Mitsubishi Electric Melservo MR-J3-A Manuals

Mitsubishi Electric Melservo MR-J3-A Manuals

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

Mitsubishi Electric Melservo MR-J3-A Instruction Manual

Mitsubishi Electric Melservo MR-J3-A Instruction Manual (460 pages)

Servo Amplifier

Brand: Mitsubishi Electric | Category: Amplifier | Size: 12.75 MB

Table of Contents

Table of Contents

13
- Servo Amplifier
  1
- Safety Instructions
  2
- Mr-J3-200A
  12
  - Table of Contents
    13
  - Functions and Configuration
    22
    
    Introduction
    22
    
    Function Block Diagram
    23
- Mr-J3-700A
  24
- Mr-J3-11Ka
  25
  - Servo Amplifier Standard Specifications
    26
    
    Function List
    28
    
    Model Code Definition
    29
    
    Combination with Servo Motor
    31
- Mr-J3-15Ka
  31
  - Structure
    32
    
    Parts Identification
    32
- Mr-J3-22Ka
  38
  - Removal and Reinstallation of the
    39
    
    Configuration Including Auxiliary Equipment
    42
- Mr-J3-60A4
  44
  - Installation
    50
    
    Installation Direction and Clearances
    50
    
    Cable Stress
    52
    
    Keep out Foreign Materials
    52
    
    Inspection Items
    53
    
    Parts Having Service Lives
    53
  - Signals and Wiring
    54
    
    Input Power Supply Circuit
    55
  - Servo Amplifier
    61
    
    I/O Signal Connection Example
    63
    
    Position Control Mode
    63
    
    Speed Control Mode
    65
    
    Torque Control Mode
    66
    
    Explanation of Power Supply System
    67
    
    Signal Explanations
    67
    
    Power-On Sequence
    68
    
    CNP1, CNP2, CNP3 Wiring Method
    70
- Mr-J3-100A4
  70
- Mr-J3-200A4
  71
- Mr-J3-350A4
  72
  - Connectors and Signal Arrangements
    77
    
