Mitsubishi MR-J3-T Quick start manual
Contents
1. Fig 4 6 Relevant parameter settings for example 1 gt High Speed Monitor ell Up to four Amplifier Monitor Parameters can be displased Current position 0 0 mm Servo motor speed O r min Within one revolution 0 pulse position Less 2 e LI oe Fig 4 7 Values shown when the home position return has been completed correctly MR J3 T Home Position Return Positioning with Digital Inputs Perform a home position return as in example 1 but with an offset between the physical and encoder home positions set with parameter PCO6 Parameter settings GainFilter No Abor Name ecos OND For manufacturer seting BG Home postion return type peoa Nome pestea rets Srectice Pacas ome posts retum speed pees Crees speed PCOS me posti irsta COT ZPS Rome poston return ocation data Pecos oer Wowng distance after proximity lt D DECH 6 62 35 DCS ai Stopper type home postion return stepper ime D ma PG air Stepper type home position return torque and value IK DCH cap Ro i match output range A 10ST ium per2 e Jog speed I Parameter settings for example SCH STC Se ters accelerahon veceleration hme constant Pct BKC Bactiash compensatic G pulse BIS ORP For manwfacturer setting 0006 Pcie MBR Llecromagnete brate sequence cutpat 100 ms PCI 230 Zaro speed SO simi Pers ars Alarm history clear 0000 pcia ENRS Encoder outpet pulse selecton 0000 abia plea Read All2. 0 3 559 54 62 French Branch Phone 32 0 2 717 64 30 Phone 31 0 180 46 60 04 Fax 972 0 3 556 01 82 25 Boulevard des Bouvets Fax 32 0 2 717 6431 Fax 31 0 180 44 23 55 CEG INTERNATIONAL LEBANON F 22791 Nanterre cedex Koning amp Hartman b v BELGIUM Koning amp Hartman b v NETHERLANDS Cohaco Center Block A Autostrade DORA a re a E 68 Woluwelaan 31 Haarlerbergweg 21 23 Lebanon Beirut ax 33 0 BE 1800 Vilvoorde NL 1101 CH Amsterdam Phone 961 0 1 240 430 MITSUBISHI ELECTRIC EUROPE B V IRELAND Phone 32 0 2 257 02 40 Phone 31 0 20 587 76 00 i e Fax 961 0 1 240 438 Irish Branch Fax 32 0 2 257 0249 Fax 31 0 20 587 76 05 meee Park Ballymount INEA BH d o o BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY Pho u ds a Aleja Lipa 56 Postboks 487 F er 0 i SE BA 71000 Sarajevo NO 3002 Drammen AFRICAN REPRESENTATIVE ax 353 0 Phone 387 0 33 921 164 Phone 47 0 32 2430 00 MITSUBISHI ELECTRIC EUROPE B V ITALY Fax 387 0 33 524 539 Fax 47 0 32 8485 77 CBI Ltd SOUTH AFRICA Italian Branch zo F Private Bag 2016 Viale Colleoni 7 AKHNATON BULGARIA Sirius Trading amp Services srl ROMANIA ZA 1600 Isando 4 Andrej Ljapchev Blvd Pb 21 Aleea Lacul Morii Nr 3 120041 Agrate Brianza MB BG 1756 Sofia RO 060841 Bucuresti Sector 6 Phone 27 0 11 977 0770 ee a Phone 359 0 2 817 6004 Phone 40 0 21 430 40 06 Fax 27 0 11 977 0761 Ss Fax 359 0 2 97 44061 Fax 40 0 21
3. 12 0 00 0 0 0 0 0 0 aal ANA n A n d n STM 10 D Times SetSTi to the same value as that of parameter PA05 insert Deiete Read All Write verify Write All Close Fig 4 15 Example of a positioning application with 8 positioning steps Tips for editing point table entries O The value inthe Aux Func column should normally always be zero Otherwise the system will automatically jump to the next entry in the table and execute the next positioning com mand after completing a positioning step even if there is no change in the input signals The Dwell Timecolumn can be used to insert a delay between reaching the target position of the positioning step for the current table line and continuing to the next table line This option should only be used when multiple positioning steps are performed automatically without changes in the input signals O The button nsert inserts a new line above the selected table line Delete deletes the se lected line The Verify function checks whether the positioning table in MR Configurator matches the table stored in the connected servo amplifier If the tables don t match a message is dis played showing the line number where the difference was found Number of table line where tables in amplifier and MR Configurator do not match MR J3 T 4 25 Configuration for Positioning Positioning with Digital Inputs O Always deactivate start command ST1 ST2 before starting a ne
4. 190 lola ee ee e U 3 Times SetSTI to the same valve as that of parameter PADS insert Delete Read All wie verity Vieite All lose Fig 3 5 Point table positioning entries in the point table list window Make sure that the Aux Func value in every line is left at the default factory setting 0 to ensure that selecting a position value in the table does not inadvertently activate any subse quent table entries In the factory default settings the absolute value command system for the target positions is activated with parameter PA01 STY When this system is active all target position values are referred to the physical home position Alternatively you can also selectthe incremental value command system The absolute position detection system for the home return func tion can be set with parameter PAO3 ABS see chapter 4 3 Loading the factory defaults will not overwrite your point table entries MR J3 T Functional Test with MR Configurator First Functional Test 3 4 Functional Test 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 looking at the end of the drive shaft i e towards the motor O FORWARD gt anticlo
5. 430 40 02 Ge SE EUROPE B V POLAND INEA CR d 0 0 CROATIA Craft Con amp Engineering d o o SERBIA k i dei Losinjska 4 a Bulevar Svetog Cara Konstantina 80 86 Ce er Bali HR 10000 Zagreb SER 18106 Nis Vier gz Ge Phone 385 0 1 36 940 01 02 03 Phone 381 0 18 292 24 4 5 Fax 48 0 12 630 47 01 Fax ER 36 940 03 me z Zu 0 18 292 24 4 5 aan AutoCont C S s r 0 ZECH REPUBLI 0 0 Eh SE EUROPE B V SPAIN Technologick 374 6 Izletnicka 10 Gs deg b 76 80 CZ 708 00 Ostrava Pustkovec SER 113000 Smederevo GE Cugat del Vall s Barcelona Phone 420 595 691 150 Phone 381 0 26 617 163 Phone 902 131121 34935653131 Fax 420 595 691 199 Fax 381 0 26 617 163 Fax 34 935891579 PEETRE Sro CZECH REPUBLIC feat control i SLOVAKIA Mladoboleslavska 812 adlinsk ho AA IK 7 19700 Praha 19 Kbely SK 02601 Dolny Kubin Travellers Lane Phone 420 286 850 848 420 724 317 975 Phone 421 0 43 5868210 UK Hatfield Herts AL10 8XB Fax 420 286 850 850 Fax 421 0 43 5868210 Phone 44 0 1707 27 61 00 Beijer Electronics A S DENMARK CS MTrade Slovensko s r o SLOVAKIA Fax 44 0 1707 27 86 95 SCH D EE C DK 4000 Roskilde A iestany MITSUBISHI ELECTRIC CORPORATION JAPAN Phone 45 0 46 75 76 66 Phone 421 0 33 7742760 8 12 1 chome Harumi Chuo Ku Fax 45 0 46 75 56 46 Fax 421 0 33 7735 144 Tokyo 104 6212 Beijer Electronics Eesti OU ESTONIA INEA dan SLOVENIA Phone 81 3 622 160 60 P rnu mnt 160i Stegne II
