Mitsubishi Electric MR-J3-

General-Purpose AC Servo

MODEL

MR-J3- T

SERVO AMPLIFIER

INSTRUCTION MANUAL

(CC-Link)

Built-in Positioning Function

J3 Series

H

A - 1

Safety Instructions

Always read these instructions before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain or inspect the servo amplifier and

servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction

Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the servo

amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the

instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

: Indicates what must not be done. For example, "No Fire" is indicated by

.

: Indicates what must be done. For example, grounding is indicated by

.

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so

on are classified into "POINT".

After reading this installation guide, always keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns

off. Then, confirm that the voltage between P(

) and N( ) is safe with a voltage tester and others.

Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier,

whether the charge lamp is off or not.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you

may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric

shock.

During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric

shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area

are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the

power is off. The servo amplifier is charged and you may get an electric shock.

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo

amplifier to the protective earth (PE) of the control box.

When using an earth-leakage current breaker (RCD), select type B.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them

directly or close to combustibles will lead to smoke or a fire.

Always connect a magnetic contactor between the power supply and the power supply (L

1

, L

2

, and L

3

) of

the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the

servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large

current may cause smoke or a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a

regenerative transistor fault or the like may overheat the regenerative resistor, causing smoke or a fire.

In order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power

supply, always connect one molded-case circuit breaker or fuse per one servo amplifier between the

power supply and the main circuit power supply (L

1

, L

2

, and L

3

) of a servo amplifier. If a molded-case

circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire

when the servo amplifier malfunctions.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the servo amplifier and servo motor.

A - 3

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a

burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)

with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while

power is on or for some time after power-off. Their temperatures may be high and you may get burnt or

parts may be damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,

fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction

Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The servo amplifier and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts

missing.

Do not block intake and exhaust areas of the servo amplifier and the servo motor with a cooling fan.

Otherwise, it may cause a malfunction.

Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The geared servo motor must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor

during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise,

the encoder may malfunction.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

When the equipment has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo

amplifier.

A - 4

CAUTION

When you keep or use the equipment, please fulfill the following environmental conditions.

Item

Environment

Servo amplifier Servo motor

Ambient

temperature

In operation

[

] 0 to 55 (non-freezing) 0 to 40 (non-freezing)

[

] 32 to 131 (non-freezing) 32 to 104 (non-freezing)

In storage

[

]

20 to 65 (non-freezing) 15 to 70 (non-freezing)

[

]

4 to 149 (non-freezing)

5 to 158 (non-freezing)

Ambient

humidity

In operation

90%RH or less (non-condensing)

80%RH or less (non-condensing)

In storage 90%RH or less (non-condensing)

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude Max. 1000m (3280 ft) above sea level

(Note)

Vibration

resistance

[m/s

2

]

5.9 m/s

2

, 10 to 55Hz

(directions of X, Y

and Z axes)

HF-MP series HF-KP series X

Y: 49

HF-SP51 81 HF-SP52 to 152

HF-SP524 to 1524

HC-RP Series HC-UP72

152

HF-JP53 to 503

11K1M 15K1M

HF-JP534 to 5034

11K1M4 15K1M4

X

Y: 24.5

HF-SP121 201 HF-SP202 352

HF-SP2024

3524 HC-UP202 to 502

X: 24.5 Y: 49

HF-SP301

421 HF-SP502 702

HF-SP5024

7024 HF-JP703 903

HF-JP7034

9034

X: 24.5 Y: 29.4

HC-LP52 to 152 X: 9.8 Y: 24.5

HC-LP202 to 302 X: 19.6 Y: 49

HA-LP601 to 12K1 HA-LP701M to 15K1M

HA-LP502 to 22K2 HA-LP6014

12K14

HA-LP701M4

15K1M4 HA-LP11K24 to 22K24

X: 11.7 Y: 29.4

HA-LP15K1 to 25K1 HA-LP22K1M

HA-LP15K14

20K14 HA-LP22K1M4

X

Y: 9.8

Note. Except the servo motor with a reduction gear.

The servo amplifier must be installed in a metal control box.

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used

for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our

products. Please take necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation, such as heat treatment.

Additionally, disinfect and protect wood from insects before packing the products.

A - 5

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) option) between the servo

motor and servo amplifier.

To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo

amplifier and servo motor.

Connect the servo amplifier power outputs (U, V, and W) to the servo motor power inputs (U, V, and W)

directly. Do not let a magnetic contactor, etc. intervene. Otherwise, a malfunction or fault may occur.

