Name: Mitsubishi Electric MELSERVO MR-J3-xT
Brand: Mitsubishi Electric
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Instruction manual

Distributor for:

Servo Amplifier

MELSERVO MR-J3-xT

General Purpose AC Servo

MELSERVO-J3 series

CC-Link

Bulit-in positioning function model

Table of Contents15
Functions and Configuration23
Introduction23
Features of CC-Link Communication Functions23
Function Block Diagram24
System Configuration27
Servo Amplifier Standard Specifications29
Function List31
Model Code Definition33
Combination with Servo Motor34
Structure35
Parts Identification35
Removal and Reinstallation of the40
Configuration Including Auxiliary Equipment43
Selection of Operation Method49
Installation51
Installation Direction and Clearances51
Keep out Foreign Materials53
Cable Stress53
Inspection Items54
Parts Having Service Lives54
CC-Link Communication Functions55
Communication Specifications55
System Configuration56
Configuration Example56
Wiring Method57
Station Number Setting59
Communication Baud Rate Setting60
Occupied Station Count Setting60
Functions61
Function Block Diagram61
Servo Amplifier Setting62
I/O Signals (I/O Devices) Transferred To/From the PLC CPU63
I/O Signals (I/O Devices)63
Detailed Explanation of I/O Signals66
Monitor Codes76
Instruction Codes (Rwwn+2 Rwwn+3)77
Answer Codes (Rwrn+2)84
Setting the CN6 External Input Signals85
Data Communication Timing Charts87
Monitor Codes87
Instruction Codes89
Remote Register-Based Position/Speed Setting91
Function-By-Function Programming Examples94
System Configuration Example94
Reading the Servo Amplifier Status95
Writing the Operation Commands96
Reading the Data97
Writing the Data100
Operation103
Continuous Operation Program Example106
System Configuration Example When 1 Station Is Occupied106
Program Example When 1 Station Is Occupied107
System Configuration Example When 2 Stations Are Occupied108
Program Example When 2 Stations Are Occupied109
Signals and Wiring111
Input Power Supply Circuit112
I/O Signal Connection Diagram117
Explanation of Power Supply System118
Signal Explanations118
Power-On Sequence119
CNP1, CNP2, CNP3 Wiring Method121
Connectors and Signal Arrangements128
Signal (Device) Explanation129
I/O Devices129
Input Signals132
Output Signals132
Power Supply133
Detailed Description of Signals (Devices)133
Forward Rotation Start Reverse Rotation Start Temporary Stop/Restart133
Movement Finish Rough Match in Position134
Torque Limit136
Alarm Occurrence Timing Chart137
Interface138
Internal Connection Diagram138
Detailed Description of Interfaces139
Source I/O Interfaces141
Treatment of Cable Shield External Conductor142
Connection of Servo Amplifier and Servo Motor143
Connection Instructions143
Power Supply Cable Wiring Diagrams144
Servo Motor with Electromagnetic Brake151
Safety Precautions151
Timing Charts152
Wiring Diagrams (HF-MP Series HF-KP Series Servo Motor)154
Grounding155
Startup157
Switching Power on for the First Time157
Startup Procedure157
Wiring Check158
Surrounding Environment159
Startup160
Power on and off Procedures160
Stop160
Test Operation161
Parameter Setting162
Point Table Setting163
Actual Operation163
Servo Amplifier Display164
Automatic Operation Mode166
What Is Automatic Operation Mode166
Automatic Operation Using Point Table168
Remote Register-Based Position/Speed Setting178
Manual Operation Mode182
JOG Operation182
Manual Pulse Generator183
Manual Home Position Return Mode185
Outline of Home Position Return185
Dog Type Home Position Return188
Count Type Home Position Return190
Data Setting Type Home Position Return192
Stopper Type Home Position Return193
Home Position Ignorance (Servo-On Position Defined as Home Position)195
Dog Type Rear End Reference Home Position Return196
Count Type Front End Reference Home Position Return198
Dog Cradle Type Home Position Return200
Dog Type First Z-Phase Reference Home Position Return202
Dog Type Front End Reference Home Position Return Method204
Dogless Z-Phase Reference Home Position Return Method206
Home Position Return Automatic Return Function208
Automatic Positioning Function to the Home Position209
Roll Feed Display Function in Roll Feed Mode210
Absolute Position Detection System211
Parameters215
Basic Setting Parameters (No.pa )215
Parameter List215
Parameter Write Inhibit216
Selection of Command System217
Selection of Regenerative Option217
Using Absolute Position Detection System218