    Signal Explanations
    80
    
    Detailed Description of the Signals
    90
    
    Position Control Mode
    90
    
    Speed Control Mode
    94
    
    Torque Control Mode
    96
    
    Position/Speed Control Change Mode
    99
    
    Speed/Torque Control Change Mode
    101
    
    Torque/Position Control Change Mode
    103
    
    Alarm Occurrence Timing Chart
    104
    
    Interfaces
    105
    
    Internal Connection Diagram
    105
    
    Detailed Description of Interfaces
    106
    
    Source I/O Interfaces
    109
    
    Treatment of Cable Shield External Conductor
    110
    
    Connection Instructions
    111
    
    Connection of Servo Amplifier and Servo Motor
    111
    
    Power Supply Cable Wiring Diagrams
    112
    
    Safety Precautions
    122
    
    Servo Motor with Electromagnetic Brake
    122
    
    Setting
    122
    
    Timing Charts
    123
    
    Wiring Diagrams (HF-MP Series HF-KP Series Servo Motor)
    125
    
    Grounding
    127
  - Startup
    128
    
    Startup Procedure
    128
    
    Switching Power on for the First Time
    128
    
    Wiring Check
    129
    
    Surrounding Environment
    130
    
    Power on and off Procedures
    131
    
    Startup in Position Control Mode
    131
    
    Stop
    131
    
    Test Operation
    132
    
    Actual Operation
    133
    
    Parameter Setting
    133
    
    Trouble at Start-Up
    134
    
    Power on and off Procedures
    136
    
    Startup in Speed Control Mode
    136
    
    Stop
    136
    
    Test Operation
    137
    
    Actual Operation
    138
    
    Parameter Setting
    138
    
    Trouble at Start-Up
    139
    
    Power on and off Procedures
    140
    
    Startup in Torque Control Mode
    140
    
    Stop
    140
    
    Test Operation
    141
    
    Actual Operation
    142
    
    Parameter Setting
    142
    
    Trouble at Start-Up
    143
  - Parameters
    144
    
    Basic Setting Parameters (No.pa )
    144
    
    Parameter List
    144
    
    Parameter Write Inhibit
    145
    
    Selection of Control Mode
    145
    
    Selection of Regenerative Option
    146
    
    Using Absolute Position Detection System
    147
    
    Using Electromagnetic Brake Interlock (MBR)
    147
    
    Number of Command Input Pulses Per Servo Motor Revolution
    148
    
    Electronic Gear
    149
    
    Auto Tuning
    153
    
    In-Position Range
    154
    
    Torque Limit
    155
    
    Selection of Command Pulse Input Form
    156
    
    Encoder Output Pulse
    157
    
    Selection of Servo Motor Rotation Direction
    157
Section 1

159
- Gain/Filter Parameters (No. PB )
  159
  - Parameter List
    159
  - Detail List
    160
- (Advanced Vibration Suppression Control)
  161
- PB04 FFC Feed Forward Gain
  162
- PB05 for Manufacturer Setting
  162
- PB06 GD2 Ratio of Load Inertia Moment to Servo Motor Inertia Moment
  162
- PB07 PG1 Model Loop Gain 24 Rad/S
  163
- PB08 PG2 Position Loop Gain 37 Rad/S
  163
- PB09 VG2 Speed Loop Gain 823 Rad/S
  163
- PB10 VIC Speed Integral Compensation
  163
- PB11 VDC Speed Differential Compensation
  163
- PB12 for Manufacturer Setting
  163
- PB13 NH1 Machine Resonance Suppression Filter 1 4500 Hz
  163
- PB15 NH2 Machine Resonance Suppression Filter
  163
- PB17 Automatic Setting Parameter
  164
- PB19 VRF1 Vibration Suppression Control Vibration Frequency Setting Hz
  165
- Pb20 Vrf2
  165
- PB21 for Manufacturer Setting
  165
- Moment
  166
- PB25 *BOP1 Function Selection
  166
- PB27 CDL Gain Changing Condition
  166
- Setting
  166
  - Position Smoothing
    168
    
    Extension Setting Parameters (No. PC )
    169
    
    Parameter List
    169
    
    List of Details
    171
    
    Analog Monitor
    181
    
    Alarm History Clear
    183
Section 2

184
- I/O Setting Parameters (No. PD )
  184
  - Parameter List
    184
  - List of Details
    185
- Pd01 *Dia1
  185
- PD17 for Manufacturer Setting PD18 *DO6
  190
  - Output Signal Device Selection 6 (CN1-49) 0002H
    190
- PD20 *DOP1 Function Selection
  191
- PD22 *DOP3 Function Selection
  191
  - Using Forward/Reverse Rotation Stroke End to Change the Stopping Pattern
    193
- PD25 for Manufacturer Setting
  193
- Pd29 Pd30
  193
  - Display and Operation Sections
    194
    
    Overview
    194
    
    Display Sequence
    195
    
    Display Transition
    196
    
    Status Display
    196
    
    Display Examples
    197
    
    Status Display List
    198
    
    Changing the Status Display Screen
    199
    
    Diagnostic Mode
    200
    
    Alarm Mode
    202
    
    Parameter Mode
    203
    
    Parameter Mode Transition
    203
    
    Operation Example
    204
    
    External I/O Signal Display
    206
    
    Output Signal (DO) Forced Output
    209
    
    Mode Change
    210
    
    Test Operation Mode
    210
    
    Jog Operation
    211
    
    Positioning Operation
    212
    
    Motor-Less Operation
    213
  - General Gain Adjustment
    214
    
    Adjustment on a Single Servo Amplifier
    214
    
    Different Adjustment Methods
    214
    
    Adjustment Using MR Configurator
    215
    
    Auto Tuning
    215
    
    Auto Tuning Mode 1
    215
    
    Auto Tuning Mode Operation
    217
    
    Adjustment Procedure by Auto Tuning
    218
    
    Response Level Setting in Auto Tuning Mode
    219
    
    Manual Mode 1 (Simple Manual Adjustment)
    220
    
    Interpolation Mode
    223
    
    Differences between MELSERVO-J2-Super and MELSERVO-J3 in Auto Tuning
    224
  - Special Adjustment Functions
    226
    
    Adaptive Filter
    226
    
    Function Block Diagram
    226
    
    Machine Resonance Suppression Filter
    229
    
    Advanced Vibration Suppression Control
    231
    
    Applications
    235
    
    Gain Changing Function
    235
    
    Low-Pass Filter
    235
    
    Function Block Diagram
    236
    
    Parameters
    237
    
    Gain Changing Operation
    239
  - Troubleshooting
    242
    
    Alarms and Warning List
    242
    
    Remedies for Alarms
    243
    
    Remedies for Warnings
    249
  - Outline Drawings
    252
    
    Servo Amplifier
    252
- Mr-J3-11Ka4
  260
  - Connector for CN1
    261
  - Characteristics
    264
    
