Mitsubishi Electric MR-J3-T Instruction manual

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
Version A
MIT
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INDUSTRIAL AUTOMATION

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 (www.mitsubishi-automation.com).
MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make
technical changes to the products or this manual at any time without prior
notice.
©December 2007
MITSUBISHI ELECTRIC EUROPE B.V.

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

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.Pleasenotethatthis guideonlycoversthe basicfunctions withtheinstructionsneces-
sary to use these functions. Complete descriptions of all the supported functions and all availa-
ble extensions can be found in the instruction manuals.
Please also note that the servo amplifiers of the MR-J3-T series include the following additional
major functions that are not covered in this Quick Start Manual:
쎲Communication via a serial port for controlling point table positioning
쎲Positioning control in BCD format with the optional MR-DS60 digital switch
쎲Amplifier controller circuit settings and auto-tuning functions
Safety Instructions
Toensuresafeandproperinstallationoftheequipmentpleasealsoobservetheinstructionsand
safety precautions in the instruction manuals supplied for your hardware.
Notes in this Quick Start Manual:
NOTE Tips and useful information.
Additional documentation:
쎲MR-J3-T Instruction Manual (SH(NA030061-A)
쎲MR-J3-T Instruction Manual for CC-Link (SH(NA030058-B)
쎲Instruction Manual for the CC-Link Master Module:
–QJ61BT11N
–A1SJ61BT11
–A1SJ61QBT11
–FX2N-16CCL-M
MR-J3-T i

Contents
ii MITSUBISHI ELECTRIC
1 Introduction
1.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
2 Installing the Equipment
2.1 Installing the MR-J3-D01 Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
3 First Functional Test
3.1 Minimum Connections for the Functional Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.1.1 Connector pin assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.2 Functional Test Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
3.3 Configuring Positioning Point Tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
3.4 Functional Test with MR Configurator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
3.4.1 Selecting point table position entries . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
4 Positioning with Digital Inputs
4.1 Additional Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
4.2 Turning off Automatic Input Signal Activation . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14
4.3 Home Position Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15
4.3.1 Dogless Z-phase reference mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15
4.3.2 Dog mode home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-19
4.4 Configuration for Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23
4.4.1 Importing and exporting point tables. . . . . . . . . . . . . . . . . . . . . . . . . . .4-26
4.5 Functional Test of Digital Input Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28
5 Positioning via a CC-Link Network
5.1 Additional Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
5.2 CC-Link Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33
5.2.1 Settings on the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33
5.2.2 Configuration for communication with GX IEC Developer . . . . . . . . . . 5-35
5.3 Testing the Servo Amplifier via CC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37
A Appendix
A.1 Digital Signals −Quick Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-39
A.2 Standard Parameters −Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-40
A.3 Alarms and Warning Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-41

1 Introduction
The servo amplifiers ofthe MR-J3-T series are designed specifically for drive positioning appli-
cations using point-to-point positioning without interpolation or trajectory control.The positions
tobeaccessedstoredinatableandcanbeselectedcyclically,individuallyorinanyorderwith:
쎲Digital signals
쎲CC-Link communication
The MR Configurator setup software package enables the user to test the entered positioning
steps quickly and easily in test mode.
1.1 Preparations
The following products and parts are needed for using the point table positioning fea-
tures described in this manual:
쎲A servo amplifier, for example MR-J3-10T
쎲A servo motor compatible with the selected amplifier
Example: HF-KP13 motor for the MR-J3-10T servo amplifier
쎲MRZJW3-SETUP221E Version C0 of the MR Configurator setup software package
쎲MR-J3USBCBL3MUSBcableforconnectingyourPC/notebookwiththeservoamplifier
쎲MR-PWS1CBL M-A1-L motor connection cable
쎲MR-J3ENCBL M-A2-L rotary encoder cable
쎲MR-J2CMP2 connector for CN6 I/O signal connector
쎲Power supply cables conforming to the applicable installation regulations
쎲Connection cables for the control terminals
Required for positioning control with digital signals:
쎲MR-J3CN1 connector for communication connector CN10
쎲Optional MR-J3-D01 expansion card
Useful but not absolutely necessary:
쎲Simulation Box and terminal block with connection cable for testing:
FX Simulation Box (Art. No. 3386)
MR-TB50 terminal block for CN10 (MR-J3-D01)
MR-J2M-CN1TBL•M cable for connecting CN10 to MR-TB50
Introduction Preparations
MR-J3-T 1-1

