Mitsubishi Electric MR-J3-T Quick Start Manual

Servo amplifier with point table positioning.
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Quick Start Manual
MR-J3-T Servo Amplifier
With Point Table Positioning
(Point-to-Point Positioning)
Art. No.:
Version A

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   Summary of Contents for Mitsubishi Electric MR-J3-T

  • Page 1: Servo Amplifier

    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.: xxxxxx 21122007 MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION Version A...

  • Page 3: About This Manual

    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 (

  • Page 5

    Quick Start Manual MR-J3-T Servo Amplifier with Integrated Point Table Positioning Art. No.: xxxxxx Version Changes / Additions / Corrections 10/2007 First Edition...

  • Page 7: Safety Instructions

    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.

  • Page 8: Table Of Contents

    Contents Introduction Preparations ........... . .1-1 Installing the Equipment Installing the MR-J3-D01 Extension .

  • Page 9: Preparations

    Introduction 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:...

  • Page 10

    Preparations Required for positioning control via a CC-Link network: b Q-Rack with PLC and the CC-Link module QJ61BT11N A–Rack with PLC and CC-Link module A1SJ61BT11, A1SJ61QBT11 or FX2N-16CCL-M b CC-Link cable compatible with version V1.10 Standard b Cable for connecting the PC/notebook to the PLC CPU: Q series: SC-Q QC30R2 A and FX series: SC-09 b The GX IEC Developer programming software package for configuration of the data com-...

  • Page 11: Installing The Mr-j3-d01 Extension

    Installing the Equipment 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.

  • Page 12

    Installing the MR-J3-D01 Extension 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.

  • Page 13: 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.

  • Page 14: Connector Pin Assignments

    Minimum Connections for the Functional Check 3.1.1 Connector pin assignments Power terminals Connector CN2 Fig. 3-2: Power and control connector pin assignments for minimum configuration 3 - 6 First Functional Test Servo amplifier MR-J3- T port MITSUBISHI ELECTRIC I/O extension MR-J3-D01...

  • Page 15: Functional Test Settings

    Connect the PC / notebook to the servo amplifier’s 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: Fig. 3-3: Selecting the servo amplifier...

  • Page 16

    Functional Test Settings – 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 set- ting.

  • Page 17: Configuring Positioning Point Tables

    The absolute position detection system for the home return func- tion can be set with parameter PA03 “*ABS” (see chapter 4.3). Loading the factory defaults will not overwrite your point table entries. MR-J3-T Configuring Positioning Point Tables (STM: e in diagram).

  • Page 18: Functional Test With Mr Configurator, Selecting Point Table Position Entries

    Functional Test with MR Configurator 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.

  • Page 19: Additional Connections

    Positioning with Digital Inputs 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 Please refer to the instruction manual if you need other functions other than those described here for your application.

  • Page 20

    Additional Connections Connector CN6 Fig. 4-2: Pin assignments of connectors CN6 and CN10 4 - 12 Connector CN10 Positioning with Digital Inputs CN10 pin assignments DICOM DICOM ACD0 ACD1 ACD2 ACD3 DOCOM MITSUBISHI ELECTRIC...

  • Page 21

    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 24V DC EMG. OFF Proximity dog max.

  • Page 22: Turning Off Automatic Input Signal Activation

    Turning off Automatic Input Signal Activation Turning off Automatic Input Signal Activation Procedure: Reset parameter PD01 to a value of "0": Fig. 4-4: Switching off automatic input signal activation 4 - 14 Positioning with Digital Inputs MITSUBISHI ELECTRIC...

  • Page 23: Home Position Return, Dogless Z-phase Reference Mode

    Positioning with Digital Inputs 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.

  • Page 24

    Home Position Return Timing chart: Auto/Manual mode (MD0) Select point table no. (DI0) Servo motor speed setting Z-phase of encoder Home return complete (ZP) Fig. 4-5: Home position return sequence in dogless Z-phase reference mode Code PA05 *FTY PC02 *ZTY PC03 *ZDIR PC04...

  • Page 25

    Parameter settings: Fig. 4-6: Relevant parameter settings for example 1 Fig. 4-7: Values shown when the home position return has been completed correctly MR-J3-T Home Position Return Parameter settings for example 4 - 17...

  • Page 26

    Home Position Return 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: Fig. 4-8: Relevant parameter settings for example 2. The offset is entered with param- eter PC06.

  • Page 27: Dog Mode Home Position Return

    The proximity dog signal (DOG) must fulfill the following conditions to ensure that the Z-phase of the encoder is detected during the activation period of the DOG signal: MR-J3-T L1 = Length of the DOG signal in [mm] V = Home position return speed in [mm/min]...

  • Page 28

    Home Position Return Timing chart: Auto/Manual mode (MD0) Select point table no. (DI0) Servo motor speed setting Z-phase of encoder Home return complete (ZP) Fig. 4-10: Home position return in proximity dog mode 4 - 20 Start command Forward (ST1) Start command Reverse (ST2) DOG signal...

  • Page 29

    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 Function Description Feed length multi-...

