MR-J3-T - page 32

    The following example shows some typical configuration settings used for many common posi - tioning applications: Procedure: 햲 Select the incremental system f or positions with P A03 *ABS . 햳 Select absolute v alue command mode f or target positions with PA 0 1 * S T Y . 햴 Set a multiplication f actor with P A05 *FTY = 1 => 10 times factor ...

  • Mitsubishi MR-J3-T - page 33

    햵 The point table entries f or the individual pos itioning steps are configured in the columns numbered  to  in the point tab le list sho wn below . Tips for editing point tabl e entries: 쎲 The value in the A ux. Func. column should nor mally alwa ys be zero . Otherwise the system will automatically jump to the ne xt entr y in the table a ...

  • Mitsubishi MR-J3-T - page 34

    쎲 Alwa ys deactivate star t command ST1/ST2 bef ore s tar ting a new positioning sequence. Then you can select a ne w table entry with DI0 - DI7 and star t the positioning sequence with ST1/ST2. 쎲 T able entries are not reset when you restore the amplifier's f actor y def ault settings! 쎲 Y ou do not need to turn the amplifier off and on ...

  • Mitsubishi MR-J3-T - page 35

    햴 How to open/impor t a point tab le data file: Positioning with Digital Inputs Configuration for Positioning MR-J3-T 4-2 7 Fig. 4-17: Opening a point table file to import the data   Fig. 4-18: P oint table position data impor ted from a .csv file ...

  • Mitsubishi MR-J3-T - page 36

    4 . 5 Functional T est of Digital Input P ositioning Normally you need a simple controller to set the digital inputs used to select the point table posi - tion entries, for example a PC, a mini PLC or an HMI control terminal. This chapter explains how you can perform a thorough check of the functionality of the positioning control functions without ...

  • Mitsubishi MR-J3-T - page 37

    MR Configurator can monitor all the inputs and outputs of the MR-J3-T, including those on the MR-J3-D01 I/O extension. Procedure: 햲 Connect the PC/notebook to the USB por t (CN5) of the ser v o amplifier using cable MR-J3USBCBL3M. 햳 Star t MR Configurator and make the f ollowing selections: – Select the MR-J3-T series amplifier. – Select th ...

  • Mitsubishi MR-J3-T - page 38

    Functional Test of Digital Input Positioning Positioning with Digital Inputs 4-3 0 MITSUBISHI ELECTRIC Fig. 4-22: The “Option unit I/F displa y” ter minal monitoring window ...

  • Mitsubishi MR-J3-T - page 39

    5 Positioning via a CC-Link Network As an alternative to using digital signals you can also control positioning with MR-J3-T servo amplifiers via a CC-Link network connection. NO TE Before proceeding ensure that the MR-J3-D01I/O e xpansion card is not installed. If it is in - stalled CC-Link communications will be disab led. 5 . 1 Additional Connec ...

  • Mitsubishi MR-J3-T - page 40

    Connections for the CC-Link network NO TE Y ou must install a terminating resistor on ter minals DB and DB on the ph ysical first and last stations in the CC-Link network. The required ohmage of the resistor depends on the cable length, please check the v ersion V1.10 specifications for details . Additional Connections Posit ioning via a CC-L ink N ...

  • Mitsubishi MR-J3-T - page 41

    5 . 2 CC-Link Comm unication Settings 5 . 2 . 1 Settings on the serv o amplifier In the instructions below we are assuming that you have an operating CC-Link network with the following specifications: 쎲 Data rate 156Kbit/s 쎲 The master station is a QJ61BT11N module that is integrated in a System Q con - troller platf or m with a Q02H-CPU . Proc ...

  • Mitsubishi MR-J3-T - page 42

    햴 Set the data rate: NO TE The ser vo amplifier settings required f or point table positioning are descr ibed in chapters 4.2 through 4.4. Please check that these settings hav e been made correctly before proceeding. CC-Link Communication Settings Posit ion ing via a CC-L ink Netwo rk 5-3 4 MITSUBISHI ELECTRIC Fig. 5-5: Mode switch setting f or t ...