    Overload Protection Characteristics
    264
    
    Power Supply Equipment Capacity and Generated Loss
    266
- Mr-J3-15Ka4
  267
  - Dynamic Brake Characteristics
    269
    
    Dynamic Brake Operation
    269
    
    The Dynamic Brake at the Load Inertia Moment
    271
- Mr-J3-22Ka4
  271
  - Encoder Cable Flexing Life
    272
    
    Inrush Currents at Power-On of Main Circuit and Control Circuit
    273
  - Options and Auxiliary Equipment
    274
    
    Cable/Connector Sets
    274
    
    Combinations of Cable/Connector Sets
    275
    
    Encoder Cable/Connector Sets
    282
    
    Motor Power Supply Cables
    291
    
    Motor Brake Cables
    293
    
    Regenerative Options
    302
    
    Brake Unit
    306
    
    Power Regeneration Converter
    309
    
    Power Regeneration Common Converter
    312
    
    External Dynamic Brake
    320
    
    Junction Terminal Block MR-TB50
    325
    
    MR Configurator
    327
    
    Battery Unit MR-J3BAT
    330
    
    Heat Sink Outside Mounting Attachment (MR-J3ACN)
    331
    
    Recommended Wires
    333
    
    No-Fuse Breakers, Fuses, Magnetic Contactors
    337
    
    Power Factor Improving DC Reactor
    338
    
    Power Factor Improving Reactors
    339
    
    Relays (Recommended)
    340
    
    Noise Reduction Techniques
    341
    
    Surge Absorbers (Recommended)
    341
    
    Leakage Current Breaker
    347
    
    EMC Filter (Recommended)
    349
  - Communication Function
    354
    
    Configuration
    354
    
    Communication Overview
    356
    
    Communication Specifications
    356
    
    Parameter Setting
    357
    
    Protocol
    358
    
    Transmission Data Configuration
    358
    
    Character Codes
    359
    
    Checksum
    360
    
    Error Codes
    360
    
    Retry Operation
    361
    
    Time-Out Operation
    361
    
    Communication Procedure Example
    362
    
    Initialization
    362
    
    Command and Data No. List
    363
    
    Read Commands
    363
    
    Write Commands
    367
    
    Data Processing
    369
    
    Detailed Explanations of Commands
    369
    
    Status Display
    371
    
    Parameters
    372
    
    External I/O Signal Statuses (DI0 Diagnosis)
    375
    
    Input Device ON/OFF
    377
    
    Disable/Enable of I/O Devices (DIO)
    378
    
    Input Devices ON/OFF (Test Operation)
    378
    
    Test Operation Mode
    379
    
    Output Signal Pin ON/OFF Output Signal (DO) Forced Output
    382
    
    Alarm History
    383
    
    Current Alarm
    384
    
    Other Commands
    385
  - Absolute Position Detection System
    386
    
    Features
    386
    
    Outline
    386
    
    Restrictions
    386
    
    Specifications
    387
    
    Battery Installation Procedure
    388
    
    Standard Connection Diagram
    389
    
    Signal Explanation
    390
    
    Startup Procedure
    391
    
    Absolute Position Data Transfer Protocol
    392
    
    Data Transfer Procedure
    392
    
    Transfer Method
    393
    
    Home Position Setting
    402
    
    Use of Servo Motor with Electromagnetic Brake
    404
    
    How to Process the Absolute Position Data at Detection of Stroke End
    405
    
    Examples of Use
    406
    
    Melsec Fx(2N)-32Mt (Fx(2N)-1Pg)
    406
    
    Melsec A1Sd75
    418
    
    Melsec Qd75
    431
    
    Absolute Position Data Transfer Errors
    440
    
    Corrective Actions
    440
    
    Error Resetting Conditions
    442
    
    Absolute Position Data Transfer Protocol
    443
    
    Communication-Based ABS Transfer System
    443
    
    Serial Communication Command
    443
    
    Confirmation of Absolute Position Detection Data
    447
  - Appendix
    448
    
    App 1. Parameter List
    448
    
    App 2. Signal Layout Recording Paper
    450
    
    App 3. Status Display Block Diagram
    451
    
    App 4. Change of Connector Sets to the Rohs Compatible Products
    452

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