U

Servo motor

M

V

W

U

V

W

U

Servo motor

M

V

W

U

V

W

Servo amplifier Servo amplifier

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in

the specified direction. Otherwise, the servo amplifier will malfunction and will not output signals, disabling

the emergency stop and other protective circuits.

24VDC

Servo amplifier

DOCOM

Control output

signal

DICOM

For sink output

interface

RA

24VDC

Servo amplifier

DOCOM

DICOM

For source output

interface

Control output

signal

RA

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block

(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified

torque.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform

unexpected operation.

The parameter settings must not be changed excessively. Operation will be unstable.

A - 6

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched

off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an

accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by

electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used

for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor

are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,

install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,

use a servo motor with an electromagnetic brake or an external brake to prevent the condition.

Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop

switch.

U

RA

Contacts must be opened when servo-on

(RYn0) OFF, malfunction (ALM) OFF

or electromagnetic brake interlock

(MBR) OFF.

24VDC

Electromagnetic brake

B

Circuit must be opened with

the emergency stop switch.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before

restarting operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 7

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident

due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general

environment. Please consult our sales representative.

When using the servo amplifier that has not been energized for an extended period of time, contact your

local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have

been drawn without covers and safety guards. When the equipment is operated, the covers and safety

guards must be installed as specified. Operation must be performed in accordance with this

Specifications and Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of

each country (area).

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If

the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may

fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Home position setting in the absolute position detection system

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table changes

COMPLIANCE WITH CE MARKING

Refer to appendix 10 for the compliance with CE marking.

COMPLIANCE WITH UL/cUL STANDARD

Refer to appendix 11 for the compliance with UL/cUL standard.

A - 8

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) are required if you use

the General-Purpose AC servo MR-J3-T for the first time. Always purchase them and use the MR-J3-T

safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077

MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041

EMC Installation Guidelines IB(NA)67310

<<About the wires used for wiring>>

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40

(104

).

1

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -36

1.1 Introduction ............................................................................................................................................... 1 - 1

1.1.1 Features of CC-Link communication functions ................................................................................ 1 - 1

1.1.2 Function block diagram ..................................................................................................................... 1 - 2

1.1.3 System configuration ......................................................................................................................... 1 - 5

1.2 Servo amplifier standard specificat ions ................................................................................................... 1 - 7

1.3 Function list ............................................................................................................................................. 1 -13

1.4 Model code definition .............................................................................................................................. 1 -14

1.5 Combination with servo motor ................................................................................................................ 1 -15

1.6 Structure .................................................................................................................................................. 1 -17

1.6.1 Parts identification ............................................................................................................................ 1 -17

1.6.2 Removal and reinstallation of the front cover .................................................................................. 1 -23

1.7 Configuration including auxiliary equipment........................................................................................... 1 -26

1.8 Selection of operation method ................................................................................................................ 1 -34

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 1

2.2 Keep out foreign materials ....................................................................................................................... 2 - 4

2.3 Cable stress ............................................................................................................................................. 2 - 4

2.4 Inspection items ....................................................................................................................................... 2 - 4

2.5 Parts having service lives ........................................................................................................................ 2 - 5

3. CC-LINK COMMUNICATION FUNCTIONS 3 - 1 to 3 -60

3.1 Communication specifications ................................................................................................................. 3 - 1

3.2 System configuration ............................................................................................................................... 3 - 2

3.2.1 Configuration example ...................................................................................................................... 3 - 2

3.2.2 Wiring method ................................................................................................................................... 3 - 3

3.2.3 Station number setting ...................................................................................................................... 3 - 5

3.2.4 Communication baud rate setting ..................................................................................................... 3 - 6

3.2.5 Occupied station count setting .......................................................................................................... 3 - 6

3.3 Functions .................................................................................................................................................. 3 - 7

3.3.1 Function block diagram ..................................................................................................................... 3 - 7

3.3.2 Functions ........................................................................................................................................... 3 - 7

3.4 Servo amplifier setting ............................................................................................................................. 3 - 8

3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU ................................... 3 - 9

3.5.1 I/O signals (I/O devices) .................................................................................................................... 3 - 9

3.5.2 Detailed explanation of I/O signals .................................................................................................. 3 -12

3.5.3 Monitor codes ................................................................................................................................... 3 -22

3.5.4 Instruction codes (RWwn+2

RWwn+3) ......................................................................................... 3 -23

3.5.5 Respond codes (RWrn+2) ............................................................................................................... 3 -31

3.5.6 Setting the CN6 external input signals ............................................................................................ 3 -32

3.6 Data communication timing charts ......................................................................................................... 3 -34