6. Fax 81 3 622 16075 one an Gig Sg Phone 372 0 6 51 81 40 one MITSUBISHI ELECTRIC AUTOMATION Inc USA S 500 Corporate Woods Parkway Fax 372 0 6 518149 ar 386 01513 8170 Vernon Hills IL 60061 Beijer Electronics OY FINLAND Beijer Electronics AB SWEDEN Phone 1 847 478 21 00 Peltoie 37 Box 426 Fax 1 847 478 22 53 FIN 28400 Ulvila SE 20124 Malm Phone 358 0 207 463 540 Phone 46 0 40 35 86 00 Fax 358 0 207 463 541 Fax 46 0 40 93 23 01 UTECO A B E E GREECE Omni Ray AG SWITZERLAND 5 Mavrogenous Str Im Schorli 5 GR 18542 Piraeus CH 8600 Diibendorf Phone 30 211 1206 900 Phone 41 0 44 802 28 80 Fax 30 211 1206 999 Fax 41 0 44 802 28 28 MELTRADE Kft HUNGARY GTS TURKEY Fert utca 14 Bayraktar Bulvari Nutuk Sok No 5 HU 1107 Budapest TR 34775 Yukari Dudullu Umraniye ISTANBUL Phone 36 0 1 431 9726 Phone 90 0 216 526 39 90 Fax 36 0 1 431 9727 Fax 90 0 216 526 3995 Beijer Electronics SIA LATVIA CSC Automation Ltd UKRAINE Ritausmas iela 23 4 B M Raskovoyi St LV 1058 Riga UA 02660 Kiev Phone 371 0 784 2280 Phone 380 0 44 494 33 55 Fax 371 0 784 2281 Fax 380 0 44 494 33 66 Beijer Electronics UAB LITHUANIA y MITSUBISHI ELECTRIC Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTO
7. MR Configurator Project name Axis1 00Station MR J3 T Servo amplifier connection USB Project View Setup Monitor Alarm Diagnostics Parameters Test Advanced function Pointdata Help Parameter Tuning Device setting Prameter copy Fig 3 3 Selecting the servo amplifier MR J3 T Functional Test Settings First Functional Test Set the parameter for the automatic activation of the EMG SON and LSP LSN input signals Parameter PD01 Input signal automatic ON selection 1 1C04 A Moe perenieter stra Device setg Tunng Chace tst Detaled riformation cawete Parameter copy Parameter Setting Other settings Constant Maintenance For system Basic seting Basic setting dist GainFiller Extension seting z Abbe Name VE r wg mat For manufacturer setting hout egnal atomatc ON selecton 2 input sgnal automatic ON selecton 4 For manufacturer eating out sonal Gevce selection 2 CN8 2 Nout segnal device selection 3 C15 3 nput signal device selection 4 Chiba Outowt signal Sevice seection 1 CNE 14 Output signa device seectos 2 08 15 Outget sgnal device selection 3 CNE 16 External Di funcion selecton 1 For manufacturer setting External Ol funcion seleczan 2 For manufacturer setting input polarty selection For manufacturer setting For manufacturer setting Response level setting No Poot OZ POO POs PODS POOE ees PODES POOR SESE TEE Double click item t
8. conditions to ensure that the Z phase of the encoder is detected during the activation period of the DOG signal V ta o y L1i gt 25 t gt 5 L1 Length of the DOG signal in mm 60 2 ae V Home position return speed in mm min ta Deceleration time in s Lo gt 2 AS L2 Length of the DOG signal in mm AS Distance for one rotation of the motor in mm MR J3 T 4 19 Home Position Return Positioning with Digital Inputs Timing chart Auto Manual mode MDO Select point table no DIO Start command Forward ST1 Start command Reverse ST2 Servo motor speed setting Z phase of encoder DOG signal Home return complete ZP ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF PC04 Home pos return speed PCO5 Creep speed Y i U 1 U i i i PCO6 Home offset A Proximity dogs A OCC E LL 1 dhe I 1 i H 1 Fig 4 10 Home position return in proximity dog mode Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Home Position Return Function Description Feed length multi plication factor Needed here to scale the home position value to the physical coor dinate system when a home position offset shift has been set Parameter value Multiplication factor STM 0 1 1 10 2 100 3 1000 Home position return mode Selects the home position return mode 0 Proximity dog mo
9. on logical 0 1 Active DOG on logical 1 Standard parameters quick reference O To activate this parameter you must switch the amplifier power off and on again Za MITSUBISHI ELECTRIC Appendix Alarms and Warning Messages A 3 Alarms and Warning Messages Alarm Code 9 Alarm Reset MR Configurator HMI Display ACD2 ACD1 Error Power Supply Bit 2 Bit 1 OFF gt ON A10 0 1 Undervoltage Vv Vv A12 0 0 0 Memory error 1 De A13 0 0 Clock error Vv Vv Memory error 2 A15 E2PROM Encoder error 1 at power on A17 Board error A16 Memory error 2 A19 Flash ROM Incorrect servo motor A20 Encoder error 2 A1A A24 Main circuit error Absolute position nee lost erased Regenerative braking overload A31 Overspeed A30 A32 Overcurrent A33 Overvoltage Input frequency n33 too high A37 Parameter error Main circuit AS overheat Servo motor AAG overheat A47 Cooling fan error A50 Overload 1 A51 Overload 2 Table A 3 Error messages 1 MR J3 T A 41 Alarms and Warning Messages Appendix Alarm Code Alarm Reset MR Configurator HMI Display ACD2 ACD1 Error Power Supply Bit 2 Bit 1 OFF gt ON Excessive discrep Vv De ancy error Operation alarm Vv Vv Serial communica tion timeout Serial communica tion e
10. option MR J3 T Functional Test of Digital Input Positioning Positioning with Digital Inputs Option unit I F display IX C on OFF Input signal ACD2 s gt fa L te ae e fo ld Ip p faa ito nje jw PO a O 160 109 1 de ts Ph 5 5 MENO 9 me LEE 8 Pa te 0 26 VI 100 Max torque Fig 4 22 The Option unit I F display terminal monitoring window 4 30 Za MITSUBISHI ELECTRIC Positioning via a CC Link Network Additional Connections 5 NOTE 5 1 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 Before proceeding ensure that the MR J3 D01I O expansion card is not installed If it is in stalled CC Link communications will be disabled Additional Connections In addition to the minimum configuration described in chapter 3 1 you also need to connect the CC Link cable and the cabling for connector CN6 for this mode 24vpc Fo f Ste Home position Forced stop return completion Proximity dog lt 10 x r m Forward rotation stroke end Reverse rotation stroke end La Pi nr M La Encoder Z phase pulse 23 differential line driver Encoder A phase pulse are rire A ee ees eee sre a Ti AP Sg differential line driver e i I lt ear Personal Encoder B phase pulse computer different
11. values 999 999 999 999 9999 99 9999 99 99999 9 99999 9 999999 999999 Servo motor rotation direction Motor rotation direction looking at shaft end facing motor 0 Anticlockwise when ST1 signal is active 1 Clockwise when ST1 signal is active Home position re turn mode Selects mode to be used for home position return 0 Proximity dog mode Home position re turn direction 0 Incrementing counting of encoder pulses 1 Decrementing counting of encoder pulses Home position re turn speed Sets home position return speed until first detection of the Z phase in rpm Creep speed Speed for precise movement to home position in rpm Home position offset shift Distance between the encoder home position Z phase and the physical home position in um Does not change the zero point of the physical coordinate system Home position re turn position value The home position return stops when the Z phase position is reached You can enter a non zero coordinate for this position in 10 m with this parameter Automatic activation of input signals This parameter configures the amplifier to automatically set the digital signals internally to a logical 1 when the power is switched on Polarity of the input signal Table A 2 Logical value for detection of the proximity dog signal DOG 0 Active DOG
