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Mitsubishi Electric MR-J3-T Quick Start Manual
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Mitsubishi Electric MR-J3-T Quick Start Manual

Mitsubishi Electric MR-J3-T Quick Start Manual

Servo amplifier
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MITSUBISHI ELECTRIC
MR-J3-T
Servo Ampli fier
Quick Start Manual
MR-J3-T Servo Ampli fier
With Point Table Posi tio ning
(Point-to-Point Posi tio ning)
Art. No.: xxxxxx
09112010
MITSUBISHI ELECTRIC
IN DUS TRIAL AU TO MA TION
Version B

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  • Page 1 MITSUBISHI ELECTRIC MR-J3-T Servo Ampli fier Quick Start Manual MR-J3-T Servo Ampli fier With Point Table Posi tio ning (Point-to-Point Posi tio ning) Art. No.: xxxxxx 09112010 MITSUBISHI ELECTRIC IN DUS TRIAL AU TO MA TION Version B...
  • Page 3 (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.
  • Page 5 Quick Start Man ual MR-J3-T Servo Am pli fier with In te grated Point Ta ble Po si tion ing Art. No.: xxxxxx Ver si on Chan ges / Ad di tions / Cor rec tions 10/2007 First Edition 11/2010 Sec tion 5.1:...
  • Page 7 Please also note that the servo ampli fiers of the MR-J3-T series include the fol lo wing addi tio nal major functions that are not covered in this Quick Start Manual:...

  • Page 8: Table Of Contents

    Alarms and Warning Messages ........A-41 MITSUBISHI ELECTRIC...

  • Page 9: Introduction

    Introduction The servo ampli fi ers of the MR-J3-T series are designed spe cif i cally for drive posi tion ing appli - ca tions using point-to-point posi tion ing with out inter po la tion or tra jec tory con trol. The posi tions...
  • Page 10 Note that the spe ci fi ca tions of this sam ple sys tem may dif fer from tho se of your con fi gu ra ti on – plea se check your equipment’s instruction manuals for de tails if necessary. 1 - 2 MITSUBISHI ELECTRIC...

  • Page 11: Installing The Equipment

    Installing the Equipment The pro ce dure for the phys i cal instal la tion of the MR-J3-T series hard ware is exactly the same as for the MR-J3-A and MR-J3-B mod els. The dimen sions of the MR-J3-T series ampli fi ers are iden ti cal to those of the match ing mod els of the MR-J3-A and MR-J3-B series.
  • Page 12 To un in stall the ex ten si on per form the abo ve steps in the re ver se or der. To re lea se the re tai - ning clips press the re tai ning tabs mar ked “Push” in wards and pull the ex ten si on out to the side. 2 - 4 MITSUBISHI ELECTRIC...

  • Page 13: First Functional Test

    You can also use the op tional MR-PRU-03 HMI con trol ter mi nal for per form ing ini tial tests and set ting the am pli fier’s pa ram e ters. For fur ther de tails see the MR-J3-T se ries in struc tion man ual.

  • Page 14: Con Nec Tor Pin Assign Ments

    Po wer ter mi nals MR-J3-D01 MR-J3- T port Con nec tor CN2 Fig. 3-2: Power and con trol con nec tor pin as sign ments for min i mum con fig u ra tion 3 - 6 MITSUBISHI ELECTRIC...

  • Page 15: Functional Test Settings

    Con nect the PC / note book to the servo am pli fier’s USB port (CN5) with the MR-J3USBCBL3M ca ble. Start MR Configurator on the com puter and make the fol low ing set tings: – Se lect the MR-J3-T se ries servo am pli fier: Fig. 3-3: Se lect ing the servo am pli fier...
  • Page 16 Pa ra me ter set tings for au to ma tic in put sig nal ac ti vat ion. – Turn the servo am pli fier off and then turn it on again to in itial ise the new pa ram e ter set - ting. 3 - 8 MITSUBISHI ELECTRIC...

  • Page 17: Configuring Positioning Point Tables

    The ab so lute po si tion de tec tion sys tem for the home re turn func - tion can be set with pa ram e ter PA03 “*ABS” (see chap ter 4.3). Load ing the fac tory de faults will not over write your point ta ble en tries. MR-J3-T 3 - 9...

  • Page 18: Functional Test With Mr Configurator

    To se lect a po si tion en ter its point ta ble line num ber in the di a log box dis played Start the po si tion ing op er a tion Fig. 3-6: Sin gle-step Feed win dow for test ing in di vid ual po si tion ing steps 3 - 10 MITSUBISHI ELECTRIC...