3.6.1 Monitor codes ................................................................................................................................... 3 -34

3.6.2 Instruction codes .............................................................................................................................. 3 -36

2

3.6.3 Remote register-based position/speed setting ................................................................................ 3 -38

3.7 Function-by-function programming examples ........................................................................................ 3 -41

3.7.1 System configuration example ......................................................................................................... 3 -41

3.7.2 Reading the servo amplifier status .................................................................................................. 3 -44

3.7.3 Writing the operation commands ..................................................................................................... 3 -45

3.7.4 Reading the data .............................................................................................................................. 3 -46

3.7.5 Writing the data ................................................................................................................................ 3 -49

3.7.6 Operation .......................................................................................................................................... 3 -52

3.8 Continuous operation program example ................................................................................................ 3 -55

3.8.1 System configuration example when 1 station is occupied ............................................................ 3 -55

3.8.2 Program example when 1 station is occupied ................................................................................ 3 -56

3.8.3 System configuration example when 2 stations are occupied........................................................ 3 -58

3.8.4 Program example when 2 stations are occupied ............................................................................ 3 -59

4. SIGNALS AND WIRING 4 - 1 to 4 -58

4.1 Input power supply circuit ........................................................................................................................ 4 - 2

4.2 I/O signal connection diagram ................................................................................................................ 4 -11

4.3 Explanation of power supply system ...................................................................................................... 4 -13

4.3.1 Signal explanations .......................................................................................................................... 4 -13

4.3.2 Power-on sequence ......................................................................................................................... 4 -14

4.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 4 -16

4.4 Connectors and signal arrangements .................................................................................................... 4 -25

4.5 Signal (device) explanation ..................................................................................................................... 4 -26

4.5.1 I/O devices ........................................................................................................................................ 4 -26

4.5.2 Input signals ..................................................................................................................................... 4 -29

4.5.3 Output signals................................................................................................................................... 4 -29

4.5.4 Power supply .................................................................................................................................... 4 -30

4.6 Detailed description of signals (devices) ................................................................................................ 4 -30

4.6.1 Forward rotation start

reverse rotation start temporary stop/restart ........................................... 4 -30

4.6.2 Movement completion

rough match in position .......................................................................... 4 -31

4.6.3 Torque limit ....................................................................................................................................... 4 -33

4.7 Alarm occurrence timing chart ................................................................................................................ 4 -34

4.8 Interface ................................................................................................................................................... 4 -35

4.8.1 Internal connection diagram ............................................................................................................ 4 -35

4.8.2 Detailed description of interfaces ..................................................................................................... 4 -36

4.8.3 Source I/O interfaces ....................................................................................................................... 4 -38

4.9 Treatment of cable shield external conductor ........................................................................................ 4 -39

4.10 Connection of servo amplifier and servo motor ................................................................................... 4 -40

4.10.1 Connection instructions .................................................................................................................. 4 -40

4.10.2 Power supply cable wiring diagrams ............................................................................................. 4 -41

4.11 Servo motor with an electromagnetic brake ......................................................................................... 4 -52

4.11.1 Safety precautions ......................................................................................................................... 4 -52

4.11.2 Timing charts .................................................................................................................................. 4 -53

4.11.3 Wiring diagrams (HF-MP series

HF-KP series servo motor) ..................................................... 4 -55

4.12 Grounding .............................................................................................................................................. 4 -57

5. OPERATION 5 - 1 to 5 -62

5.1 Switching power on for the first time ....................................................................................................... 5 - 1

3

5.1.1 Startup procedure .............................................................................................................................. 5 - 1

5.1.2 Wiring check ...................................................................................................................................... 5 - 2

5.1.3 Surrounding environment .................................................................................................................. 5 - 3

5.2 Startup ...................................................................................................................................................... 5 - 4

5.2.1 Power on and off procedures ............................................................................................................ 5 - 4

5.2.2 Stop .................................................................................................................................................... 5 - 4

5.2.3 Test operation.................................................................................................................................... 5 - 5

5.2.4 Parameter setting .............................................................................................................................. 5 - 6

5.2.5 Point table setting .............................................................................................................................. 5 - 7

5.2.6 Actual operation ................................................................................................................................ 5 - 7

5.3 Servo amplifier display ............................................................................................................................. 5 - 8

5.4 Automatic operation mode ...................................................................................................................... 5 -10

5.4.1 What is automatic operation mode? ................................................................................................ 5 -10

5.4.2 Automatic operation using point table ............................................................................................. 5 -12

5.4.3 Remote register-based position/speed setting ................................................................................ 5 -22