12. with this parameter Parameter reference table You must turn the power off and on again to activate this parameter Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Home Position Return Examples The Z phase of the encoder is defined as the physical home position of the machine In this example we are going to perform the home position return at 200 rpm in the direction in which the encoder pulses are counted incrementally Parameter settings Parameter Setting Basic setting Basic setting mst GainFilter No S057 Name Poo OND Fer manufacturer setting pce Zr Home poston return type PCOS s Home postion return direction PCOS Home position return spend DCS ZST Home poston gp distance um PCO ZS Home position return postion data D 10 STMum PCOS ocT Moving distance after proximty dog D 10 STUum PCS zm Stogosr type home poston return etooper time 100 ms pcio zr Stopper type home poston return torque imt value 1en a A Rough mates output range I Parameter settings for example Por JO Jog speed PC ST S pattern acceleratowdeceleraton dme constant D ms Pcie BKC Backlas compensator D puise POIS Dap Fer manufacturer setting 0000 Pcia NBA Biectromegnetic Gare sequence output 100 ms 2 PCy zs Zero spesa ED rimin Pcie BPS Alerm nastery clear 0000 Pcs ENAS Encoder output suse selection 0000 Double click item to gata State Seegen mm JL me es IL es d ser Ca
13. x10 to the correct station address 5 34 A MITSUBISHI ELECTRIC Positioning via a CC Link Network CC Link Communication Settings Set the data rate Fig 5 5 Mode switch setting for the network data rate NOTE The servo amplifier settings required for point table positioning are described in chapters 4 2 through 4 4 Please check that these settings have been made correctly before proceeding MR J3 T CC Link Communication Settings Positioning via a CC Link Network 5 2 2 Configuration for communication with GX IEC Developer 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 required to integrate the servo amplifier in your project Procedure How to open an existing project in GX IEC Developer Select Network in the project directory tree in the left window Select CC Link in the Network Parameter box This opens the window Network parameters Setting the CC Link list where you can now enter the settings shown in Fig 5 6 6 2007_03_6 GX TEC Developer Broyect Object Edit Tools Crime Debug Yew Extras Window Helo salSajineioo sa ei Cn Osea amm 2007 03 43 E network parameters Setting the CC Link hist IS Project d Daten Projek
14. Description CN6 1 EMG gt Forced stop emergency safety signal The signal is permanently assigned to this pin and must be acti vated for motor control DOG Proximity dog switch This signal is used for some of the home position return modes See chapter 4 3 LSP RYn4 Forward rotation stroke end switch LSN RYn5 Reverse rotation stroke end switch RD RXn0 Servo amplifier ready ALM RX n 1 A Alarm signals a servo error ZP RXn3 Home position return completed successfully DIO RYnA Point table entry no 1 DI RYnB Point table entry no 2 DIS RYnC Point table entry no 3 DI3 RYnD Point table entry no 4 DA RYnE Point table entry no 5 DIS RY n 2 3 Point table entry no 6 Die RY n 2 4 Point table entry no 7 DI7 RY n 2 5 Point table entry no 8 Select point table entry i e activate a line in the table for position ing Combinations of signals DIO through DI7 see Table 4 3 can be used to selec up tot 256 positioning steps NOTE Signals DI5 DI6 and DI7 are only available when the amplifier oc cupies 2 stations in the network thus making 64 bits available via CC Link DICOM Connection for an external power supply for the digital control termi nals Negative connection for source interface logic PNP SON SERVO ON Activating the SON signal powers on the base circuit and mak
15. MR J3 T 4 15 Home Position Return Positioning with Digital Inputs Timing chart Auto Manual mode MDO Select point table no DIO Start command Forward ST1 Start command Reverse ST2 Servo motor speed setting Z phase of encoder Home return complete ZP ON OFF ON OFF ON OFF ON OFF ON OFF PC04 Home pos return speed PCO06 Home offset A 4 PCO5 Creep speed x Fig 4 5 Function Home position return sequence in dogless Z phase reference mode Description Feed length multi plication factor Needed here to scale the home position value to the physical coor dinate system return mode Home position Selects the home position return mode A Dogless Z phase reference mode Home position return direction 0 Incrementing counting of encoder pulses 1 Decrementing counting of encoder pulses return speed Home position Sets home position return speed until first detection of the Z phase in rpm Creep speed Speed for precise movement to home position in rpm offset shift Home position Distance between the encoder zero point Z phase and the physi cal home position in um value Table 4 1 Home position return position The home position return stops when the Z phase position is reached You can enter a non zero coordinate for this position in 10 im
16. O DF Basic setting list Gain Fitter Extension setting For manufacture setting input sona automatic ON selection 3 mput signal automatic ON selection A For manufacturer setting input signal device selection 2 CNE 2 input sgnal device selection 3 CNE 3 input signal device selection 4 CNE 4 Output signal device selection 1 C8 14 Output sgnal device selection 2 Output signal device selection gt External Di fuscton selecton 1 For manufacturer seting External Di function selection 3 For manufacturer seting nput polarty selecson For manutactwer sating For manufacturer seting Ressonse level seting Read Al Fig 4 4 Switching off automatic input signal activation Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Home Position Return 4 3 Home Position 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 return to home position every time the unit is powered up You can configure the home position return mode with Parameter PC02 Parameter PC02 0 00 Home position return modes 0 Proximity dog mode 6 Count mode front end reference 1 Count mode 7 Dog cradle mode 2 Data setting mode 8 Dog mode last Z phase referenc
17. Positioning with Digital Inputs 4 1 Additional Connections 060 tees 4 11 4 2 Turning off Automatic Input Signal Activation 4 14 43 Home Position Return 00 0 cee eee 4 15 4 3 1 Dogless Z phase reference mode 4 15 4 3 2 Dog mode home position return 1 2 0 0 0 00 eee 4 19 4 4 Configuration for Positioning 00 ccc eee 4 23 4 4 1 Importing and exporting point tables 0000200 ae 4 26 4 5 Functional Test of Digital Input Positioning 4 28 5 Positioning via a CC Link Network 5 1 Additional Connections 2 0 00 ects 5 31 5 2 CC Link Communication Settings 00 cee eee 5 34 5 2 1 Settings on the servo amplifier 00 000 eae eee eee 5 34 5 2 2 Configuration for communication with GX IEC Developer 5 36 5 3 Testing the Servo Amplifier via CC Link 0 0000 c eee eee 5 38 A Appendix A 1 Digital Signals Quick Reference A 39 A 2 Standard Parameters Quick Reference eee e eae eee A 40 A 3 Alarms and Warning Messages 0 0 eee eee A 41 ii Za MITSUBISHI ELECTRIC Introduction Preparations 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 O Digi