  • Page 19: Positioning With Digital Inputs

    Positioning with Digital Inputs Additional Connections Positioning with Digital Inputs This chap ter describes how point table posi tion ing is used in most appli ca tions with the MR-J3-T series ampli fi ers and the MR-J3-D01 I/O exten sion. NOTE Please re fer to the in struc tion man ual if you need other func tions other than those de scribed here for your ap pli ca tion.
  • Page 20 Positioning with Digital Inputs Con nec tor CN6 Con nec tor CN10 CN10 pin assignments DICOM DICOM ACD0 ACD1 ACD2 ACD3 DOCOM Fig. 4-2: Pin as sign ments of con nec tors CN6 and CN10 4 - 12 MITSUBISHI ELECTRIC...
  • Page 21 1 and the am pli fier is de ac ti vated when there is no EMG sig nal if it is con fig ured ac cord ingly (see chap ter 3.2). MR-J3-T 4 - 13...

  • Page 22: Turning Off Automatic Input Signal Activation

    Positioning with Digital Inputs Turning off Automatic Input Signal Activation Pro ce dure: Re set parameter PD01 to a value of "0": Fig. 4-4: Switch ing off au to matic in put sig nal ac ti va tion 4 - 14 MITSUBISHI ELECTRIC...

  • Page 23: Home Position Return

    Home Position Return At the fac tory the MR-J3-T servo ampli fi ers are con fig ured with the incre men tal sys tem acti - vated by default (i.e. the abso lute posi tion detec tion sys tem is switched off). This means that the cur rent posi tion is not stored when the ampli fier's power sup ply is switched off, mak ing it nec es - sary to per form a return to home posi tion every time the unit is pow ered up.
  • Page 24 [in value µm] with this parameter. Table 4-1: Pa ram e ter ref er ence table You must turn the power off and on again to ac ti vate this pa ram e ter. 4 - 16 MITSUBISHI ELECTRIC...
  • Page 25 Pa ram e ter set tings for ex am ple Fig. 4-6: Rel e vant pa ram e ter set tings for ex am ple 1 Fig. 4-7: Val ues shown when the home po si tion re turn has been com pleted cor rectly MR-J3-T 4 - 17...
  • Page 26 PC06 = 3,000 µm. For the mo tor con nected this is equiv a lent to 259,144 en coder pulses. Fig. 4-9: Val ues shown when the home po si tion re turn has been com pleted correctly 4 - 18 MITSUBISHI ELECTRIC...

  • Page 27: Dog Mode Home Posi Tion Return

    V = Home po si tion re turn speed in [mm/min] = Deceleration time in [s] L2 = Length of the DOG signal in [mm] S = Dis tance for one ro ta tion of the mo tor in [mm] MR-J3-T 4 - 19...
  • Page 28 Servo mo tor speed setting PC06 “Home off set” Z-pha se of encoder DOG signal Home re turn com plete (ZP) Fig. 4-10: Home po si tion re turn in prox im ity dog mode 4 - 20 MITSUBISHI ELECTRIC...
  • Page 29 In the fol low ing exam ple the phys i cal home posi tion is at the posi tion of the Z-phase of the encoder. How ever, we now want to assign a non-zero value in the phys i cal coor di nate sys tem to this posi tion. MR-J3-T 4 - 21...
  • Page 30 The posi tion value is cal cu lated as fol lows: X = PA05 PC07 in [mm] In the above exam ple with PA05 = 1 and PC07 = 1000 [10 µm] this gives us: X = 1000 10 µm 4 - 22 MITSUBISHI ELECTRIC...

  • Page 31: Configuration For Positioning

    −9999.99 .. +9999.99 −99999.9 .. +99999.9 −999999 .. +999999 1000 Table 4-4: Pa ram e ter reference To ac ti vate this pa ram e ter you must switch the am pli fier power off and on again. MR-J3-T 4 - 23...
  • Page 32 If tar get po si tions are en tered us ing the in cre men tal sys tem it is not pos si ble to change the ro ta tion di rec tion via the point ta ble. In this mode the ro ta tion di rec tion can only be changed with the start com mands (ST1/ST2). 4 - 24 MITSUBISHI ELECTRIC...
  • Page 33 If the ta bles don't match a mes sage is dis - played show ing the line num ber where the dif fer ence was found: Num ber of ta ble line where ta bles in am pli fier and MR-Configurator do not match MR-J3-T 4 - 25...

  • Page 34: Import Ing And Export Ing Point Tables

    The Point Ta ble List win dow must be open and ac tive. How to ex port the point ta ble to a file: Fig. 4-16: Ex port ing the point ta ble to a file for ar chi val or editing 4 - 26 MITSUBISHI ELECTRIC...
  • Page 35 How to open/im port a point ta ble data file: Fig. 4-17: Open ing a point ta ble file to im port the data Fig. 4-18: Point ta ble po si tion data im ported from a .csv file MR-J3-T 4 - 27...

