Mitsubishi Electronics Digital Car Amplifier Mr J3 Users Manual □T Instruction

2015-02-09

• Safety Instructions
• About processing of waste
• COMPLIANCE WITH EC DIRECTIVES
• CONFORMANCE WITH UL/C-UL STANDARD
• About the manuals
• CONTENTS
• 1. FUNCTIONS AND CONFIGURATION
  • 1.1 Introduction
    • 1.1.1 Features of CC-Link communication functions
    • 1.1.2 Function block diagram
    • 1.1.3 System configuration
  • 1.2 Servo amplifier standard specifications
  • 1.3 Function list
  • 1.4 Model code definition
  • 1.5 Combination with servo motor
  • 1.6 Structure
    • 1.6.1 Parts identification
    • 1.6.2 Removal and reinstallation of the front cover
  • 1.7 Configuration including auxiliary equipment
  • 1.8 Selection of operation method
• 2. INSTALLATION
  • 2.1 Installation direction and clearances
  • 2.2 Keep out foreign materials
  • 2.3 Cable stress
  • 2.4 Inspection items
  • 2.5 Parts having service lives
• 3. CC-LINK COMMUNICATION FUNCTIONS
  • 3.1 Communication specifications
  • 3.2 System configuration
    • 3.2.1 Configuration example
    • 3.2.2 Wiring method
    • 3.2.3 Station number setting
    • 3.2.4 Communication baud rate setting
    • 3.2.5 Occupied station count setting
  • 3.3 Functions
    • 3.3.1 Function block diagram
    • 3.3.2 Functions
  • 3.4 Servo amplifier setting
  • 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU
    • 3.5.1 I/O signals (I/O devices)
    • 3.5.2 Detailed explanation of I/O signals
    • 3.5.3 Monitor codes
    • 3.5.4 Instruction codes (RWwn+2 RWwn+3)
    • 3.5.5 Respond codes (RWrn+2)
    • 3.5.6 Setting the CN6 external input signals
  • 3.6 Data communication timing charts
    • 3.6.1 Monitor codes
    • 3.6.2 Instruction codes
    • 3.6.3 Remote register-based position/speed setting
  • 3.7 Function-by-function programming examples
    • 3.7.1 System configuration example
    • 3.7.2 Reading the servo amplifier status
    • 3.7.3 Writing the operation commands
    • 3.7.4 Reading the data
    • 3.7.5 Writing the data
    • 3.7.6 Operation
  • 3.8 Continuous operation program example
    • 3.8.1 System configuration example when 1 station is occupied
    • 3.8.2 Program example when 1 station is occupied
    • 3.8.3 System configuration example when 2 stations are occupied
    • 3.8.4 Program example when 2 stations are occupied
• 4. SIGNALS AND WIRING
  • 4.1 Input power supply circuit
  • 4.2 I/O signal connection diagram
  • 4.3 Explanation of power supply system
    • 4.3.1 Signal explanations
    • 4.3.2 Power-on sequence
    • 4.3.3 CNP1, CNP2, CNP3 wiring method
  • 4.4 Connectors and signal arrangements
  • 4.5 Signal (device) explanation
    • 4.5.1 I/O devices
    • 4.5.2 Input signals
    • 4.5.3 Output signals
    • 4.5.4 Power supply
  • 4.6 Detailed description of signals (devices)
    • 4.6.1 Forward rotation start reverse rotation start temporary stop/restart
    • 4.6.2 Movement completion rough match in position
    • 4.6.3 Torque limit
  • 4.7 Alarm occurrence timing chart
  • 4.8 Interface
    • 4.8.1 Internal connection diagram
    • 4.8.2 Detailed description of interfaces
    • 4.8.3 Source I/O interfaces
  • 4.9 Treatment of cable shield external conductor
  • 4.10 Connection of servo amplifier and servo motor
    • 4.10.1 Connection instructions
    • 4.10.2 Power supply cable wiring diagrams
  • 4.11 Servo motor with an electromagnetic brake
    • 4.11.1 Safety precautions
    • 4.11.2 Timing charts
    • 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)
  • 4.12 Grounding
• 5. OPERATION
  • 5.1 Switching power on for the first time
    • 5.1.1 Startup procedure
    • 5.1.2 Wiring check
    • 5.1.3 Surrounding environment
  • 5.2 Startup
    • 5.2.1 Power on and off procedures
    • 5.2.2 Stop
    • 5.2.3 Test operation
    • 5.2.4 Parameter setting
    • 5.2.5 Point table setting
    • 5.2.6 Actual operation
  • 5.3 Servo amplifier display
  • 5.4 Automatic operation mode
    • 5.4.1 What is automatic operation mode?
