Mitsubishi Electric MR-J3-22KT4 Manuals

Manuals and User Guides for Mitsubishi Electric MR-J3-22KT4. We have 1 Mitsubishi Electric MR-J3-22KT4 manual available for free PDF download: Manual

Mitsubishi Electric MR-J3-22KT4 Manual (668 pages)

Brand: Mitsubishi Electric | Category: Amplifier | Size: 15.59 MB

Table of Contents
14
Functions and Configuration
22
Introduction
22
Features of CC-Link Communication Functions
22
Function Block Diagram
23
System Configuration
26
Servo Amplifier Standard Specifications
28
Function List
34
Model Code Definition
36
Combination with Servo Motor
37
Structure
38
Parts Identification
38
Removal and Reinstallation of the
44
Configuration Including Auxiliary Equipment
47
Selection of Operation Method
55
Installation
58
Installation Direction and Clearances
58
Keep out Foreign Materials
60
Cable Stress
60
Inspection Items
61
Parts Having Service Lives
61
CC-Link Communication Functions
62
Communication Specifications
62
System Configuration
63
Configuration Example
63
Wiring Method
64
Station Number Setting
66
Communication Baud Rate Setting
67
Occupied Station Count Setting
67
Functions
68
Function Block Diagram
68
Servo Amplifier Setting
69
I/O Signals (I/O Devices) Transferred To/From the Programmable Controller CPU
70
I/O Signals (I/O Devices)
70
Detailed Explanation of I/O Signals
73
Monitor Codes
83
Instruction Codes (Rwwn+2 Rwwn+3)
84
Respond Codes (Rwrn+2)
92
Setting the CN6 External Input Signals
93
Data Communication Timing Charts
95
Monitor Codes
95
Instruction Codes
97
Remote Register-Based Position/Speed Setting
99
Function-By-Function Programming Examples
102
System Configuration Example
102
Reading the Servo Amplifier Status
105
Writing the Operation Commands
106
Reading the Data
107
Writing the Data
110
Operation
113
Continuous Operation Program Example
116
System Configuration Example When 1 Station Is Occupied
116
Program Example When 1 Station Is Occupied
117
System Configuration Example When 2 Stations Are Occupied
119
Program Example When 2 Stations Are Occupied
120
Signals and Wiring
122
Input Power Supply Circuit
123
I/O Signal Connection Diagram
131
Explanation of Power Supply System
132
Signal Explanations
132
Power-On Sequence
133
CNP1, CNP2, CNP3 Wiring Method
135
Connectors and Signal Arrangements
143
Signal (Device) Explanation
144
I/O Devices
144
Input Signals
147
Output Signals
147
Power Supply
148
Detailed Description of Signals (Devices)
148
Forward Rotation Start Reverse Rotation Start Temporary Stop/Restart
148
Movement Completion Rough Match in Position
149
Torque Limit
151
Alarm Occurrence Timing Chart
152
Interface
153
Internal Connection Diagram
153
Detailed Description of Interfaces
154
Source I/O Interfaces
156
Treatment of Cable Shield External Conductor
157
Connection of Servo Amplifier and Servo Motor
158
Connection Instructions
158
Power Supply Cable Wiring Diagrams
159
Servo Motor with an Electromagnetic Brake
169
Safety Precautions
169
Timing Charts
170
Wiring Diagrams (HF-MP Series HF-KP Series Servo Motor)
173
Grounding
174
Operation
176
Switching Power on for the First Time
176
Startup Procedure
176
Wiring Check
177
Surrounding Environment
178
Startup
179
Power on and off Procedures
179
Stop
179
Test Operation
180
Parameter Setting
181
Point Table Setting
182
Actual Operation
182
Servo Amplifier Display
183
Automatic Operation Mode
185
What Is Automatic Operation Mode
185
Automatic Operation Using Point Table
187
Remote Register-Based Position/Speed Setting
197
Manual Operation Mode
203
JOG Operation
203
Manual Pulse Generator
204
Manual Home Position Return Mode
206
Outline of Home Position Return
206
Dog Type Home Position Return
207
Count Type Home Position Return
211