  • Page 36: Functional Test Of Digital Input Positioning

    The test setup shown above does not use any safety fea tures for the tests (EMG. OFF). You should thus only use this setup in a con trolled test en vi ron ment where er rors can not cause any dan ger for per son nel or equip ment! 4 - 28 MITSUBISHI ELECTRIC...
  • Page 37 Positioning with Digital Inputs Functional Test of Digital Input Positioning MR Configurator can mon i tor all the inputs and out puts of the MR-J3-T, includ ing those on the MR-J3-D01 I/O extension. Pro ce dure: Con nect the PC/note book to the USB port (CN5) of the servo am pli fier us ing ca ble MR-J3USBCBL3M.
  • Page 38 Functional Test of Digital Input Positioning Positioning with Digital Inputs Fig. 4-22: The “Op tion unit I/F dis play” ter mi nal mon i tor ing window 4 - 30 MITSUBISHI ELECTRIC...

  • Page 39: Positioning Via A Cc-Link Network

    Additional Connections Positioning via a CC-Link Network As an alter na tive to using dig i tal sig nals you can also con trol posi tion ing with MR-J3-T servo ampli fi ers via a CC-Link net work con nec tion.
  • Page 40 They can not be used to gether. Personal computer RS232C/RS422 conversion cable To RS232C connector Servo amplifier MR-PRU03 parameter module EIA568-compliant cable (10BASE-T cable, etc.) For the sink I/O in ter face. 5 - 32 MITSUBISHI ELECTRIC...
  • Page 41 Positioning via a CC-Link Network Additional Connections Con nec tions for the CC-Link network CC-Link Mas ter module MR-J3-T (e.g. QJ61BT11N) Fig. 5-2: Con nec tions be tween the servo am pli fier and the CC-Link mas ter module NOTE You must in stall a ter mi nat ing re sis tor on ter mi nals DB and DB on the phys i cal first and last sta tions in the CC-Link net work.

  • Page 42: Cc-Link Communication Settings

    Cor rect po si tion of switch S1 for set ting the num ber of re served stations Set the sta tion address (max. value 64): higher values lower values ad dress digits Fig. 5-4: Set switches x1 and x10 to the cor rect sta tion ad dress 5 - 34 MITSUBISHI ELECTRIC...
  • Page 43 The servo am pli fier set tings re quired for point ta ble po si tion ing are de scribed in chap ters 4.2 through 4.4. Please check that these set tings have been made cor rectly be fore pro ceed ing. MR-J3-T 5 - 35...

  • Page 44: Con Fig U Ra Tion For Com Mu Ni Ca Tion With Gx Iec Devel Oper

    Fig. 5-6 Fig. 5-6: Settings re quired in GX IEC De vel oper for CC-Link com mu ni ca tion be tween the con trol ler and the servo amplifier 5 - 36 MITSUBISHI ELECTRIC...
  • Page 45 If the CC-Link con nec tion to the servo am pli fier is es tab lished suc cess fully the L.RUN, SD und RD sta tus LEDs on the servo am pli fier will light up. MR-J3-T 5 - 37...

  • Page 46: Testing The Servo Amplifier Via Cc-Link

    En ter the in di vid ual re mote I/Os to be set or mon i tored. Fig. 5-8: The En try Data Mon i tor win dow where you can set re mote I/Os to test the servo functions 5 - 38 MITSUBISHI ELECTRIC...

  • Page 47: A Appendix

    Pos i tive con nec tion for source in ter face logic (PNP). CN10-49 RXn1 IN Po si tion: Tar get po si tion reached signal. Table A-1: Dig i tal sig nals - quick ref er ence MR-J3-T A - 39...

  • Page 48: Standard Parameters − Quick Reference

    1: Ac tive DOG on log i cal "1" Table A-2: Stan dard pa ram e ters − quick ref er ence To ac ti vate this pa ram e ter you must switch the am pli fier power off and on again. A - 40 MITSUBISHI ELECTRIC...

  • Page 49: Alarms And Warning Messages

    In put fre quency — — too high Pa ram e ter error — — Main cir cuit overheat Servo mo tor overheat Cool ing fan error — — Over load 1 Overload 2 Table A-3: Er ror messages(1) MR-J3-T A - 41...
  • Page 50 Main cir cuit off Over load warn ing 2 Out put watt age exceeded NOTE Please see the in struc tion man ual for more de tailed de scrip tions of the alarm mes sages and warn ings. A - 42 MITSUBISHI ELECTRIC...
  • Page 51 DOG signal ... . 4 - 15 Hardware ....2 - 3 MR-J3-T A - 43...
  • Page 52 Phone: +370 (0)5 / 232 3101 Fax: +370 (0)5 / 232 2980 Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com...

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