18. RY AUTOMATION Tel 49 0 2102 4860 Fax 49 0 2102 4861120 infoomitsubishi automation com www mitsubishi automation com
19. SJ61BT11 A1SJ61QBT11 or FX2N 16CCL M O CC Link cable compatible with version V1 10 Standard Cable for connecting the PC notebook to the PLC CPU Q series SC Q QC30R2 A and FX series SC 09 O The GX IEC Developer programming software package for configuration of the data com munications settings NOTE This Quick Start Manual describes the installation and setup of a typical servo system con sisting of an MR J3 10T servo amplifier single phase 230V 100W and an HF KP13 ser vo motor Note that the specifications of this sample system may differ from those of your configuration please check your equipment s instruction manuals for details if necessary 1 2 Za MITSUBISHI ELECTRIC Installing the Equipment Installing the MR J3 D01 Extension 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 NOTE Please consult the instruction manual for detailed installation instructions 2 1 Installing the MR J3 D01 Extension Procedure Remove the cover of the CN7 connector on the right side of the MR J3 T housing Upper mounting __ Upper mounting point 2 point 1 Cover for CN7 connector Lower mounting Lower mounting point 2 point 1 Fig 2 1 Fixing points of the extensio
20. Write All Getto Getau t j Fig 4 8 Relevant parameter settings for example 2 The offset is entered with param eter PCO6 ES las Up 10 thar AGO Montos P sromiainrs can be Capiayed Following completion of the home position return Current position The servo motor has travelled to the specified home position The home position of the encoder has Servo motor speed O r min been exceeded by the value of PC06 3 000 um For the motor connected this is equivalent to Within one revolution 59144 pulse 259 144 encoder pulses position Fig 4 9 Values shown when the home position return has been completed correctly Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Home Position Return 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 PCO5 You can use parameter PD16 prox imity dog detection polarity to specify whether a logical 1 or a logical O should be identified as an active DOG signal Asin Q above the physical home position can be shifted in relation to the home zero position of the encoder Z phase with PCO6 home position offset shift In addition to this you can also set a non zero coordinate for the home position with PCO7 Conditions for the proximity dog signal The proximity dog signal DOG must fulfill the following
21. al 4 15 MR J3 T A 43 A MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B V EUROPE GEVA AUSTRIA ALFATRADE Ltd MALTA Kazpromautomatics Ltd KAZAKHSTAN German Branch Wiener StraBe 89 99 Paola Hill Mustafina Str 7 2 Gothaer Stra e 8 AT 2500 Baden Malta Paola PLA 1702 KAZ 470046 Karaganda D 40880 Ratingen Phone 43 0 2252 85 55 20 Phone 356 0 21 697 816 Phone 7 7212 50 1150 Phone 49 0 2102 486 0 Fax 43 0 2252 488 60 Fax 356 0 21 697 817 Fax 7 7212 50 11 50 Fax 43 0 2102 486 1120 TEHNIKON BELARUS INTEHSIS srl MOLDOVA MITSUBISHI ELECTRIC EUROPE B V CZECH REPUBLIC Oktyabrskaya 16 5 Off 703 711 bld Traian 23 1 Czech Branch BY 220030 Minsk MD 2060 Kishinev Avenir Business Park Radlick 714 113a Phone 375 0 17 210 46 26 Phone 373 0 22 66 4242 MIDDLE EAST REPRESENTATIVE CZ 158 00 Praha 5 Fax 375 0 17 210 46 26 Fax 373 0 22 66 4280 SHERF Motion Techn Ltd ISRAEL e i A Phone 420251351470 ESCO DRIVES 8 AUTOMATION BELGIUM HIFLEXAUTOM TECHNIEKB V NETHERLANDS RehovHamerkava 19 Fax 420 251 551 471 Culliganlaan 3 Wolweverstraat 22 IL 58851 Holon MITSUBISHI ELECTRIC EUROPE B V FRANCE BE 1831 Diegem NL 2984 CD Ridderkerk a Phone 972
22. b CNP3 200 230V AC cn gt So UG uU 2 h Motor ei ite 2 EL 0 ON Wor w 4e j HOB Sg JEE res PEL CNP2 SN VE i Fu H CN L rt ei id La E CHE CNE EMG D KC AM WROD N10 Fig 3 1 Wiring diagram for minimum configuration without control terminals MR J3 T 3 5 Minimum Connections for the Functional Check First Functional Test 3 1 1 Connector pin assignments Power terminals CNP1 slsleclcle CNP2 OGRE Lor CNP3 V W Connector CN2 E E V Amm E E RAE MD MIR Servo amplifier UO extension R 43 0T MR J3 D01 USB port Fig 3 2 Power and control connector pin assignments for minimum configuration Za MITSUBISHI ELECTRIC First Functional Test Functional Test Settings 3 2 Functional Test Settings The following input signals are required to activate the servo amplifier s motor output EMG gt Force stop safety signal SON gt Servo ON LSP gt Forward rotation stroke end limit switch LSN gt Reverse rotation stroke end limit switch You can configure the servo amplifier to activate these signals automatically when the power is switched on Procedure Connect the PC notebook to the servo amplifiers USB port CN5 with the MR J3USBCBL3M cable Start MR Configurator on the computer and make the following settings Select the MR J3 T series servo amplifier 2
23. bon torque limit 100 0 10 0 to 100 0 TIMO responine 12 E Reverse rotation torque limit o 100 0 00 t0 100 0 Encoder Output pulse TEE 000 ere 1 65535 Rotation direction selection POL 4000 Sputs ST1 coordinate system selection Select the dividing ratio with extension setting PC19 CERS CCW en at adrs moremeanted CW dir at adris decremented Double click item 1o display detailed description Read Aa Vote Verity Setto cetault Close Fig 4 14 Relevant parameters affecting the target position setpoint values If target positions are entered using the incremental system it is not possible to change the rotation direction via the point table In this mode the rotation direction can only be changed with the start commands ST1 ST2 Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Configuration for Positioning The point table entries for the individual positioning steps are configured in the columns numbered to in the point table list shown below 513 File mD O O y No Position Data Speed Data Accel Time Decel Time Dwell Time Aux Func MCode 1 2000 00 100 100 100 0 0 2 3000 00 2000 100 100 0 0 3 5000 00 300 300 200 0 0 0 4 1500 00 1500 100 100 0 0 0 1500 00 500 30 100 0 d 0 E 250 100 100 0 0 7 1235 50 9 0 D 1000 00 300 100 100 0 0 0 9 0 00 0 0 of 0 0 0 40 0 00 0 0 0 0 0 0 EET 0 00 0 0 0 0 0 0