5.5 Manual operation mode .......................................................................................................................... 5 -28

5.5.1 JOG operation .................................................................................................................................. 5 -28

5.5.2 Manual pulse generator ................................................................................................................... 5 -29

5.6 Manual home position return mode ........................................................................................................ 5 -31

5.6.1 Outline of home position return ........................................................................................................ 5 -31

5.6.2 Dog type home position return ......................................................................................................... 5 -34

5.6.3 Count type home position return ..................................................................................................... 5 -36

5.6.4 Data setting type home position return ............................................................................................ 5 -38

5.6.5 Stopper type home position return .................................................................................................. 5 -39

5.6.6 Home position ignorance (servo-on position defined as home position) ....................................... 5 -41

5.6.7 Dog type rear end reference home position return ......................................................................... 5 -42

5.6.8 Count type front end reference home position return ..................................................................... 5 -44

5.6.9 Dog cradle type home position return ............................................................................................. 5 -46

5.6.10 Dog type first Z-phase reference home position return ................................................................ 5 -48

5.6.11 Dog type front end reference home position return method ......................................................... 5 -50

5.6.12 Dogless Z-phase reference home position return method ........................................................... 5 -52

5.6.13 Home position return automatic return function ............................................................................ 5 -54

5.6.14 Automatic positioning function to the home position ..................................................................... 5 -55

5.7 Roll feed display function in roll feed mode ............................................................................................ 5 -56

5.8 Absolute position detection system ........................................................................................................ 5 -57

5.8.1 Outline of absolute position detection data communication ......................................................... 5 -58

5.8.2 Battery replacement procedure ....................................................................................................... 5 -59

5.8.3 Battery installation procedure ......................................................................................................... 5 -60

5.8.4 Procedure to replace battery with the control circuit power off ....................................................... 5 -60

6. PARAMETERS 6 - 1 to 6 -42

6.1 Basic setting parameters (No.PA ) .................................................................................................... 6 - 1

6.1.1 Parameter list .................................................................................................................................... 6 - 1

6.1.2 Parameter write inhibit ...................................................................................................................... 6 - 2

6.1.3 Selection of command method and maximum torque of the HF-KP series servo motor ............... 6 - 3

6.1.4 Selection of regenerative option ....................................................................................................... 6 - 4

6.1.5 Using absolute position detection system ........................................................................................ 6 - 5

6.1.6 Follow-up for absolute value command system in incremental system .......................................... 6 - 5

6.1.7 Feeding function selection ................................................................................................................ 6 - 6

4

6.1.8 Electronic gear................................................................................................................................... 6 - 6

6.1.9 Auto tuning ........................................................................................................................................ 6 - 9

6.1.10 In-position range ............................................................................................................................. 6 -10

6.1.11 Torque limit ..................................................................................................................................... 6 -11

6.1.12 Selection of servo motor rotation direction .................................................................................... 6 -11

6.1.13 Encoder output pulse ..................................................................................................................... 6 -12

6.2 Gain/filter parameters (No.PB

) ......................................................................................................... 6 -14

6.2.1 Parameter list ................................................................................................................................... 6 -14

6.2.2 Detail list ........................................................................................................................................... 6 -15

6.3 Extension setting parameters (No.PC

) ............................................................................................ 6 -21

6.3.1 Parameter list ................................................................................................................................... 6 -21

6.3.2 Detail list ........................................................................................................................................... 6 -23

6.3.3 S-pattern acceleration/deceleration ................................................................................................. 6 -29

6.3.4 Alarm history clear ............................................................................................................................ 6 -29

6.3.5 Rough match output ......................................................................................................................... 6 -29

6.3.6 Software limit .................................................................................................................................... 6 -30

6.4 I/O setting parameters (No.PD

) ....................................................................................................... 6 -31

6.4.1 Parameter list ................................................................................................................................... 6 -31

6.4.2 Detail list ........................................................................................................................................... 6 -32

6.4.3 Stopping method when forward rotation stroke end (LSP) or

reverse rotation stroke end (LSN) is off ........................................................................................... 6 -41

6.4.4 Stopping method when a software limit is detected ........................................................................ 6 -42

7. MR Configurator 7 - 1 to 7 -26

7.1 Specifications ........................................................................................................................................... 7 - 1

7.2 System configuration ............................................................................................................................... 7 - 2

7.3 Station selection ....................................................................................................................................... 7 - 4

7.4 Parameters ............................................................................................................................................... 7 - 5

7.5 Point table ................................................................................................................................................. 7 - 7

7.6 Device assignment method ..................................................................................................................... 7 - 9