  • Page 30

    Home Position Return Parameter settings: Fig. 4-11: Relevant parameter settings for the example. The home position value is en- tered with PC07. Fig. 4-12: Values shown when the home position return has been completed correctly The position value is calculated as follows: X = PA05 PC07 in [mm] In the above example with PA05 = 1 and PC07 = 1000 [10 X = 1000 10...

  • Page 31: Configuration For Positioning

    (PA01 “positioning control mode”). Code PA01 *STY PA03 *ABS PA05 *FTY Table 4-4: Parameter reference To activate this parameter you must switch the amplifier power off and on again. MR-J3-T Digital Input Signals · · · · · · · ·...

  • Page 32

    Configuration for Positioning The following example shows some typical configuration settings used for many common posi- tioning applications: Procedure: Select the incremental system for positions with PA03 *ABS. Select absolute value command mode for target positions with PA01 *STY. Set a multiplication factor with PA05 *FTY = 1 => 10 times factor. This gives us the following position system: Min.

  • Page 33

    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: MR-J3-T in the point table list shown below. Number of table line...

  • Page 34: Importing And Exporting Point Tables

    Configuration for Positioning b 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. b Table entries are not reset when you restore the amplifier's factory default settings! b You do not need to turn the amplifier off and on again after changing table entries.

  • Page 35

    Positioning with Digital Inputs 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 .csv file MR-J3-T Configuration for Positioning 4 - 27...

  • Page 36: Functional Test Of Digital Input Positioning

    Functional Test of Digital Input Positioning 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.

  • Page 37

    Positioning with Digital Inputs 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: –...

  • Page 38

    Functional Test of Digital Input Positioning Positioning with Digital Inputs Fig. 4-22: The “Option unit I/F display” terminal monitoring window 4 - 30 MITSUBISHI ELECTRIC...

  • Page 39

    Positioning via a CC-Link Network 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 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.

  • Page 40

    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. 5 - 32 Positioning via a CC-Link Network MR-J3-T MITSUBISHI ELECTRIC...

  • Page 41: Cc-link Communication Settings, Settings On The Servo Amplifier

    Correct position of switch S1 for setting the number of reserved stations Set the station address (max. value 64): Fig. 5-4: Set switches x1 and x10 to the correct station address MR-J3-T CC-Link Communication Settings 1 reserved station Factory default...

  • Page 42

    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. 5 - 34 Positioning via a CC-Link Network Mode...

  • Page 43: Configuration For Communication With Gx Iec Developer

    Fig. 5-6 Fig. 5-6: Settings required in GX IEC Developer for CC-Link communication between the controller and the servo amplifier MR-J3-T in the project directory tree in the left window. in the Network Parameter box. CC-Link Communication Settings...

  • Page 44

    CC-Link Communication Settings 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. The settings shown in the example are for the following assignments: PLC ->...

  • Page 45: Testing The Servo Amplifier Via Cc-link

    Select Entry Data Monitor in the Online menu. Enter the individual remote I/Os to be set or monitored. Fig. 5-8: The Entry Data Monitor window where you can set remote I/Os to test the servo functions MR-J3-T Testing the Servo Amplifier via CC-Link 5 - 37...

  • Page 46: A.1 Digital Signals − Quick Reference

    CN10-32 CN10-35 CN10-36 CN10-37 DOCO CN10-49 Table A-1: Digital signals - quick reference MR-J3-T Quick Reference Description CC-Link – Forced stop - emergency safety signal: The signal is permanently assigned to this pin and must be acti- vated for motor control.

  • Page 47: Quick Reference

    Standard Parameters Code PA01 *STY PA03 *ABS PA05 *FTY PA14 *POL PC02 *ZTY PC03 *ZDIR PC04 PC05 PC06 PC07 *ZPS PD01 *DIA1 PD01 *DIAB Table A-2: Standard parameters To activate this parameter you must switch the amplifier power off and on again. A - 40 Quick Reference Function...

  • Page 48: A.3 Alarms And Warning Messages, Alarms/warning Messages

    Appendix Alarms and Warning Messages Display ACD3 (Bit 3) Table A-3: Error messages(1) MR-J3-T Alarm Code Error ACD2 ACD1 ACD0 (Bit 2) (Bit 1) (Bit 0) Undervoltage Memory error 1 Clock error Memory error 2 (E²PROM) Encoder error 1 (at power on)

  • Page 49

    Alarms and Warning Messages Display ACD3 (Bit 3) Table A-3: Error messages (2) 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.

  • Page 50

    Installation Hardware ....2 - 3 MR-J3-T Index Minimum connections ... . . 3 - 5 MR Configurator functional check .

  • Page 52

    HEADQUARTERS EUROPEAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B.V. GEVA German Branch Wiener Straße 89 Gothaer Straße 8 Phone: +43 (0)2252 / 85 55 20 Phone: +49 (0)2102 / 486-0 Fax: +43 (0)2252 / 488 60 Fax: +49 (0)2102 / 486-1120 TEHNIKON MITSUBISHI ELECTRIC EUROPE B.V.

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