Name: Mitsubishi Electric MELSERVO-J3 Series
Brand: Mitsubishi Electric
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General-Purpose AC Servo

MODEL

MR-J3- T

SERVO AMPLIFIER

INSTRUCTION MANUAL

(CC-Link)

Built-in Positioning Function

J3 Series

Table of Contents10
Functions and Configuration20
Introduction20
Features of CC-Link Communication Functions20
Function Block Diagram21
System Configuration24
Servo Amplifier Standard Specifications26
Function List32
Model Code Definition33
Combination with Servo Motor34
Structure36
Parts Identification36
Removal and Reinstallation of the42
Configuration Including Auxiliary Equipment45
Selection of Operation Method53
Installation56
Installation Direction and Clearances56
Keep out Foreign Materials59
Cable Stress59
Inspection Items59
Parts Having Service Lives60
CC-Link Communication Functions62
Communication Specifications62
System Configuration63
Configuration Example63
Wiring Method64
Station Number Setting66
Communication Baud Rate Setting67
Occupied Station Count Setting67
Functions68
Function Block Diagram68
Servo Amplifier Setting69
I/O Signals (I/O Devices) Transferred To/From the Programmable Controller CPU70
I/O Signals (I/O Devices)70
Detailed Explanation of I/O Signals73
Monitor Codes83
Instruction Codes (Rwwn+2 Rwwn+3)84
Respond Codes (Rwrn+2)92
Setting the CN6 External Input Signals93
Data Communication Timing Charts95
Monitor Codes95
Instruction Codes97
Remote Register-Based Position/Speed Setting99
Function-By-Function Programming Examples102
System Configuration Example102
Reading the Servo Amplifier Status105
Writing the Operation Commands106
Reading the Data107
Writing the Data110
Operation113
Continuous Operation Program Example116
System Configuration Example When 1 Station Is Occupied116
Program Example When 1 Station Is Occupied117
System Configuration Example When 2 Stations Are Occupied119
Program Example When 2 Stations Are Occupied120
Signals and Wiring122
Input Power Supply Circuit123
I/O Signal Connection Diagram132
Explanation of Power Supply System134
Signal Explanations134
Power-On Sequence135
CNP1, CNP2, CNP3 Wiring Method137
Connectors and Signal Arrangements146
Signal (Device) Explanation147
I/O Devices147
Input Signals150
Output Signals150
Power Supply151
Detailed Description of Signals (Devices)151
Forward Rotation Start Reverse Rotation Start Temporary Stop/Restart151
Movement Completion Rough Match in Position152
Torque Limit154
Alarm Occurrence Timing Chart155
Interface156
Internal Connection Diagram156
Detailed Description of Interfaces157
Source I/O Interfaces159
Treatment of Cable Shield External Conductor160
Connection of Servo Amplifier and Servo Motor161
Connection Instructions161
Power Supply Cable Wiring Diagrams162
Servo Motor with an Electromagnetic Brake173
Safety Precautions173
Timing Charts174
Wiring Diagrams (HF-MP Series HF-KP Series Servo Motor)176
Grounding178
Operation180
Switching Power on for the First Time180
Startup Procedure180
Wiring Check181
Surrounding Environment182
Startup183
Power on and off Procedures183
Stop183
Test Operation184
Parameter Setting185
Point Table Setting186
Actual Operation186
Servo Amplifier Display187
Automatic Operation Mode189
What Is Automatic Operation Mode189
Automatic Operation Using Point Table191
Remote Register-Based Position/Speed Setting201
Manual Operation Mode207
JOG Operation207
Manual Pulse Generator208
Manual Home Position Return Mode210
Outline of Home Position Return210
Dog Type Home Position Return211
Count Type Home Position Return215
Data Setting Type Home Position Return217
Stopper Type Home Position Return218
Home Position Ignorance (Servo-On Position Defined as Home Position)220
Dog Type Rear End Reference Home Position Return221
Count Type Front End Reference Home Position Return223
Dog Cradle Type Home Position Return225
Dog Type First Z-Phase Reference Home Position Return227
Dog Type Front End Reference Home Position Return Method229
Dogless Z-Phase Reference Home Position Return Method231
Home Position Return Automatic Return Function233
Automatic Positioning Function to the Home Position234
Roll Feed Display Function in Roll Feed Mode235
Absolute Position Detection System236
Outline of Absolute Position Detection Data Communication237