7.7 Test operation ......................................................................................................................................... 7 -13

7.7.1 Jog operation .................................................................................................................................... 7 -13

7.7.2 Positioning operation ........................................................................................................................ 7 -15

7.7.3 Motor-less operation ........................................................................................................................ 7 -18

7.7.4 Output signal (DO) forced output ..................................................................................................... 7 -19

7.7.5 Single-step feed ............................................................................................................................... 7 -20

7.8 Alarm ....................................................................................................................................................... 7 -23

7.8.1 Alarm display .................................................................................................................................... 7 -23

7.8.2 Batch display of data at alarm occurrence ...................................................................................... 7 -24

7.8.3 Alarm history ..................................................................................................................................... 7 -26

8. PARAMETER UNIT (MR-PRU03) 8 - 1 to 8 -20

8.1 External appearance and key explanations ............................................................................................ 8 - 2

8.2 Specifications ........................................................................................................................................... 8 - 3

8.3 Outline dimension drawings..................................................................................................................... 8 - 3

8.4 Connection with servo amplifier ............................................................................................................... 8 - 4

8.4.1 Single axis ......................................................................................................................................... 8 - 4

8.4.2 Multidrop connection ......................................................................................................................... 8 - 5

5

8.5 Display ...................................................................................................................................................... 8 - 7

8.5.1 Outline of screen transition ............................................................................................................... 8 - 7

8.5.2 MR-PRU03 parameter unit setting ................................................................................................... 8 - 8

8.5.3 Monitor mode (status display) ........................................................................................................... 8 - 9

8.5.4 Alarm/diagnostic mode .................................................................................................................... 8 -11

8.5.5 Parameter mode ............................................................................................................................... 8 -13

8.5.6 Point table mode .............................................................................................................................. 8 -14

8.5.7 Test operation mode ........................................................................................................................ 8 -15

8.6 Error message list ................................................................................................................................... 8 -19

9. GENERAL GAIN ADJUSTMENT 9 - 1 to 9 -12

9.1 Different adjustment methods .................................................................................................................. 9 - 1

9.1.1 Adjustment on a single servo amplifier ............................................................................................. 9 - 1

9.1.2 Adjustment using MR Configurator................................................................................................... 9 - 2

9.2 Auto tuning ............................................................................................................................................... 9 - 3

9.2.1 Auto tuning mode .............................................................................................................................. 9 - 3

9.2.2 Auto tuning mode basis .................................................................................................................... 9 - 4

9.2.3 Adjustment procedure by auto tuning ............................................................................................... 9 - 5

9.2.4 Response level setting in auto tuning mode .................................................................................... 9 - 6

9.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 9 - 7

9.4 Interpolation mode .................................................................................................................................. 9 -11

9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 9 -12

10. SPECIAL ADJUSTMENT FUNCTIONS 10- 1 to 10-16

10.1 Function block diagram ......................................................................................................................... 10- 1

10.2 Adaptive filter

..................................................................................................................................... 10- 1

10.3 Machine resonance suppression filter .................................................................................................. 10- 4

10.4 Advanced vibration suppression control .............................................................................................. 10- 6

10.5 Low-pass filter ...................................................................................................................................... 10-10

10.6 Gain switching function ........................................................................................................................ 10-10

10.6.1 Applications ................................................................................................................................... 10-10

10.6.2 Function block diagram ................................................................................................................. 10-11

10.6.3 Parameters .................................................................................................................................... 10-12

10.6.4 Gain switching procedure ............................................................................................................. 10-14

11. TROUBLESHOOTING 11- 1 to 11-28

11.1 Troubleshooting at start-up ................................................................................................................... 11- 1

11.2 State at error occurrence ...................................................................................................................... 11- 2

11.3 CC-Link communication error ............................................................................................................... 11- 2

11.4 When alarm or warning has occurred .................................................................................................. 11- 3

11.4.1 Alarms and warning list .................................................................................................................. 11- 3

11.4.2 Remedies for alarms ...................................................................................................................... 11- 4

11.4.3 Remedies for warnings ................................................................................................................. 11-17

11.5 Point table error .................................................................................................................................... 11-19

11.6 Trouble which does not trigger an alarm/warning ............................................................................... 11-20

12. OUTLINE DRAWINGS 12- 1 to 12-12

6

12.1 Servo amplifier ...................................................................................................................................... 12- 1

12.2 Connector ............................................................................................................................................. 12-10

13. CHARACTERISTICS 13- 1 to 13-12

13.1 Overload protection characteristics ...................................................................................................... 13- 1