Data Setting Type Home Position Return
213
Stopper Type Home Position Return
214
Home Position Ignorance (Servo-On Position Defined as Home Position)
216
Dog Type Rear End Reference Home Position Return
217
Count Type Front End Reference Home Position Return
219
Dog Cradle Type Home Position Return
221
Dog Type First Z-Phase Reference Home Position Return
223
Dog Type Front End Reference Home Position Return Method
225
Dogless Z-Phase Reference Home Position Return Method
227
Home Position Return Automatic Return Function
229
Automatic Positioning Function to the Home Position
230
Roll Feed Display Function in Roll Feed Mode
231
Absolute Position Detection System
232
Parameters
236
Basic Setting Parameters (No.pa )
236
Parameter List
236
Parameter Write Inhibit
237
Selection of Command System
238
Selection of Regenerative Option
238
Using Absolute Position Detection System
239
Follow-Up for Absolute Value Command System in Incremental System
239
Feeding Function Selection
240
Electronic Gear
241
Auto Tuning
242
In-Position Range
243
Torque Limit
244
Selection of Servo Motor Rotation Direction
245
Encoder Output Pulse
245
Gain/Filter Parameters (No.pb )
247
Parameter List
247
Detail List
248
Extension Setting Parameters (No.pc )
255
Parameter List
255
Detail List
256
S-Pattern Acceleration/Deceleration
262
Alarm History Clear
262
Rough Match Output
262
Software Limit
263
I/O Setting Parameters (No.pd )
264
Parameter List
264
Detail List
265
Stopping Method When the Forward Stroke End (LSP) or Reverse Stroke End (LSN) Is Valid
273
Stopping Method When a Software Limit Is Detected
274
MR Configurator
276
Specifications
276
System Configuration
277
Station Selection
279
Parameters
280
Point Table
282
Device Assignment Method
284
Test Operation
288
Jog Operation
288
Positioning Operation
290
Motor-Less Operation
293
Output Signal (DO) Forced Output
294
Single-Step Feed
295
Alarm
298
Alarm Display
298
Batch Display of Data at Alarm Occurrence
299
Alarm History
301
Parameter Unit (Mr-Pru03)
302
External Appearance and Key Explanations
303
Specifications
304
Outline Dimension Drawings
304
Connection with Servo Amplifier
305
Single Axis
305
Multidrop Connection
306
Display
308
Outline of Screen Transition
308
MR-PRU03 Parameter Unit Setting
309
Monitor Mode (Status Display)
310
Alarm/Diagnostic Mode
312
Parameter Mode
314
Point Table Mode
315
Test Operation Mode
316
Error Message List
320
General Gain Adjustment
322
Different Adjustment Methods
322
Adjustment on a Single Servo Amplifier
322
Adjustment Using MR Configurator
323
Auto Tuning
323
Auto Tuning Mode 1
323
Auto Tuning Mode Operation
325
Adjustment Procedure by Auto Tuning
326
Response Level Setting in Auto Tuning Mode
327
Manual Mode 1 (Simple Manual Adjustment)
328
Interpolation Mode
332
Differences between MELSERVO-J2-Super and MELSERVO-J3 in Auto Tuning
333
Special Adjustment Functions
334
Function Block Diagram
334
Adaptive Filter
334
Machine Resonance Suppression Filter
337
Advanced Vibration Suppression Control
339
Low-Pass Filter
343
Gain Changing Function
343
Applications
343
Function Block Diagram
344
Parameters
345
Gain Changing Operation
347
Troubleshooting
350
Trouble at Start-Up
350
Operation at Error Occurrence
351
CC-Link Communication Error
351
When Alarm or Warning Has Occurred
352
Alarms and Warning List
352
Remedies for Alarms
353
Remedies for Warnings
360
Point Table Error
362
Outline Drawings
364
Servo Amplifier
364
Connector
373
Characteristics
376
Overload Protection Characteristics
376
Power Supply Equipment Capacity and Generated Loss
378
Dynamic Brake Characteristics
381
Dynamic Brake Operation
381
The Dynamic Brake at the Load Inertia Moment
384
Cable Flexing Life
385
Inrush Currents at Power-On of Main Circuit and Control Circuit