24. ckwise REVERSE gt clockwise NOTES Home position return is not possible in test mode when using MR Configurator use the jog function to move to the starting position You can set the rotation direction in single step feed mode with parameter PA14 3 4 1 Selecting point table position entries Procedure Select Single step Feed in the Test menu To select a position enter its point table line number in the dialog box displayed Start the positioning operation 6 S MR Configurator Project name Axis1 00Station MR 33 T Servo amplifier connection USB Project View Setup Monitor Alarm Diagnostics Parameters Test Advanced function Point data Help Operation w o motor _ Project name Forced output ZZ Axes e S setup wm ff Parameter Tuning Device settin gt 9 2 Single step Feed Prameter copy Point table Point table No fenisinind distante clear The SHIFT key can be used tor Software forced stops Close Fig 3 6 Single step Feed window for testing individual positioning steps 3 10 Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Additional Connections 4 NOTE 4 1 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 Please refer to the instruction manual if you need other functions other than those described h
25. de DOG Home position return direction 0 Incrementing counting of encoder pulses 1 Decrementing counting of encoder pulses Home position return speed Sets home position return speed until first detection of the Z phase in rpm Creep speed Speed for precise movement to home position in rpm Home position offset shift Distance between the encoder home position Z phase and the physical home position in um Does not change the zero point of the physical coordinate system Home position return position value The home position return stops when the Z phase position is reached You can enter a non zero coordinate for this position in 10 um with this parameter Input signal polarity Logical value for detection of the proximity dog signal DOG 0 Active DOG on logical 0 1 Active DOG on logical 1 Table 4 2 Parameter reference table You must turn the power off and on again to activate 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 MR J3 T Home Position Return Positioning with Digital Inputs Parameter settings Parameter Setting Basic settin Abbr Basic setting list Gainfilter Extension setting gt VO setting For manufacterer setting KAN Hom
26. e 3 Stopper mode 9 Dog mode front end reference 4 Ignore home position A Dogless Z phase reference 5 Dog mode rear end reference The most commonly used modes are 1 Dogless Z phase reference mode A 2 Proximity dog mode 0 These two modes are described in detail below Dogless Z phase reference mode is suitable for simple applications Dog mode is frequently used for standard applications 4 3 1 Dogless Z phase reference mode In this mode the Z phase of the rotary encoder zero position of the encoder is used as the machine s physical home position However it is quite rare to be able to configure a machine so that its physical home position exactly matches the Z phase of the encoder It is thus almost always necessary to enter an offset shift with parameter PCO6 After activation of the forward start command ST1 or reverse ST2 the home position return is initiated by parameter PC04 home position return speed When the Z phase signal from the encoder is registered the servo motor brakes to a halt After this a precise return to home is per formed at creep speed with parameter PCO5 The physical home position can be shifted in relation to the zero position of the encoder Z phase with the home position offset shift defined with parameter PCO6 Parameter PC07 can be used to define a home position value other than zero When the home position return has been completed successfully the servo amplifier activates the ZP signal
27. e MITSUBISHI ELECTRIC MR J3 T Servo Amplifier Quick Start Manual MR J3 T Servo Amplifier With Point Table Positioning Point to Point Positioning Ser Aa MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION About This Manual If you have any questions about programming or operating the equipment described in this manual please don t hesitate to contact your dealer or one of our official distributors see back cover You can find up to date information and answers to frequently asked questions on our website www mitsubishi automation com MITSUBISHI ELECTRIC EUROPE B V reserves the right to make technical changes to the products or this manual at any time without prior notice 11 2010 MITSUBISHI ELECTRIC EUROPE B V Quick Start Manual MR J3 T Servo Amplifier with Integrated Point Table Positioning Art No xxxxxx Version Changes Additions Corrections 10 2007 pdp First Edition 11 2010 akl Section 5 1 Exchange of connection diagram Fig 5 1 and addition of footnotes NOTE 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 all the supported functions and all availa ble extensions can be found in the inst
28. e postion retam type zz Home postor return Home poston Gen speed Zr chz Creep speed Home position anit dist i sino ret ee ES ee match output range D 10 STMum Jog speed 100 rimin S S pattern accelerabonidecelerator tme constant BRO Backlaa compensation Parameter settings for example 0 32 For manufacturer seang WaT 0000 00017 Eectomagnetic brace sequence Gu 100 ms 6 Zero speed SO rinin 2 0 10 PRS Alarm history cear 0000 0000 000 tm Pcia ENRS Encoder output pulse selecton 00060 0000 0021 ar x Read All write yent Write a See oeput JI Ges Fig 4 11 Relevant parameter settings for the example The home position value is en tered with PCO7 Up to four Amplifier Monitor Parameters can be displayed Following completion of the home position return The servo motor has travelled to the encoder home position Servo motor speed O min which is also the machine s physical home position How ever this position corresponds to a value of 100mm in the ma Within one revolution chine s coordinate system Ces u Fig 4 12 Values shown when the home position return has been completed correctly The position value is calculated as follows X PAOS PCO7 in mm In the above example with PAO5 1 and PC07 1000 10 un this gives us X 1000 10 um Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Configu
29. er supply Fig 4 19 Test setup for simulating positioning with digital inputs The test setup shown above does not use any safety features for the tests EMG OFF You should thus only use this setup in a controlled test environment where errors cannot cause any danger for personnel or equipment Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Functional Test of Digital Input Positioning 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 Connect the PC notebook to the USB port CN5 of the servo amplifier using cable MR J3USBCBL3M Start MR Configurator and make the following selections Select the MR J3 T series amplifier Select the MR J3 D01 expansion card option unit s5 System Settings x Option unit selection k Station Selection Jon Communication Device Servo amplifier connection USB 1 Baud Rate Selection bus 2 Comm Port Selection aro y Offline Connection selection pa Reading setting range of Qk Cancel l parameters Fig 4 20 Settings in MR Configurator for checking the MR J3 T with the MR J3 D01 expansion card After this you can monitor the signals of the expansion card with the option Option unit I F display in the Monitor menu ht grant Fig 4 21 Selection of the Option unit I F display terminal monitor