13.2 Power supply equipment capacity and generated loss ....................................................................... 13- 3

13.3 Dynamic brake characteristics .............................................................................................................. 13- 6

13.3.1 Dynamic brake operation ............................................................................................................... 13- 6

13.3.2 The dynamic brake at the load inertia moment ............................................................................ 13-10

13.4 Cable flexing life ................................................................................................................................... 13-11

13.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 13-12

14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-100

14.1 Cable/connector sets ............................................................................................................................ 14- 1

14.1.1 Combinations of cable/connector sets .......................................................................................... 14- 2

14.1.2 Encoder cable/connector sets ...................................................................................................... 14-10

14.1.3 Motor power supply cables ........................................................................................................... 14-25

14.1.4 Motor brake cables ........................................................................................................................ 14-27

14.2 Regenerative options ........................................................................................................................... 14-29

14.3 FR-BU2-(H) brake unit ......................................................................................................................... 14-42

14.3.1 Selection ........................................................................................................................................ 14-43

14.3.2 Brake unit parameter setting ......................................................................................................... 14-43

14.3.3 Connection example ..................................................................................................................... 14-44

14.3.4 Outline dimension drawings .......................................................................................................... 14-51

14.4 FR-RC-(H) power regeneration converter ........................................................................................... 14-53

14.5 Power regeneration common converter .............................................................................................. 14-56

14.6 External dynamic brake ....................................................................................................................... 14-64

14.7 Battery MR-J3BAT ............................................................................................................................... 14-69

14.8 Heat sink outside mounting attachment (MR-J3ACN) ........................................................................ 14-70

14.9 Selection example of wires .................................................................................................................. 14-72

14.10 Molded-case circuit breakers, fuses, magnetic contactors............................................................... 14-79

14.11 Power factor improving DC reactor ................................................................................................... 14-80

14.12 Power factor improving reactors ........................................................................................................ 14-82

14.13 Relays (recommended) ..................................................................................................................... 14-83

14.14 Noise reduction techniques ............................................................................................................... 14-84

14.15 Earth-leakage current breaker ........................................................................................................... 14-92

14.16 EMC filter (recommended) ................................................................................................................ 14-94

14.17 MR-HDP01 manual pulse generator ................................................................................................. 14-99

15. COMMUNICATION FUNCTION 15- 1 to 15-46

15.1 Configuration ......................................................................................................................................... 15- 1

15.2 Communication specifications .............................................................................................................. 15- 3

15.2.1 Communication overview ............................................................................................................... 15- 3

15.2.2 Parameter setting ........................................................................................................................... 15- 4

15.3 Protocol ................................................................................................................................................. 15- 5

15.3.1 Transmission data configuration .................................................................................................... 15- 5

15.3.2 Character codes ............................................................................................................................. 15- 6

7

15.3.3 Error codes ..................................................................................................................................... 15- 7

15.3.4 Checksum ....................................................................................................................................... 15- 7

15.3.5 Time-out processing ....................................................................................................................... 15- 7

15.3.6 Retry processing ............................................................................................................................ 15- 8

15.3.7 Initialization ..................................................................................................................................... 15- 8

15.3.8 Communication procedure example .............................................................................................. 15- 9

15.4 Command and data No. list ................................................................................................................. 15-10

15.4.1 Read commands ........................................................................................................................... 15-10

15.4.2 Write commands ........................................................................................................................... 15-14

15.5 Detailed explanations of commands ................................................................................................... 15-17

15.5.1 Data processing ............................................................................................................................ 15-17

15.5.2 Status display ................................................................................................................................ 15-19

15.5.3 Parameters .................................................................................................................................... 15-20

15.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 15-23

15.5.5 Device ON/OFF ............................................................................................................................. 15-28

15.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 15-29

15.5.7 Input devices ON/OFF (test operation) ........................................................................................ 15-30

15.5.8 Test operation mode ..................................................................................................................... 15-31

15.5.9 Alarm history .................................................................................................................................. 15-37

15.5.10 Current alarm .............................................................................................................................. 15-38

15.5.11 Point table .................................................................................................................................... 15-39

15.5.12 Servo amplifier group designation .............................................................................................. 15-45

15.5.13 Other commands ......................................................................................................................... 15-46

16. INDEXER POSITIONING OPERATION 16- 1 to 16-130

16.1 Function ................................................................................................................................................. 16- 1

16.1.1 Overview ......................................................................................................................................... 16- 1

16.1.2 Servo amplifier standard specifications (functions only) ............................................................... 16- 1

16.1.3 Function list .................................................................................................................................... 16- 2