Follow-Up for Absolute Value Command System in Incremental System218
Feeding Function Selection219
Electronic Gear220
In-Position Range222
Torque Limit223
Selection of Servo Motor Rotation Direction224
Encoder Output Pulse224
Gain/Filter Parameters (No. PB )226
Parameter List226
Detail List227
Extension Setting Parameters (No. PC )234
Parameter List234
Detail List235
S-Pattern Acceleration/Deceleration240
Alarm History Clear241
Rough Match Output241
Software Limit241
I/O Setting Parameters (No. PD )242
Parameter List242
Detail List243
MR Configurator251
Specifications251
System Configuration251
Station Selection253
Parameters254
Point Table256
Device Assignment Method258
Test Operation262
Jog Operation262
Positioning Operation264
Motor-Less Operation267
Output Signal (DO) Forced Output268
Single-Step Feed269
Alarm272
Alarm Display272
Batch Display of Data at Alarm Occurrence273
Alarm History275
Parameter Unit (Mr-Pru03)277
External Appearance and Key Explanations278
Specifications279
Outline Dimension Drawings279
Connection with Servo Amplifier280
Single Axis280
Multidrop Connection281
Display283
Outline of Screen Transition283
MR-PRU03 Parameter Unit Setting284
Monitor Mode (Status Display)285
Alarm/Diagnostic Mode287
Parameter Mode289
Point Table Mode290
Test Operation Mode291
Error Message List295
General Gain Adjustment297
Different Adjustment Methods297
Adjustment on a Single Servo Amplifier297
Adjustment Using MR Configurator298
Auto Tuning298
Auto Tuning Mode 1298
Auto Tuning Mode Operation300
Adjustment Procedure by Auto Tuning301
Response Level Setting in Auto Tuning Mode302
Manual Mode 1 (Simple Manual Adjustment)303
Interpolation Mode307
Differences between MELSERVO-J2-Super and MELSERVO-J3 in Auto Tuning308
Special Adjustment Functions309
Function Block Diagram309
Adaptive Filter309
Machine Resonance Suppression Filter312
Advanced Vibration Suppression Control314
Low-Pass Filter318
Gain Changing Function318
Applications318
Function Block Diagram319
Parameters320
Gain Changing Operation322
Troubleshooting325
Trouble at Start-Up325
Operation at Error Occurrence326
CC-Link Communication Error326
When Alarm or Warning Has Occurred327
Alarms and Warning List327
Remedies for Alarms328
Remedies for Warnings334
Point Table Error336
Outline Drawings337
Servo Amplifier337
Connector for CN3344
Characteristics345
Overload Protection Characteristics345
Power Supply Equipment Capacity and Generated Loss347
Dynamic Brake Characteristics350
Cable Flexing Life352
Inrush Currents at Power-On of Main Circuit and Control Circuit352
Options and Auxiliary Equipment353
Cable/Connector Sets353
Combinations of Cable/Connector Sets353
Encoder Cable/Connector Sets359
Motor Power Supply Cables368
Motor Brake Cables369
Regenerative Options370
Brake Unit379
Power Regeneration Converter382
Power Regeneration Common Converter385
External Dynamic Brake390
Battery MR-J3BAT394
Heat Sink Outside Mounting Attachment (MR-J3ACN)395
Recommended Wires398
Fuse Breakers, Fuses, Magnetic Contactors402
Power Factor Improving DC Reactor403
Power Factor Improving Reactors404
Relays (Recommended)405
Surge Absorbers (Recommended)405
Noise Reduction Techniques406
Leakage Current Breaker412
EMC Filter (Recommended)414
MR-HDP01 Manual Pulse Generator416
Communication Function419
Configuration419
Communication Specifications421
Communication Overview421
Parameter Setting422
Protocol423
Transmission Data Configuration423
Character Codes424
Error Codes425
Checksum425
Time-Out Operation426
Retry Operation426
Initialization427
Communication Procedure Example427
Command and Data No. List428
Read Commands428
Write Commands432
Detailed Explanations of Commands435
Data Processing435
Status Display437
Parameters438
External I/O Signal Statuses (DIO Diagnosis)441
Device ON/OFF446
Disable/Enable of I/O Devices (DIO)447
Input Devices ON/OFF (Test Operation)448
Test Operation Mode449
Alarm History455
Current Alarm456
Point Table457
Servo Amplifier Group Designation463
Other Commands464
Appendix465
App 1. Parameter List465
App 2. Signal Layout Recording Paper467
App 3. Twin Type Connector: Outline Drawing for 721-2105/026-000(WAGO)468
App 4. Combination of Servo Amplifier and Servo Motor469

Mitsubishi Electric MELSERVO MR-J3-xT User Manual

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Brand	Mitsubishi Electric
Model	MELSERVO MR-J3-xT
Category	Amplifier
Language	English