Battery Replacement Procedure238
Battery Installation Procedure239
Procedure to Replace Battery with the Control Circuit Power off239
Parameters242
Basic Setting Parameters (No.pa )242
Parameter List242
Parameter Write Inhibit243
Selection of Command Method and Maximum Torque of the HF-KP Series Servo Motor244
Selection of Regenerative Option245
Using Absolute Position Detection System246
Follow-Up for Absolute Value Command System in Incremental System246
Feeding Function Selection247
Electronic Gear247
Auto Tuning250
In-Position Range251
Torque Limit252
Selection of Servo Motor Rotation Direction252
Encoder Output Pulse253
Gain/Filter Parameters (No.pb )255
Parameter List255
Detail List256
Extension Setting Parameters (No.pc )262
Parameter List262
Detail List264
S-Pattern Acceleration/Deceleration270
Alarm History Clear270
Rough Match Output270
Software Limit271
I/O Setting Parameters (No.pd )272
Parameter List272
Detail List273
Stopping Method When Forward Rotation Stroke End (LSP) or Reverse Rotation Stroke End (LSN) Is off282
Stopping Method When a Software Limit Is Detected283
MR Configurator284
Specifications284
System Configuration285
Station Selection287
Parameters288
Point Table290
Device Assignment Method292
Test Operation296
Jog Operation296
Positioning Operation298
Motor-Less Operation301
Output Signal (DO) Forced Output302
Single-Step Feed303
Alarm306
Alarm Display306
Batch Display of Data at Alarm Occurrence307
Alarm History309
Parameter Unit (Mr-Pru03)310
External Appearance and Key Explanations311
Specifications312
Outline Dimension Drawings312
Connection with Servo Amplifier313
Single Axis313
Multidrop Connection314
Display316
Outline of Screen Transition316
MR-PRU03 Parameter Unit Setting317
Monitor Mode (Status Display)318
Alarm/Diagnostic Mode320
Parameter Mode322
Point Table Mode323
Test Operation Mode324
Error Message List328
General Gain Adjustment330
Different Adjustment Methods330
Adjustment on a Single Servo Amplifier330
Adjustment Using MR Configurator331
Auto Tuning332
Auto Tuning Mode332
Auto Tuning Mode Basis333
Adjustment Procedure by Auto Tuning334
Response Level Setting in Auto Tuning Mode335
Manual Mode 1 (Simple Manual Adjustment)336
Interpolation Mode340
Differences between MELSERVO-J2-Super and MELSERVO-J3 in Auto Tuning341
Special Adjustment Functions342
Function Block Diagram342
Adaptive Filter342
Machine Resonance Suppression Filter345
Advanced Vibration Suppression Control347
Low-Pass Filter351
Gain Switching Function351
Applications351
Function Block Diagram352
Parameters353
Gain Switching Procedure355
Troubleshooting358
Troubleshooting at Start-Up358
State at Error Occurrence359
CC-Link Communication Error359
When Alarm or Warning Has Occurred360
Alarms and Warning List360
Remedies for Alarms361
Remedies for Warnings374
Point Table Error376
Trouble Which Does Not Trigger an Alarm/Warning377
Outline Drawings386
Servo Amplifier386
Connector395
Characteristics398
Overload Protection Characteristics398
Power Supply Equipment Capacity and Generated Loss400
Dynamic Brake Characteristics403
Dynamic Brake Operation403
The Dynamic Brake at the Load Inertia Moment407
Cable Flexing Life408
Inrush Currents at Power-On of Main Circuit and Control Circuit409
Options and Auxiliary Equipment410
Cable/Connector Sets410
Combinations of Cable/Connector Sets411
Encoder Cable/Connector Sets419
Motor Power Supply Cables434
Motor Brake Cables436
Regenerative Options438
BU2-(H) Brake Unit451
Selection452
Brake Unit Parameter Setting452
Connection Example453
Outline Dimension Drawings460
RC-(H) Power Regeneration Converter462
Power Regeneration Common Converter465
External Dynamic Brake473
Battery MR-J3BAT478
Heat Sink Outside Mounting Attachment (MR-J3ACN)479
Selection Example of Wires481
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors488
Power Factor Improving DC Reactor489
Power Factor Improving Reactors491
Relays (Recommended)492
Noise Reduction Techniques493
Earth-Leakage Current Breaker501
EMC Filter (Recommended)503
MR-HDP01 Manual Pulse Generator508
Communication Function510
Configuration510
Communication Specifications512
Communication Overview512
Parameter Setting513
Protocol514
Transmission Data Configuration514
Character Codes515
Error Codes516
Checksum516