16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU ................................ 16- 3

16.2.1 I/O signals (I/O devices) ................................................................................................................. 16- 3

16.2.2 Detailed explanation of I/O signals ................................................................................................ 16- 5

16.2.3 Monitor codes ................................................................................................................................ 16-14

16.2.4 Instruction codes (RWwn

2 RWwn 3) ................................................................................... 16-15

16.2.5 Respond codes (RWrn

2) ........................................................................................................... 16-22

16.3 Signal .................................................................................................................................................... 16-23

16.3.1 Signal (device) explanation ........................................................................................................... 16-23

16.3.2 Detailed description of signals (devices) ...................................................................................... 16-25

16.4 Switching power on for the first time ................................................................................................... 16-29

16.4.1 Startup procedure ......................................................................................................................... 16-29

16.4.2 Wiring check .................................................................................................................................. 16-30

16.4.3 Surrounding environment ............................................................................................................. 16-31

16.5 Startup .................................................................................................................................................. 16-32

16.5.1 Power on and off procedures........................................................................................................ 16-32

16.5.2 Stop................................................................................................................................................ 16-32

16.5.3 Test operation ............................................................................................................................... 16-33

16.5.4 Parameter setting .......................................................................................................................... 16-34

16.5.5 Point table setting .......................................................................................................................... 16-35

16.5.6 Actual operation ............................................................................................................................ 16-35

8

16.6 Servo amplifier display ......................................................................................................................... 16-36

16.7 Automatic operation mode ................................................................................................................... 16-38

16.7.1 What is automatic operation mode? ............................................................................................. 16-38

16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer) .......................................... 16-39

16.7.3 Automatic operation mode 2 (Shortest rotating indexer) ............................................................. 16-49

16.8 Manual operation mode ....................................................................................................................... 16-58

16.8.1 Indexer JOG operation .................................................................................................................. 16-58

16.8.2 JOG operation ............................................................................................................................... 16-60

16.9 Home position return mode ................................................................................................................. 16-61

16.9.1 Outline of home position return..................................................................................................... 16-61

16.9.2 Torque limit changing dog type home position return .................................................................. 16-63

16.9.3 Torque limit changing data setting type home position return ..................................................... 16-65

16.9.4 Home position return automatic return function ........................................................................... 16-66

16.10 Absolute position detection system ................................................................................................... 16-67

16.10.1 Outline of absolute position detection data communication ...................................................... 16-68

16.10.2 Battery replacement procedure .................................................................................................. 16-69

16.10.3 Battery installation procedure .................................................................................................... 16-70

16.10.4 Procedure to replace battery with the control circuit power off .................................................. 16-70

16.11 Parameters ......................................................................................................................................... 16-72

16.11.1 Basic setting parameters (No.PA

) ....................................................................................... 16-73

16.11.2 Gain/filter parameters (No.PB

) ............................................................................................ 16-83

16.11.3 Extension setting parameters (No.PC

) ............................................................................... 16-90

16.11.4 I/O setting parameters (No.PD

) ........................................................................................... 16-97

16.12 TROUBLESHOOTING .................................................................................................................... 16-102

16.12.1 Troubleshooting at start-up ....................................................................................................... 16-102

16.12.2 State at error occurrence .......................................................................................................... 16-103

16.12.3 CC-Link communication error ................................................................................................... 16-103

16.12.4 When alarm or warning has occurred ...................................................................................... 16-104

16.12.5 Point table error ......................................................................................................................... 16-122

16.12.6 Trouble which does not trigger an alarm/warning .................................................................... 16-123

17. SPEED CONTROL OPERATION 17- 1 to 17-70

17.1 Function ................................................................................................................................................. 17- 1

17.1.1 Overview ......................................................................................................................................... 17- 1

17.1.2 Servo amplifier standard specifications (functions only) ............................................................... 17- 1

17.1.3 Function list .................................................................................................................................... 17- 2

17.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU ................................ 17- 3

17.2.1 I/O signals (I/O devices) ................................................................................................................. 17- 3

17.2.2 Detailed explanation of I/O signals ................................................................................................ 17- 6

17.2.3 Monitor codes ................................................................................................................................ 17-13

17.2.4 Instruction codes (RWwn

2 RWwn 3) ................................................................................... 17-14

17.2.5 Respond codes (RWrn

2) ........................................................................................................... 17-21

17.3 Signal .................................................................................................................................................... 17-22

17.3.1 Signal (device) explanations ......................................................................................................... 17-22

17.3.2 Detailed description of signals (devices) ...................................................................................... 17-23

