MITSUBISHI ELECTRIC MR-J3-T Servo Amplifier Quick Start Manual MR-J3-T Servo Amplifier With Point Table Positioning (Point-to-Point Positioning) Art. No.
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.
Quick Start Manual MR-J3-T Servo Amplifier with Integrated Point Table Positioning Art. No.
This Quick Start Manual for the servo amplifiers of the MR-J3-T series with point table positioning 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 necessary to use these functions. Complete descriptions of all the supported functions and all available extensions can be found in the instruction manuals.
Contents 1 Introduction 1.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 2 Installing the Equipment 2.1 Installing the MR-J3-D01 Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3 3 First Functional Test 3.1 Minimum Connections for the Functional Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 3.1.1 3.2 Functional Test Settings. . . . . . . . . . . . . . . . . . . .
Introduction 1 Preparations Introduction The servo amplifiers of the MR-J3-T series are designed specifically for drive positioning applications 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 communication The MR Configurator setup software package enables the user to test the entered positioning steps quickly and easily in test mode.
Preparations Introduction Required for positioning control 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 compatible with version V1.
Installing the Equipment 2 Installing the MR-J3-D01 Extension 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 2.1 Please consult the instruction manual for detailed installation instructions.
Installing the MR-J3-D01 Extension Fig. 2-2: NOTE 2-4 Installing the Equipment Fastening screw dimensions for extension MR-J3-D01 To uninstall the extension perform the above steps in the reverse order. To release the retaining clips press the retaining tabs marked “Push” inwards and pull the extension out to the side.
First Functional Test 3 Minimum Connections for the Functional Check 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 3.1 You can also use the optional MR-PRU-03 HMI control terminal for performing initial tests and setting the amplifier’s parameters.
Minimum Connections for the Functional Check 3.1.1 First Functional Test Connector pin assignments Servo amplifier MR-J3-첸T Power terminals I/O extension MR-J3-D01 USB port Connector CN2 Fig.
First Functional Test 3.
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 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 setting.
First Functional Test 3.3 Configuring Positioning Point Tables 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: 햲 Select the Point Table option from the Point-data menu.
Functional Test with MR Configurator 3.4 First Functional Test 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.
Positioning with Digital Inputs 4 Additional Connections 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. NOTE 4.1 Please refer to the instruction manual if you need other functions other than those described here for your application. Additional Connections The initial functional tests described in chapter 3.1 were performed with a minimum connection configuration.
Additional Connections Positioning with Digital Inputs Connector CN6 Fig.
Positioning with Digital Inputs Additional Connections 24V DC ±10% 150mA 햲 24V DC EMG. OFF Proximity dog Forward stroke end Reverse stroke end max. 10m max. 10m MR-J3USBCBL3M (Option) 24V DC ±10% 800mA 햲 24V DC Alarm code Point table selection SERVO ON RESET Automatic/Manuall Forward rotation start Reverse rotation start max.10 m In position max. 10m 햲 A 24V 1000mA power supply can be used for all control terminals. Fig.
Turning off Automatic Input Signal Activation 4.2 Positioning with Digital Inputs Turning off Automatic Input Signal Activation Procedure: 햲 Reset parameter PD01 to a value of "0": Fig.
Positioning with Digital Inputs 4.3 Home Position Return Home Position Return At the factory the MR-J3-T servo amplifiers are configured with the incremental system activated 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 necessary to perform a return to home position every time the unit is powered up.
Home Position Return Positioning with Digital Inputs Timing chart: Auto/Manual mode (MD0) ON OFF Select point table no. (DI0) Start command Forward (ST1) ON OFF Start command Reverse (ST2) ON OFF PC04 “Home pos. return speed” Servo motor speed setting PC06 “Home offset” PC05 “Creep speed” Z-phase of encoder ON OFF Home return complete (ZP) ON OFF Fig. 4-5: Home position return sequence in dogless Z-phase reference mode No.
Positioning with Digital Inputs Home Position Return Examples: 햲 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 settings for example MR-J3-T Fig. 4-6: Relevant parameter settings for example 1 Fig.
Home Position Return Positioning with Digital Inputs 햳 Perform a home position return as in example 1 but with an offset between the physical and encoder home positions, set with parameter PC06. Parameter settings: Parameter settings for example Fig. 4-8: Relevant parameter settings for example 2. The offset is entered with parameter PC06. Following completion of the home position return: The servo motor has travelled to the specified home position.
Positioning with Digital Inputs 4.3.2 Home Position Return 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 “proximity dog detection polarity” to specify whether a logical “1” or a logical “0” should be identified as an active DOG signal.
Home Position Return Positioning with Digital Inputs Timing chart: Auto/Manual mode (MD0) ON OFF Select point table no. (DI0) Start command Forward (ST1) ON OFF Start command Reverse (ST2) ON OFF PC04 “Home pos. return speed” PC05 “Creep speed” Servo motor speed setting PC06 “Home offset” Z-phase of encoder ON OFF DOG signal ON OFF Home return complete (ZP) ON OFF Fig.
Positioning with Digital Inputs Home Position Return No. Code Function Description PA05 햲 *FTY Feed length multiplication factor Needed here to scale the home position value to the physical coordinate system when a home position offset (shift) has been set.