30. ere for your application Additional Connections The initial functional tests described in chapter 3 1 were performed with a minimum connection configuration For the full range of standard functions you now need to make additional power supply and control terminal connections on the CN6 and CN10 terminal blocks as shown below in Figs 4 1 and 4 2 paEMG OFF OFF oN oo als alo O 0 4 AMC 4 MC oo K Servo amplifier Servo motor NFA MC ENET 1 phase vd D e dk CNL CNP3 200 230V AC g gt pes 5 l Ce 4 2 motor i we M 7 ON uot 1 SE D Joe dg ND CH bk Loi Encoder cable t7 Engager REH mmm wm seed 24V DC z EMG OFF cms cml ina O alo E ch ES ALM gt R y Alarm 24V DC ES lt 24V DC 10 MR J3 D01 800 mA CN10 Servo ON Fig 4 1 Single phase power connections for the MR J3 T amplifier MR J3 T 4 11 Additional Connections Positioning with Digital Inputs Connector CN6 Connector CN10 CN10 pin assignments 1 DIO 2 DI 3 DIS A DI3 5 DI4 6 DI5 7 DI6 8 DI7 13 DICOM 14 DICOM 21 SON 22 ACDO 23 ACD1 24 ACD2 25 ACD3 26 RES 32 MDO 35 ST1 36 sT2 37 DOCOM 49 INP Fig 4 2 Pin assignments of connectors CN6 and CN10 4 12 Za MITSUBISHI ELECTRIC Positioning with Digital Inputs Additional Connections 24V DC 10 150mA EMG OFF Proximity dog Forward s
31. es the amplifier ready for operation ACDO ACD1 ACD2 ACD3 Digital output signals for encoded error messages see Appendix A 3 RES Reset for error messages MDO Switch between automatic manual mode The MDO signal must be off for opertion in jog mode The signal must be activated before starting a home position return or position ing CN10 35 Start signal for forward rotation CN10 36 Start signal for reverse rotation CN10 37 Connection for an external power supply for the digital control termi nals Positive connection for source interface logic PNP CN10 49 IN Position Target position reached signal Table A 1 Digital signals quick reference MR J3 T Standard Parameters Quick Reference Appendix A 2 Function Standard Parameters Quick Reference Description Positioning control mode 0 Absolute value command system for target positions 1 Incremental value command system for target positions Absolute position detection system 0 Incremental system absolute position detection off 1 Absolute position detection system on Feed length multipli cation factor Needed here to scale the home position value to the physical co ordinate system when a home position offset shift has been set Parameter Multiplication value factor STM 0 1 1 10 2 100 3 1000 Range of the target position
32. evice stajo i e JE xclusrvs station 1 Daag Check End Carcel Fig 5 7 This configuration also enables exchange of data words Connect the PC to the PLC and transfer the modified project to the controller NOTE If the CC Link connection to the servo amplifier is established successfully the L RUN SD und RD status LEDs on the servo amplifier will light up MR J3 T 5 37 Testing the Servo Amplifier via CC Link Positioning via a CC Link Network 5 3 Testing the Servo 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 Activate monitoring mode Select Entry Data Monitor in the Online menu Enter the individual remote I Os to be set or monitored 2007 03 _6 GX IEC Developer Entry Data Monitor FP croject Est Teos Onje Debug Jen Eaves Window Cep aM 2 melo ME ERE MA Value Sec en xj MELSECNETEheret CC Lrk Deeg Fig 5 8 The Entry Data Monitor window where you can set remote l Os to test the servo functions Za MITSUBISHI ELECTRIC Appendix Digital Signals Quick Reference A Appendix A 1 Digital Signals Quick Reference Connector Pins Signal Codes DI DO CC Link
33. get value factor STM position values 0 1 999 999 999 999 10 9999 99 9999 99 99999 9 99999 9 999999 999999 Table 4 4 Parameter reference O To activate this parameter you must switch the amplifier power off and on again MR J3 T 4 23 Configuration for Positioning Positioning with Digital Inputs NOTE The following example shows some typical configuration settings used for many common posi tioning applications Procedure Select the incremental system for positions with PAO3 ABS Select absolute value command mode for target positions with PAO1 STY Seta multiplication factor with PAO5 FTY 1 gt 10 times factor This gives us the following position system Min absolute value Max absolute value 9999 99 0 9999 99 Range of possible position values in 10 um Fig 4 13 Effective range of the position values with the sample settings 5 xf Parameter block C Essi sening Basic sening uist Gaines Extension seting VO setting Control mode selection Regenerative brake option selection REG Command md E wl ek Regen brake option is not used AAA Fonar nagien Ea ec i i genomin In position range IMP See See 3 es 190 umf0 10000 Comm f y Forward Reverse rotation torque imir mue TEN BI Perameter settings for example Forward rota
34. her Personal computer conversion cable To RS232C connector Servo amplifier MR PRUO3 parameter module For the sink I O interface 5 32 Za MITSUBISHI ELECTRIC Positioning via a CC Link Network Additional Connections Connections for the CC Link network CC Link Master module e g QU61BT11N MR J3 T Fig 5 2 Connections between the servo amplifier and the CC Link master module NOTE You must install a terminating resistor on terminals DB and DB on the physical first and last stations in the CC Link network The required ohmage of the resistor depends on the cable length please check the version V1 10 specifications for details MR J3 T 5 33 CC Link Communication Settings Positioning via a CC Link Network 5 2 CC Link Communication Settings 5 2 1 Settings on the servo amplifier In the instructions below we are assuming that you have an operating CC Link network with the following specifications O Data rate 156Kbit s O The master station is a QJ61BT11N module that is integrated in a System Q con troller platform with a Q02H CPU Procedure Set the number of reserved stations Factory default 1 reserved station setting S1 2 reserved stations Fig 5 3 Correct position of switch S1 for setting the number of reserved stations Setthe station address max value 64 higher values lower values address digits Fig 5 4 Set switches x1 and
35. ial line driver MR J3USBCBL3M 99 LG ooo Control common Option gt e ee ewe EE EE Re eee ee ek E Ee Fig 5 1 Connections for operating the servo amplifier via a CC Link network To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If itis connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protec tive circuits The forced stop switch normally closed contact must be installed MR J3 T Additional Connections Positioning via a CC Link Network Supply 24 V DC 10 150 mA current for interfaces from the outside 150 mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points When starting operation always turn on forced stop EMG and Forward Reverse rotation stroke end LSP LSN Normally closed contacts O Trouble ALM turns on in normal alarm free condition O Use MRZJW3 SETUP 211E Personal computers or parameter modules can also be connected via the CN3 connector enabling RS422 communication Note that using the USB communication function CN5 connector prevents the RS422 communication function CN3 connector from being used and vice versa They cannot be used toget