Required for positioning control via a CC-Link network:
쎲Q-Rack with PLC and the CC-Link module QJ61BT11N
or
A–RackwithPLCandCC-LinkmoduleA1SJ61BT11,A1SJ61QBT11orFX2N-16CCL-M
쎲CC-Link cable compatible with version V1.10 Standard
쎲Cable for connecting the PC/notebook to the PLC CPU:
Q series: SC-Q QC30R2
A and FX series: SC-09
쎲The GX IEC Developer programming software package for configuration of the data com-
munications settings
NOTE This Quick Start Manual describes the installation and setup of a typical servo system con-
sisting of an MR-J3-10T servo amplifier (single-phase, 230V / 100W) and an HF-KP13 ser-
vo motor. Note that the specifications of this sample system may differ from those of your
configuration–pleasecheckyourequipment’sinstructionmanualsfordetailsifnecessary.
Preparations Introduction
1-2 MITSUBISHI ELECTRIC

2 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 andMR-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.
NOTE Please consult the instruction manual for detailed installation instructions.
2.1 Installing the MR-J3-D01 Extension
Procedure:
햲Remove the cover of the CN7 connector on the right side of the MR-J3-T housing.
햳Position theMR-J3-D01extensionovertheupperand lowermounting points 1onthe ser-
voamplifier,thenpresstheextensionintoplacesothatthelugsclickintopositionintheup-
perand lowermountingpoints 2.Thisalso connectsthe extensiontotheamplifiervia con-
nector CN7 on the amplifier.
햴Fasten the extension securely to the servo amplifier with the M4 screw (included) as
showninFig.2-2.
Installing the Equipment Installing the MR-J3-D01 Extension
MR-J3-T 2-3
Fig. 2-1: Fixing points of the extension MR-J3-D01
Upper mounting
point 2
Cover for CN7
connector
Upper mounting
point 1
Lower mounting
point 1
Lower mounting
point 2

NOTE To uninstall theextensionperform theabove steps in thereverseorder.To releasetheretai-
ning clips press the retaining tabs marked “Push”inwards and pull the extension out to the
side.
Installing the MR-J3-D01 Extension Installing the Equipment
2-4 MITSUBISHI ELECTRIC
Fig. 2-2: Fastening screw dimensions for extension MR-J3-D01

3 First Functional Test
Thewiringdiagrambelow(Fig.3-1)showstheminimumconnectionsthatyoumustmaketotest
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.
NOTE You can also use the optional MR-PRU-03 HMI control terminal for performing initial tests
andsettingtheamplifier’sparameters.ForfurtherdetailsseetheMR-J3-Tseriesinstruction
manual.
3.1 Minimum Connections for the Functional Check
First Functional Test MinimumConnections for the Functional Check
MR-J3-T 3-5
Fig. 3-1: Wiring diagram for minimum configuration without control terminals
1-phase
200–230V AC
Servo motor
Motor

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

3.2 Functional Test Settings
The following input signals are required to activate the servo amplifier’s motor output:
쎲EMG -> Force stop (safety signal)
쎲SON -> Servo ON
쎲LSP -> Forward rotation stroke end (limit switch)
쎲LSN -> Reverse rotation stroke end (limit switch)
You can configure the servo amplifier to activate these signals automatically when the power is
switched on:
Procedure:
햲Connect the PC / notebook to the servo amplifier’s USB port (CN5) with the
MR-J3USBCBL3M cable.
햳Start MR Configurator on the computer and make the following settings:
–Select the MR-J3-T series servo amplifier:
First Functional Test Functional Test Settings
MR-J3-T 3-7
Fig. 3-3: Selecting the servo amplifier




–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
–Turnthe servoamplifier off andthen turn iton again to initialisethenewparameterset-
ting.
Functional Test Settings First Functional Test
3-8 MITSUBISHI ELECTRIC
Fig. 3-4: Parameter settings for automatic input signal activation.