  • Mitsubishi MR-J3-T - page 43

    5 . 2 . 2 Configuration f or communication with GX IEC De veloper Generally, positioning control is performed via a CC-Link network in applications where an addi - tional PLC system is used for automation tasks as well as the integrated controller in the ampli - fier. In this example we will thus only provide detailed descriptions of the settings r ...

  • Mitsubishi MR-J3-T - page 44

    Notes on the network settings: (a) In the example only one servo amplifier is connected to the CC-Link network. This value must be increased by the number of slave stations installed if applicable. (b) These values specify which bits or data words are to be used to control the servo amplifier. The settings shown in the example are for the following ...

  • Mitsubishi MR-J3-T - page 45

    5 . 3 T esting the Serv o Amplifier via CC-Link Before proceeding it is a good idea use the monitoring function in GX IEX Developer to check that the individual servo functions can be started correctly (e.g. return to home, positioning). After this you can then test the correct operation of the servo system with the PLC program. Procedure: 햲 Acti ...

  • Mitsubishi MR-J3-T - page 46

    A Appendix A.1 Digital Signals Quic k Reference Appendix Digital Signals − Quick Reference MR-J3-T A-3 9 Connector Pins Signal Codes Description DI / DO DI/DO CC-Link CN6-1 EMG – Forced stop - emergency safety signal: The signal is permanently assigned to this pin and must be acti- vated for motor control. DI CN6-2 DOG RYn3 Proximity dog switch ...

  • Mitsubishi MR-J3-T - page 47

    A.2 Standar d P arameters Quic k Reference 햲 T o activate this par ameter you must s witch the amplifier pow er off and on again. Standard Parameters − Quick Reference Appendix A-4 0 MITSUBISHI ELECTRIC No. Code Function Description PA01 햲 *STY Positioning control mode 0: Absolute value command system for target positions 1: Incremental value ...

  • Mitsubishi MR-J3-T - page 48

    A . 3 Alarms and W arning Messages Appendix A l a r m s a n d W a r n i n g M es s ages MR-J3-T A-4 1 Display Alarm Code Error Alarm Reset ACD3 (Bit 3) ACD2 (Bit 2) ACD1 (Bit 1) ACD0 (Bit 0) Power Supply OFF ON MR- Configurator/ HMI Reset (RES) Alarme A10 0010 Undervoltage ✔✔✔ A12 0000 Memory error 1 ✔ —— A13 0000 Clock error ✔ —— ...

  • Mitsubishi MR-J3-T - page 49

    햲 Locate and correct the cause of the error and allow the ser vo amplifier, the ser vo motor and the regenerativ e braking unit to cool do wn f or at least 30 minutes bef ore resetting the alar m and restar ting the system f or nor mal operation. 햳 Switch on the RES signal. 햴 T o reset the alarm click on the Alar m Reset b utton in the alarm ...

  • Mitsubishi MR-J3-T - page 50

    Index MR-J3-T A-4 3 Inde x A Alarm messages List . . . . . . . . . . . . . . . . . . . . A - 41 Automatic input signal activation Turning off . . . . . . . . . . . . . . . . . 4 - 14 C CC-Link communications Settings . . . . . . . . . . . . . . . . . . 5 - 33 Connections Minimum connections . . . . . . . . . . . 3 - 5 Creep speed . . . . . . . . . ...

  • Mitsubishi MR-J3-T - page 51

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  • Mitsubishi MR-J3-T - page 52

    MITSUBI SHI ELECTRI C MITSUBISHI ELECTRIC F ACT ORY A UT OMA TION Mitsubishi Electric Europe B.V. /// F A - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// F ax: +49(0)2102-4861120 /// info@mitsubi shi-automation.com /// www.mi tsubishi-automation.com Specifications subject to cha nge /// Ar ...

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