36. ie A 41 functional check 3 10 Automatic input signal activation Minimum connections 3 5 Tummg oft o o o o 4 14 P C Parameter CC Link communications Quick reference 4 21 SOMOS aiid So ace 2 a aA boa dhs 5 34 Pinassignments 3 6 Connections Point table Minimum connections 3 5 configuring 3 9 Creep speed aaua aaa a 4 15 Point table positioning 4 11 Preparations 1 1 D Re ositioning DOG home position return 4 19 Se tings rta Rank tutes die ds 4 23 Digital signals via a CC Link network 5 31 Quick reference A 39 with digital inputs 4 11 E Positioning table exporting o 4 26 Expansion card MR J3 D01 i importing 4 26 Installation 2 3 E Sam EE Positioning table entries Sey ea ete he 3 SOC e an a E Soe Ae A 3 10 f S Functional test 3 5 W Servo amplifier GG MINK e ee a A tie e 5 38 PAD ao selecting o 3 7 Positioning with digital inputs 4 28 E EES 3 7 Signal assignments A LOE E i Connectors CN6 andCN10 4 12 G Standard parameters GX IEC Developer Quick reference A 40 Data communications 5 38 W H Warning messages Home position return 4 15 dee a i Ape l Z Installation Z phase reference Hardware 2 3 without DOG sign
37. n MR J3 D01 Position the MR J3 D01 extension over the upper and lower mounting points 1 on the ser vo amplifier then press the extension into place so that the lugs click into position in the up per and lower mounting points 2 This also connects the extension to the amplifier via con nector CN7 on the amplifier Fasten the extension securely to the servo amplifier with the M4 screw included as shown in Fig 2 2 MR J3 T 2 3 Installing the MR J3 D01 Extension Installing the Equipment Fig 2 2 Fastening screw dimensions for extension MR J3 D01 NOTE To uninstall the extension perform the above steps in the reverse order To release the retai ning clips press the retaining tabs marked Push inwards and pull the extension out to the side 2 4 Za MITSUBISHI ELECTRIC First Functional Test Minimum Connections for the Functional Check 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 NOTE You can also use the optional MR PRU 03 HMI control terminal for performing initial tests and setting the amplifiers parameters For further details see the MR J3 T series instruction manual 3 1 Minimum Connections for the Functional Check Servo motor Me Lon 1 phase 6 0 o ro
38. o display detalles description Read At Vinite DG G ier DCD Fe DG Daer OFFEN DG Dt Fig 3 4 Parameter settings for automatic input signal activation Turn the servo amplifier off and then turn it on again to initialise the new parameter set ting Za MITSUBISHI ELECTRIC First Functional Test Configuring Positioning Point Tables 3 3 NOTES Configuring Positioning Point Tables 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 Select the Point Table option from the Point data menu Enter the values for the movements position speed acceleration and deceleration times in the Point Table List window using one line for each movement Enter target position a in um x 10 STM e in diagram Enter speed b in rpm Enter acceleration deceleration times c and d in ms as required for the motor s rated speed Save the entries by clicking on the Write All button MR Configurator Project name Axis1 00Station MR J3 1 Servo amplifier connection USB Project Wer Sete Monto Alarm Diagrostics Parametere Test Advancec Ancton Pontdata Hep DWS RA Qh NOA le Point table fist No Position Data SpeedData Acel fung DecelTime Dwell Time Aur Fun Code 100 100 190 0 O 300 100 100 200 100
39. ration for Positioning 4 4 Configuration for Positioning 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 Digital Input Signals Selected Point Du DIS Table Entry Table 4 3 Selection of point table entries with digital input signals In the factory default configuration the incremental system is activated which means that the absolute position detection system is turned off PA03 absolute position detection system In this mode the current position is not stored when the power is turned off and you must thus per form a home position return every time the amplifier is powered on The default configuration also uses absolute target positions PA01 positioning control mode Function Description Positioning control 0 Absolute target position values mode 1 Incremental target position values Absolute position 0 Incremental system absolute detection off detection system 1 Absolute position detection system on Feed length multi Needed here to scale the home position value to the physical coor plication factor dinate system when a home position offset shift has been set Parameter Multiplication Range of the tar
40. rror Watchdog Table A 3 Error messages 2 O Locate and correct the cause of the error and allow the servo amplifier the servo motor and the regenerative braking unit to cool down for at least 30 minutes before resetting the alarm and restarting the system for normal operation Switch on the RES signal To reset the alarm click on the Alarm Reset button in the alarm display window in MR Configurator You can also reset the alarm by pressing the STOP RESET button on the HMI control unit 0 OFF 1 ON NOTE The output signal ALM is activated when an error or alarm signal is triggered Display Warning Table A 4 Warning messages A90 Home position return incomplete A92 Battery cable disconnected A96 Home position return error A98 Software limit warning A99 Stroke limit warning A9A Option unit input data error A9F Battery warning AEQ Regenerative system overload warning AE1 Overload warning 1 Warning messages AE3 Absolute position counter error AE6 Server emergency off warning AE8 Cooling fan too slow AE9 Main circuit off AEC Overload warning 2 AED Output wattage exceeded NOTE Please see the instruction manual for more detailed descriptions of the alarm messages and warnings A 42 Za MITSUBISHI ELECTRIC Index Index A M Alarm messages MR Configurator et ie ees A eee Uta dy oaks As