3.3 Configuring Positioning Point Tables
The position values, travel speeds and acceleration and deceleration times are stored in tables
known as “point tables”. We will now go through the steps required to configure and define a
point table.
Procedure:
햲Select the
Point Table option from the Point-data menu.
햳Enterthevaluesforthemovements(position,speed,accelerationanddecelerationtimes)
in the
Point Table List window, using one line for each movement:
–Enter target position (a) in µm x 10STM (STM: e in diagram).
–Enter speed (b) in rpm.
–Enteracceleration/decelerationtimes(c)and(d)inmsasrequiredforthemotor’srated
speed.
햴Save the entries by clicking on the
Write All button.
Make sure that the
Aux. Func. value in every line is left at the default factory setting (“0”) to
ensure that selecting a position value in the table does not inadvertently activate any subse-
quent table entries.
NOTES In thefactory defaultsettingstheabsolutevaluecommand systemforthetarget positionsis
activated with parameter PA01 “*STY”.When this system is active all target position values
are referred to the physical home position.Alternatively you can also select the incremental
value command system.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.
First Functional Test Configuring Positioning Point Tables
MR-J3-T 3-9
Fig. 3-5: Point table positioning entries in the point table list window


a
{

e
b c d

3.4 Functional Test with MR Configurator
UsingMRConfiguratoryoucanperformabasictestoftheindividualpositioningstepsandmake
adjustmentsfor your application. Notethat settingparameterPA14 does not haveanyeffect on
the rotation direction in jog mode when using MR Configurator. The rotation directions are
defined as follows, looking at the end of the drive shaft (i.e. towards the motor):
쎲FORWARD -> anticlockwise
쎲REVERSE -> clockwise
NOTES Home positionreturnisnotpossibleintestmode whenusingMRConfigurator–usethejog
function to move to the starting position.
You can set the rotation direction in “single-step feed mode” with parameter PA14.
3.4.1 Selecting point table position entries
Procedure:
햲Select Single-step Feed in the
Test menu.
햳To select a position enter its point table line number in the dialog box displayed .
햴Start the positioning operation .
Functional Test with MR Configurator First Functional Test
3-10 MITSUBISHI ELECTRIC
Fig. 3-6: Single-step Feed window for testing individual positioning steps




4 Positioning with Digital Inputs
ThischapterdescribeshowpointtablepositioningisusedinmostapplicationswiththeMR-J3-T
series amplifiers and the MR-J3-D01 I/O extension.
NOTE Pleaserefertotheinstructionmanualifyouneedotherfunctionsotherthanthosedescribed
here for your application.
4.1 Additional Connections
The initial functional tests described in chapter 3.1 were performed with a minimum connection
configuration. For the full range of standard functions you now need to make additional power
supplyandcontrol terminalconnectionsontheCN6andCN10terminalblocks,asshownbelow
in Figs. 4-1 and 4-2.
Positioning with Digital Inputs Additional Connections
MR-J3-T 4-11
Fig. 4-1: Single-phase power connections for the MR-J3-T amplifier
1-phase
200–230V AC
Servo motor
Motor
Encoder
Encoder cable
Alarm
EMG. OFF OFF ON
EMG. OFF
Servo ON
Servo amplifier
24V DC
24V DC ± 10 %
800 mA
24V DC
24V DC ±10%
150mA

Additional Connections Positioning with Digital Inputs
4-12 MITSUBISHI ELECTRIC
1 DI0
2 DI1
3 DI2
4 DI3
5 DI4
6 DI5
7 DI6
8 DI7
13 DICOM
14 DICOM
21 SON
22 ACD0
23 ACD1
24 ACD2
25 ACD3
26 RES
32 MD0
35 ST1
36 ST2
37 DOCOM
49 INP
Connector CN6 Connector CN10 CN10 pin assignments
Fig. 4-2: Pin assignments of connectors CN6 and CN10