Time-Out Processing516
Retry Processing517
Initialization517
Communication Procedure Example518
Command and Data No. List519
Detailed Explanations of Commands526
Data Processing526
Status Display528
Parameters529
External I/O Signal Statuses (DIO Diagnosis)532
Device ON/OFF537
Disable/Enable of I/O Devices (DIO)538
Input Devices ON/OFF (Test Operation)539
Test Operation Mode540
Alarm History546
Current Alarm547
Point Table548
Servo Amplifier Group Designation554
Other Commands555
Indexer Positioning Operation556
Function556
Overview556
Servo Amplifier Standard Specifications (Functions Only)556
Function List557
I/O Signals (I/O Devices) Transferred To/From the Programmable Controller CPU558
I/O Signals (I/O Devices)558
Detailed Explanation of I/O Signals560
Monitor Codes569
Instruction Codes (Rwwn 2 Rwwn 3)570
Respond Codes (Rwrn 2)577
Signal578
Signal (Device) Explanation578
Detailed Description of Signals (Devices)580
Switching Power on for the First Time584
Startup Procedure584
Wiring Check585
Surrounding Environment586
Startup587
Power on and off Procedures587
Stop587
Test Operation588
Parameter Setting589
Point Table Setting590
Actual Operation590
Servo Amplifier Display591
Automatic Operation Mode593
What Is Automatic Operation Mode593
Automatic Operation Mode 1 (Rotation Direction Specifying Indexer)594
Automatic Operation Mode 2 (Shortest Rotating Indexer)604
Manual Operation Mode613
Indexer JOG Operation613
JOG Operation615
Home Position Return Mode616
Outline of Home Position Return616
Torque Limit Changing Dog Type Home Position Return618
Torque Limit Changing Data Setting Type Home Position Return620
Home Position Return Automatic Return Function621
Absolute Position Detection System622
Outline of Absolute Position Detection Data Communication623
Battery Replacement Procedure624
Battery Installation Procedure625
Procedure to Replace Battery with the Control Circuit Power off625
Parameters627
Basic Setting Parameters (No.pa )627
Gain/Filter Parameters (No.pb )638
Extension Setting Parameters (No.pc )645
I/O Setting Parameters (No.pd )652
Troubleshooting657
Troubleshooting at Start-Up657
State at Error Occurrence658
CC-Link Communication Error658
When Alarm or Warning Has Occurred659
Point Table Error677
Trouble Which Does Not Trigger an Alarm/Warning678
Speed Control Operation686
Function686
Overview686
Servo Amplifier Standard Specifications (Functions Only)686
Function List687
I/O Signals (I/O Devices) Transferred To/From the Programmable Controller CPU688
I/O Signals (I/O Devices)688
Detailed Explanation of I/O Signals691
Monitor Codes698
Instruction Codes (Rwwn 2 Rwwn 3)699
Respond Codes (Rwrn 2)706
Signal707
Signal (Device) Explanations707
Detailed Description of Signals (Devices)708
Switching Power on for the First Time710
Startup Procedure710
Wiring Check711
Surrounding Environment712
Startup713
Power on and off Procedures713
Stop713
Test Operation714
Parameter Setting715
Point Table Setting716
Actual Operation716
Servo Amplifier Display717
Speed Control Operation718
Changing Speed by Devices of Speed Selection 1 (Ryna) to Speed Selection 3 (Rync)719
Changing Speed by Remote Register (Only When 2 Stations Are Occupied)719
Parameter721
Basic Setting Parameters (No.pa )722
Gain/Filter Parameters (No.pb )728
Extension Setting Parameters (No.pc )734
I/O Setting Parameters (No.pd )739
Troubleshooting745
Troubleshooting at Start-Up745
State at Error Occurrence746
CC-Link Communication Error746
When an Alarm or Warning Has Occurred747
Point Table Error748
Problems Without an Alarm or Warning749
Appendix756
App. 1 Signal Layout Recording Paper756
App. 2 Twin Type Connector: Outline Drawing for 721-2105/026-000(WAGO)756
App. 3 MR-J3-200T-RT Servo Amplifier757
App. 4 Selection Example of Servo Motor Power Cable761
App. 5 Program Example with MELSEC-A Series Programmable Controllers762
(Point Table Positioning Operation)762
App. 7 Symbol for the New EU Battery Directive782
App. 8 Compliance with the European EC Directives783
App. 9 Compliance with Ul/Cul Standard786
App. 10 Model Change of MR-J3-200T792

Mitsubishi Electric MELSERVO-J3 Series User Manual

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Brand	Mitsubishi Electric
Model	MELSERVO-J3 Series
Category	Amplifier
Language	English