385
Options and Auxiliary Equipment
386
Cable/Connector Sets
386
Combinations of Cable/Connector Sets
387
Encoder Cable/Connector Sets
393
Motor Power Supply Cables
402
Motor Brake Cables
403
Regenerative Options
404
BU2-(H) Brake Unit
417
Selection
418
Brake Unit Parameter Setting
418
Connection Example
419
Outline Dimension Drawings
426
Power Regeneration Converter
428
Power Regeneration Common Converter
432
External Dynamic Brake
439
Battery MR-J3BAT
444
Heat Sink Outside Mounting Attachment (MR-J3ACN)
445
Selection Example of Wires
447
Fuse Breakers, Fuses, Magnetic Contactors
453
Power Factor Improving DC Reactor
454
Power Factor Improving Reactors
456
Relays (Recommended)
458
Surge Absorbers (Recommended)
458
Noise Reduction Techniques
459
Leakage Current Breaker
466
EMC Filter (Recommended)
468
MR-HDP01 Manual Pulse Generator
473
Communication Function
476
Configuration
476
Communication Specifications
478
Communication Overview
478
Parameter Setting
479
Transmission Data Configuration
480
Error Codes
482
Checksum
482
Time-Out Operation
483
Retry Operation
483
Initialization
484
Communication Procedure Example
484
Command and Data No. List
485
Read Commands
485
Write Commands
489
Detailed Explanations of Commands
492
Data Processing
492
Status Display
494
Parameters
495
External I/O Signal Statuses (DIO Diagnosis)
498
Device ON/OFF
503
Disable/Enable of I/O Devices (DIO)
504
Input Devices ON/OFF (Test Operation)
505
Test Operation Mode
506
Alarm History
512
Current Alarm
513
Point Table
514
Servo Amplifier Group Designation
520
Other Commands
521
Indexer Positioning Operation
522
Function
522
Overview
522
Servo Amplifier Standard Specifications (Functions Only)
522
Function List
523
I/O Signals (I/O Devices) Transferred To/From the Programmable Controller CPU
524
I/O Signals (I/O Devices)
524
Detailed Explanation of I/O Signals
526
Monitor Codes
535
Instruction Codes (Rwwn 2 Rwwn 3)
536
Respond Codes (Rwrn 2)
543
Signal
544
Signal (Device) Explanation
544
Detailed Description of Signals (Devices)
547
Switching Power on for the First Time
550
Startup Procedure
550
Wiring Check
551
Surrounding Environment
552
Startup
553
Power on and off Procedures
553
Stop
553
Test Operation
554
Parameter Setting
555
Point Table Setting
556
Actual Operation
556
Servo Amplifier Display
557
Automatic Operation Mode
559
What Is Automatic Operation Mode
559
Automatic Operation Mode 1 (Rotation Direction Specifying Indexer)
560
Automatic Operation Mode 2 (Shortest Rotating Indexer)
570
Manual Operation Mode
579
Indexer JOG Operation
579
JOG Operation
581
Home Position Return Mode
582
Outline of Home Position Return
582
Torque Limit Changing Dog Type Home Position Return
584
Torque Limit Changing Data Setting Type Home Position Return
586
Home Position Return Automatic Return Function
587
Absolute Position Detection System
588
Parameters
591
Basic Setting Parameters (No.pa )
591
Gain/Filter Parameters (No.pb )
600
Extension Setting Parameters (No.pc )
608
I/O Setting Parameters (No.pd )
614
Troubleshooting
619
Trouble at Start-Up
619
Operation at Error Occurrence
620
CC-Link Communication Error
620
When Alarm or Warning Has Occurred
621
Point Table Error
633
Appendix
634
App. 1 Parameter List
634
App. 2 Signal Layout Recording Paper
636
App. 3 Twin Type Connector: Outline Drawing for 721-2105/026-000(WAGO)
637
App. 4 Change of Connector Sets to the Rohs Compatible Products
638
App. 5 MR-J3-200T-RT Servo Amplifier
639
App. 6 Selection Example of Servo Motor Power Cable
643
App. 7 Parameter List
644
App. 8 Program Example with MELSEC-A Series Programmable Controllers
646
(Point Table Positioning Operation)
646

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