Home Position Return Positioning with Digital Inputs Parameter settings: Parameter settings for example Fig. 4-11: Relevant parameter settings for the example. The home position value is entered with PC07. Following completion of the home position return: The servo motor has travelled to the encoder home position which is also the machine’s physical home position. However, this position corresponds to a value of 100mm in the machine’s coordinate system. Fig.
Positioning with Digital Inputs 4.4 Configuration for Positioning 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.
Configuration for Positioning Positioning with Digital Inputs The following example shows some typical configuration settings used for many common positioning applications: Procedure: 햲 Select the incremental system for positions with PA03 *ABS. 햳 Select absolute value command mode for target positions with PA01 *STY. 햴 Set a multiplication factor with PA05 *FTY = 1 => 10 times factor. This gives us the following position system: Min. absolute value −9999.99 0 Max. absolute value +9999.
Positioning with Digital Inputs Configuration for Positioning 햵 The point table entries for the individual positioning steps are configured in the columns numbered to in the point table list shown below. Fig. 4-15: Example of a positioning application with 8 positioning steps Tips for editing point table entries: 쎲 The value in the Aux. Func. column should normally always be zero.
Configuration for Positioning Positioning with Digital Inputs 쎲 Always deactivate start command ST1/ST2 before starting a new positioning sequence. Then you can select a new table entry with DI0 - DI7 and start the positioning sequence with ST1/ST2. 쎲 Table entries are not reset when you restore the amplifier's factory default settings! 쎲 You do not need to turn the amplifier off and on again after changing table entries. NOTE 4.4.
Positioning with Digital Inputs Configuration for Positioning 햴 How to open/import a point table data file: Fig. 4-17: Opening a point table file to import the data Fig. 4-18: Point table position data imported from a .
Functional Test of Digital Input Positioning 4.5 Positioning with Digital Inputs Functional Test of Digital Input Positioning Normally you need a simple controller to set the digital inputs used to select the point table position 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.
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: 햲 Connect the PC/notebook to the USB port (CN5) of the servo amplifier using cable MR-J3USBCBL3M. 햳 Start MR Configurator and make the following selections: – Select the MR-J3-T series amplifier. – Select the MR-J3-D01 expansion card (“option unit”). Fig.
Functional Test of Digital Input Positioning Positioning with Digital Inputs Fig.
Positioning via a CC-Link Network 5 Additional Connections 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. NOTE 5.1 Before proceeding ensure that the MR-J3-D01I/O expansion card is not installed. If it is installed CC-Link communications will be disabled. Additional Connections In addition to the minimum configuration described in chapter 3.
Additional Connections Positioning via a CC-Link Network Connections for the CC-Link network CC-Link Master module (e.g. QJ61BT11N) Fig. 5-2: NOTE 5 - 32 MR-J3-T Connections between the servo amplifier and the CC-Link master module 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.
Positioning via a CC-Link Network CC-Link Communication Settings 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: 쎲 Data rate 156Kbit/s 쎲 The master station is a QJ61BT11N module that is integrated in a System Q controller platform with a Q02H-CPU.
CC-Link Communication Settings Positioning via a CC-Link Network 햴 Set the data rate: Mode Fig. 5-5: NOTE 5 - 34 Baud rate Mode switch setting for the network data rate 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.
Positioning via a CC-Link Network 5.2.2 CC-Link Communication Settings Configuration for communication with GX IEC Developer Generally, positioning control is performed via a CC-Link network in applications where an additional PLC system is used for automation tasks as well as the integrated controller in the amplifier. In this example we will thus only provide detailed descriptions of the settings required to integrate the servo amplifier in your project.
CC-Link Communication Settings Positioning via a CC-Link Network 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.
Positioning via a CC-Link Network 5.3 Testing the Servo Amplifier via CC-Link 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: 햲 Activate monitoring mode. 햳 Select Entry Data Monitor in the Online menu.
Digital Signals − Quick Reference Appendix A Appendix A.1 Digital Signals Quick Reference Connector Pins Signal Codes DI/DO CC-Link CN6-1 EMG – Forced stop - emergency safety signal: The signal is permanently assigned to this pin and must be activated for motor control. DI CN6-2 DOG RYn3 Proximity dog switch: This signal is used for some of the home position return modes. (See chapter 4.
Standard Parameters − Quick Reference A.2 Standard Parameters Quick Reference No.
Appendix A.
Alarms and Warning Messages Appendix Alarm Code Alarm Reset Alarms Display ACD3 ACD2 ACD1 ACD0 Error (Bit 3) (Bit 2) (Bit 1) (Bit 0) Power Supply OFF ON MRConfigurator/ HMI Reset (RES) A52 0 1 0 1 Excessive discrepancy error ✔ ✔ ✔ A61 0 1 0 1 Operation alarm ✔ ✔ ✔ A8A 0 0 0 0 Serial communication timeout ✔ ✔ ✔ A8E 0 0 0 0 Serial communication error ✔ ✔ ✔ 888 0 — — — Watchdog ✔ — — Table A-3: Error messages (2) 햲 햳 햴 햵 Switch on the RES signal.
Index Index 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 . . . . . . . . . . . . . . . . . 4 - 15 D Digital signals Quick reference . . . . . . . . . . . . . . A - 39 DOG home position return . . . . . . . . . .
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