41. ruction manuals Please also note that the servo amplifiers of the MR J3 T series include the following additional major functions that are not covered in this Quick Start Manual O Communication via a serial port for controlling point table positioning O Positioning control in BCD format with the optional MR DS60 digital switch O Amplifier controller circuit settings and auto tuning functions Safety Instructions To ensure safe and proper installation of the equipment please also observe the instructions and safety precautions in the instruction manuals supplied for your hardware Notes in this Quick Start Manual Tips and useful information Additional documentation MR J3 T Instruction Manual SH NA030061 A MR J3 T Instruction Manual for CC Link SH NA030058 B Instruction Manual for the CC Link Master Module QJ61BT11N A1SJ61BT11 A1SJ61QBT11 FX2N 16CCL M MR J3 T Contents Contents 1 Introduction TA Preparations ot ec agn geet eae eS RRS ee POE GG SRE Le iS 1 1 2 Installing the Equipment 2 1 Installing the MR J3 D01 Extension 0 0 c eee eee 2 3 3 First Functional Test 3 1 Minimum Connections for the Functional Check 3 5 3 1 1 Connector pin assignments 0000 e eee eee 3 6 3 2 Functional Test Settings 3 7 3 3 Configuring Positioning Point Table 3 9 3 4 Functional Test with MR Configurator 0 000s 3 10 3 4 1 Selecting point table position entries 3 10 4
42. tal signals O CC Link communication The MR Configurator setup software package enables the user to test the entered positioning steps quickly and easily in test mode 1 1 Preparations The following products and parts are needed for using the point table positioning fea tures described in this manual O A servo amplifier for example MR J3 10T O A servo motor compatible with the selected amplifier Example HF KP13 motor for the MR J3 10T servo amplifier MRZJW3 SETUP221E Version CO of the MR Configurator setup software package MR J3USBCBL3M USB cable for connecting your PC notebook with the servo amplifier MR PWS1CBLIM A1 L motor connection cable MR J3ENCBLIIM A2 L rotary encoder cable MR J2CMP2 connector for CN6 I O signal connector Power supply cables conforming to the applicable installation regulations Connection cables for the control terminals Required for positioning control with digital signals O MR J3CN1 connector for communication connector CN10 O Optional MR J3 D01 expansion card Useful but not absolutely necessary O Simulation Box and terminal block with connection cable for testing FX Simulation Box Art No 3386 MR TB50 terminal block for CN10 MR J3 D01 MR J2M CN1TBLIM cable for connecting CN10 to MR TB50 MR J3 T 1 1 Preparations Introduction Required for positioning control via a CC Link network Q Rack with PLC and the CC Link module QJ61BT11N or A Rack with PLC and CC Link module A1
43. te Inte d oie No ctbnacrinmnde T er lok moana A AC e WW Module Confguratan SO Task Pool meen ic A 93 DUT_Pool Eg Global_vars MELSECNET Ethene 0 POU_Pool MELSECHET Aa Fig 5 6 Settings required in GX IEC Developer for CC Link communication between the controller and the servo amplifier Za MITSUBISHI ELECTRIC Positioning via a CC Link Network CC Link Communication Settings Notes on the network settings a Inthe 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 assignments PLC gt Servo Amplifier Servo Amplifier gt PLC PLC I Os Registers Signals PLC I Os Registers Signals Y100 RYn0 SON X100 RXn0 RD Y101 RYn1 ST1 X101 RXn1 INP Y102 RYn2 sT2 X103 RXn3 ZP Y103 RYn3 DOG X11A RX n 1 A ALM Y104 RYn4 LSP Y105 RYn5 LSN Y106 RYn6 MDO Y10A RYnA DIO NOTE Y10B RYnB DIA Signals DI5 DI6 and DI7 are only available Y10C RYnC DIS when the amplifier is configured to occupy 2 Y10D RYnD DI3 stations in the network Y10E RYnE DI4 Y10F RYnF RES Table 5 1 Signal assignments c Slave station type setting cc L ink station information Module 1 Remota d
44. th Digital Inputs Configuration for Positioning How to open import a point table data file MR Configurator Project name Axt 00Station MRJJT Servo amplifier connection USS PIRES NTE CLV oy PU TIO PFS DIT ALYY BON a tp ocooocoocooocoso Fig 4 18 Point table position data imported from a csv file MR J3 T 4 27 Functional Test of Digital Input Positioning Positioning with Digital Inputs 4 5 NOTE Functional Test of Digital Input Positioning 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 needing to perform the additional work of programming and installing a controller Fig 4 19 shows atest installation without an external controller Note that the FX Simulation Box used in this setup can set a maximum of 14 digital inputs Servo motor NFS M E ENP 1 phase Sl Pes W CHUPA 200 230V AC go bk i USF 2h Motor T e gt gt NM 1 P Ge PEL CNP2 e a CN Encoder cable r Encoder wm t PC n CNS o f MR J3USBCBL3M h e Cable length 3m e CNE s gt MR J2CMP2 meg MR J2M CNT1TBL M Cable length 0 5 1m o O MR TB50 MA 13 001 0 al i Jl FX Simulation Box N10 OS 24V DC 24V DC pow
45. troke end Reverse stroke end max 10m ma 24 LAR 12 LB MR J3USBCBL3M CNS 25 LER ONS EA Option oa 23 LG Plate SD 24V DC 10 aaner 800mA ra Alarm code 0 on Point table Tis LS selection ToS D ti COI o o H HS o 4 SERVO ON y RESET o Automatic Manuall Forward rotation start Reverse rotation start oo max 10 m vs 49 INP L 3 In position max 10m CN20 4 MO 11 LG A 24V 1000mA power supply can be 14 MO2 used for all control terminals JSN Piste SC Fig 4 3 Connection of the control terminals with PNP logic source logic NOTES You can find a brief descriptions of the signal functions in Appendix A 1 Please refer to the instruction manual for a complete reference 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 servo amplifier is not operated during the first functional test The EMG signal is perma nently assigned to pin 1 and the amplifier is deactivated when there is no EMG signal if it is configured accordingly see chapter 3 2 MR J3 T Turning off Automatic Input Signal Activation Positioning with Digital Inputs 4 2 Turning off Automatic Input Signal Activation Procedure Reset parameter PDO1 to a value of 0 Parameter Setting al x LEDE oOo rGH 210 SD F oa oOooaoOoOoOoOoOoa O
46. w positioning sequence Then you can select a new table entry with DIO DI7 and start the positioning sequence with ST1 ST2 Table entries are not reset when you restore the amplifier s factory default settings You do not need to turn the amplifier off and on again after changing table entries NOTE Please see the instruction manual for full details on all these procedures 4 4 1 Importing and exporting point tables There are two different ways to store the point table from your project so that you can edit it again later in external programs and MR Configurator O Exportihe point table as a text file with the extension ptb This creates a plain text file that can be edited with a normal text editor O Exportthe pointtable as a file with the extension csv These files contain data that can be edited by spreadsheet programs like Microsoft Excel Procedure The Point Table List window must be open and active How to export the point table to a file 2 MR Configurator Project name Axis1 O00Station MR 3J3 T Servo amplifier connection USD Project View Setup Monitor Alarm Diagnostics Parameters Test Advanced function Porit dats Helk How Faget mi AM CREDA Open Project xl iss Project Speichern unter bk jx Save Project Save As Project Seechen in CH Test_MRJIT 4 ch Fig 4 16 Exporting the point table to a file for archival or editing 4 26 we MITSUBISHI ELECTRIC Positioning wi
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