Mitsubishi MR-J3-T Quick Start Manual

MR-J3-TServo AmplifierQuick Start ManualMR-J3-T Servo AmplifierWith Point Table Positioning(Point-to-Point Positioning)Art. No.: xxxxxx21122007Version

Required for positioning control via a CC-Link network:쎲Q-Rack with PLC and the CC-Link module QJ61BT11NorA–Rackwith PLC and CC-Link module A1SJ61BT11

2 Installing the EquipmentThe procedure for the physical installation of the MR-J3-T series hardware is exactly the sameas for the MR-J3-A and MR-J3-B

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” i

3 First Functional TestThe wiring diagram below (Fig. 3-1) shows the minimum connections that you must make to testan MR-J3-T series amplifier with th

3.1.1 Connector pin assignmentsMinimum Connections for the Functional Check First Functional Test3-6 MITSUBISHI ELECTRICFig. 3-2: Power and control co

3.2 Functional Test SettingsThe following input signals are required to activate the servo amplifier’s motor output:쎲EMG -> Force stop (safety sign

–Set the parameter for the automatic activation of the EMG, SON and LSP/LSN inputsignals:Parameter PD01 “Input signal automatic ON selection 1” = 1C04

3.3 Configuring Positioning Point TablesThe position values, travel speeds and acceleration and deceleration times are stored in tablesknown as “point

3.4 Functional Test with MR ConfiguratorUsing MR Configurator you can perform a basic test of the individual positioning steps and makeadjustments for

4 Positioning with Digital InputsThis chapter describes how point table positioning is used in most applications with the MR-J3-Tseries amplifiers and

Additional Connections Positioning with Digital Inputs4-12 MITSUBISHI ELECTRIC1 DI02 DI13 DI24 DI35 DI46 DI57 DI68 DI713 DICOM14 DICOM21 SON22 ACD023

NOTES You can find a brief descriptions of the signal functions in Appendix A.1. Please refer to theinstruction manual for a complete reference.All di

4.2 Turning off Automatic Input Signal ActivationProcedure:햲Reset parameter PD01 to a value of "0":Turning off Automatic Input Signal Activa

4.3 Home Position ReturnAt the factory the MR-J3-T servo amplifiers are configured with the incremental system acti-vated by default (i.e. the absolut

Timing chart:햲You must turn the power off and on again to activate this parameter.Home Position Return Positioning with Digital Inputs4-16 MITSUBISHI

Examples:햲The Z-phase of the encoder is defined as the physical home position of the machine.In thisexample we are going to perform the home position

햳Perform a home position return as in example 1 but with an offset between the physical andencoder home positions, set with parameter PC06.Parameter s

4.3.2 Dog mode home position returnIn this mode, instead of the encoder Z-phase(Fig. 4-6), the DOG signal is used to switch from“home position return

Timing chart:Home Position Return Positioning with Digital Inputs4-20 MITSUBISHI ELECTRICAuto/Manual mode (MD0)ONOFFSelect point table no. (DI0)Start

햲You must turn the power off and on again to activate this parameter.Example:In the following example the physical home position is at the position of

About This ManualIf you have any questions about programming or operating the equipmentdescribed in this manual please don’t hesitate to contact your

Parameter settings:The position value is calculated as follows:X = PA05 폷 PC07 in [mm]In the above example with PA05 = 1 and PC07 = 1000 [10STMµm] th

4.4 Configuration for PositioningIf you install the MR-J3-D01 I/O expansion you can use point table positioning, which allows youto select positions f

The following example shows some typical configuration settings used for many common posi-tioning applications:Procedure:햲Select the incremental syste

햵The point table entries for the individual positioning steps are configured in the columnsnumbered  to  in the point table list shown below.Tips fo

쎲Always deactivate startcommand ST1/ST2 before starting a new positioning sequence.Then you can select a new table entry with DI0 - DI7 and start the

햴How to open/import a point table data file:Positioning with Digital Inputs Configuration for PositioningMR-J3-T 4-27Fig. 4-17: Opening a point table

4.5 Functional Test of Digital Input PositioningNormally you need a simple controller to set the digital inputs used to select the point table posi-ti

MR Configurator can monitor all the inputs and outputs of the MR-J3-T, including those on theMR-J3-D01 I/O extension.Procedure:햲Connect the PC/noteboo

Functional Test of Digital Input Positioning Positioning with Digital Inputs4-30 MITSUBISHI ELECTRICFig. 4-22: The “Option unit I/F display” terminal

5 Positioning via a CC-Link NetworkAs an alternative to using digital signals you can also control positioning with MR-J3-T servoamplifiers via a CC-L

Connections for the CC-Link networkNOTE You must install a terminating resistor on terminals DB and DB on the physical first and laststations in the C

5.2 CC-Link Communication Settings5.2.1 Settings on the servo amplifierIn the instructions below we are assuming that you have an operating CC-Link ne

햴Set the data rate:NOTE The servoamplifier settings required for point table positioning are described in chapters 4.2through 4.4.Please check that th

5.2.2 Configuration for communication with GX IEC DeveloperGenerally, positioning control is performed via a CC-Link network in applications where an

Notes on the network settings:(a) In the example only one servo amplifier is connected to the CC-Link network. This value mustbe increased by the numb

5.3 Testing the Servo Amplifier via CC-LinkBefore proceeding it is a good idea use the monitoring function in GX IEX Developer to checkthat the indivi

A AppendixA.1Digital SignalsQuick ReferenceAppendix Digital Signals − Quick ReferenceMR-J3-T A-39ConnectorPinsSignal CodesDescriptionDI /DODI/DO CC-Li

A.2Standard ParametersQuick Reference햲To activate this parameter you must switch the amplifier power off and on again.Standard Parameters − Quick Refe

A.3 Alarms and Warning MessagesAppendix Alarms and Warning MessagesMR-J3-T A-41DisplayAlarm CodeErrorAlarm ResetACD3(Bit 3)ACD2(Bit 2)ACD1(Bit 1)ACD0(

햲Locate and correct the cause of the error and allow the servo amplifier, the servo motor andthe regenerative braking unit to cool down for at least 3

Quick Start ManualMR-J3-T Servo Amplifier with Integrated Point Table PositioningArt. No.: xxxxxxVersion Changes / Additions / CorrectionsA 10/2007 pd

IndexMR-J3-T A-43IndexAAlarm messagesList . . . . . . . . . . . . . . . . . . . . A - 41Automatic input signal activationTurning of

MITSUBISHI ELECTRICMITSUBISHIELECTRICFACTORY AUTOMATIONMitsubishi Elec tric Europe B.V. /// FA - European Business G roup /// Gothaer Straße 8 /// D-4

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 inst

Contentsii MITSUBISHI ELECTRIC1 Introduction1.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 IntroductionThe servo amplifiers of the MR-J3-T series are designed specifically for drive positioning appli-cations using point-to-point positionin