17.4 Switching power on for the first time ................................................................................................... 17-25

17.4.1 Startup procedure ......................................................................................................................... 17-25

17.4.2 Wiring check .................................................................................................................................. 17-26

17.4.3 Surrounding environment ............................................................................................................. 17-27

9

17.5 Startup .................................................................................................................................................. 17-28

17.5.1 Power on and off procedures........................................................................................................ 17-28

17.5.2 Stop................................................................................................................................................ 17-28

17.5.3 Test operation ............................................................................................................................... 17-29

17.5.4 Parameter setting .......................................................................................................................... 17-30

17.5.5 Point table setting .......................................................................................................................... 17-31

17.5.6 Actual operation ............................................................................................................................ 17-31

17.6 Servo amplifier display ......................................................................................................................... 17-32

17.7 Speed control operation ....................................................................................................................... 17-34

17.7.1 Changing speed by devices of speed selection 1 (RYnA) to speed selection 3 (RYnC)

(common when 1 station/2 stations are occupied) ...................................................................... 17-34

17.7.2 Changing speed by remote register (only when 2 stations are occupied) .................................. 17-34

17.8 Parameter ............................................................................................................................................. 17-36

17.8.1 Basic setting parameters (No.PA

) ......................................................................................... 17-37

17.8.2 Gain/filter parameters (No.PB

) .............................................................................................. 17-43

17.8.3 Extension setting parameters (No.PC

).................................................................................. 17-49

17.8.4 I/O setting parameters (No.PD

) ............................................................................................. 17-54

17.9 Troubleshooting ................................................................................................................................... 17-60

17.9.1 Troubleshooting at start-up ........................................................................................................... 17-60

17.9.2 State at error occurrence .............................................................................................................. 17-61

17.9.3 CC-Link communication error ....................................................................................................... 17-61

17.9.4 When an alarm or warning has occurred ..................................................................................... 17-62

17.9.5 Point table error ............................................................................................................................. 17-63

17.9.6 Problems without an alarm or warning ......................................................................................... 17-64

APPENDIX App.- 1 to App.-38

App. 1 Signal layout recording paper ........................................................................................................App.- 1

App. 2 Twin type connector: outline drawing for 721-2105/026-000(WAGO) .........................................App.- 1

App. 3 MR-J3-200T-RT servo amplifier .....................................................................................................App.- 2

App. 4 Selection example of servo motor power cable ............................................................................App.- 6

App. 5 Program example with MELSEC-A series programmable controllers

(point table positioning operatio n) ..................................................................................................App.- 7

App. 6 Handling of AC servo amplifier batteries

for the United Nations Recommendations on the Transport of Dangerous Goods ................... App.-25

App. 7 Symbol for the new EU Battery Directive .................................................................................... App.-27

App. 8 Compliance with the European EC directives ............................................................................. App.-28

App. 9 Compliance with UL/cUL Standard .............................................................................................. App.-31

App. 10 Model change of MR-J3-200T ................................................................................................... App.-37

10

MEMO

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The MR-J3-

T CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42

axes of servo amplifiers can be controlled/monitored from the programmable controller side.

As the servo, it has the function to perform positioning operation by merely setting the position data (target

positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting

them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning

system or to simplify a system, for example.

There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are

occupied.

All servo motors are equipped with an absolute position encoder as standard. An absolute position detection

system can be configured by merely adding a battery to the servo amplifier. Once the home position has been

set, home position return is not required at power on, alarm occurrence, etc.

The MR-J3-T is made easier to use and higher in function by using it with the MR Configurator.

1.1.1 Features of CC-Link communication functions

(1) Fast communication

Fast communication can be made by cyclic transmission of not only bit data but also word data.

(a) The highest communication speed is 10Mbps.

(b) The broadcast polling system ensures as high as 3.9ms to 6.7ms even at the maximum link scan

(10Mbps).

(2) Variable communication speed/distance system

Selection of speed/distance allows use in a wide range of areas from a system requiring high speed to a

system requiring long distance.

(3) System fault prevention (station separating function)

Because of connection in the bus system, any remote or local station that has become faulty due to power-

off or the like does not affect communications with normal remote and local stations.

In addition, use of the two-piece terminal block allows the unit to be changed during data link.

(4) Factory Automation compatible

As the remote device stations of CC-Link, the servo amplifiers share a link system and can be

controlled/monitored with programmable controller user programs.

From the programmable controller side, the running speed, acceleration/deceleration time constant and

other settings of servo motors can be changed/checked and the servo motors started and stopped.

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Mitsubishi Electric MR-J3-_T User manual

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