    • 5.4.2 Automatic operation using point table
    • 5.4.3 Remote register-based position/speed setting
  • 5.5 Manual operation mode
    • 5.5.1 JOG operation
    • 5.5.2 Manual pulse generator
  • 5.6 Manual home position return mode
    • 5.6.1 Outline of home position return
    • 5.6.2 Dog type home position return
    • 5.6.3 Count type home position return
    • 5.6.4 Data setting type home position return
    • 5.6.5 Stopper type home position return
    • 5.6.6 Home position ignorance (servo-on position defined as home position)
    • 5.6.7 Dog type rear end reference home position return
    • 5.6.8 Count type front end reference home position return
    • 5.6.9 Dog cradle type home position return
    • 5.6.10 Dog type first Z-phase reference home position return
    • 5.6.11 Dog type front end reference home position return method
    • 5.6.12 Dogless Z-phase reference home position return method
    • 5.6.13 Home position return automatic return function
    • 5.6.14 Automatic positioning function to the home position
  • 5.7 Roll feed display function in roll feed mode
  • 5.8 Absolute position detection system
• 6. PARAMETERS
  • 6.1 Basic setting parameters (No.PA[ ][ ] )
    • 6.1.1 Parameter list
    • 6.1.2 Parameter write inhibit
    • 6.1.3 Selection of command system
    • 6.1.4 Selection of regenerative option
    • 6.1.5 Using absolute position detection system
    • 6.1.6 Follow-up for absolute value command system in incremental system
    • 6.1.7 Feeding function selection
    • 6.1.8 Electronic gear
    • 6.1.9 Auto tuning
    • 6.1.10 In-position range
    • 6.1.11 Torque limit
    • 6.1.12 Selection of servo motor rotation direction
    • 6.1.13 Encoder output pulse
  • 6.2 Gain/filter parameters (No.PB[ ][ ] )
    • 6.2.1 Parameter list
    • 6.2.2 Detail list
  • 6.3 Extension setting parameters (No.PC[ ][ ] )
    • 6.3.1 Parameter list
    • 6.3.2 Detail list
    • 6.3.3 S-pattern acceleration/deceleration
    • 6.3.4 Alarm history clear
    • 6.3.5 Rough match output
    • 6.3.6 Software limit
  • 6.4 I/O setting parameters (No.PD[ ][ ] )
    • 6.4.1 Parameter list
    • 6.4.2 Detail list
    • 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid
    • 6.4.4 Stopping method when a software limit is detected
• 7. MR Configurator
  • 7.1 Specifications
  • 7.2 System configuration
  • 7.3 Station selection
  • 7.4 Parameters
  • 7.5 Point table
  • 7.6 Device assignment method
  • 7.7 Test operation
    • 7.7.1 Jog operation
    • 7.7.2 Positioning operation
    • 7.7.3 Motor-less operation
    • 7.7.4 Output signal (DO) forced output
    • 7.7.5 Single-step feed
  • 7.8 Alarm
    • 7.8.1 Alarm display
    • 7.8.2 Batch display of data at alarm occurrence
    • 7.8.3 Alarm history
• 8. PARAMETER UNIT (MR-PRU03)
  • 8.1 External appearance and key explanations
  • 8.2 Specifications
  • 8.3 Outline dimension drawings
  • 8.4 Connection with servo amplifier
    • 8.4.1 Single axis
    • 8.4.2 Multidrop connection
  • 8.5 Display
    • 8.5.1 Outline of screen transition
    • 8.5.2 MR-PRU03 parameter unit setting
    • 8.5.3 Monitor mode (status display)
    • 8.5.4 Alarm/diagnostic mode
    • 8.5.5 Parameter mode
    • 8.5.6 Point table mode
    • 8.5.7 Test operation mode
  • 8.6 Error message list
• 9. GENERAL GAIN ADJUSTMENT
  • 9.1 Different adjustment methods
    • 9.1.1 Adjustment on a single servo amplifier
    • 9.1.2 Adjustment using MR Configurator
  • 9.2 Auto tuning
    • 9.2.1 Auto tuning mode
    • 9.2.2 Auto tuning mode operation
    • 9.2.3 Adjustment procedure by auto tuning
    • 9.2.4 Response level setting in auto tuning mode
  • 9.3 Manual mode 1 (simple manual adjustment)
  • 9.4 Interpolation mode
  • 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning
• 10. SPECIAL ADJUSTMENT FUNCTIONS
  • 10.1 Function block diagram
  • 10.2 Adaptive filter II
  • 10.3 Machine resonance suppression filter
  • 10.4 Advanced vibration suppression control
  • 10.5 Low-pass filter
  • 10.6 Gain changing function
    • 10.6.1 Applications
    • 10.6.2 Function block diagram
    • 10.6.3 Parameters
    • 10.6.4 Gain changing operation
• 11. TROUBLESHOOTING
  • 11.1 Trouble at start-up
  • 11.2 Operation at error occurrence
  • 11.3 CC-Link communication error
  • 11.4 When alarm or warning has occurred
    • 11.4.1 Alarms and warning list
    • 11.4.2 Remedies for alarms
    • 11.4.3 Remedies for warnings
  • 11.5 Point table error
• 12. OUTLINE DRAWINGS
  • 12.1 Servo amplifier
  • 12.2 Connector
• 13. CHARACTERISTICS
  • 13.1 Overload protection characteristics
  • 13.2 Power supply equipment capacity and generated loss
  • 13.3 Dynamic brake characteristics
    • 13.3.1 Dynamic brake operation
    • 13.3.2 The dynamic brake at the load inertia moment
  • 13.4 Cable flexing life
  • 13.5 Inrush currents at power-on of main circuit and control circuit
• 14. OPTIONS AND AUXILIARY EQUIPMENT
  • 14.1 Cable/connector sets
    • 14.1.1 Combinations of cable/connector sets
    • 14.1.2 Encoder cable/connector sets
    • 14.1.3 Motor power supply cables
    • 14.1.4 Motor brake cables
  • 14.2 Regenerative options
  • 14.3 FR-BU2-(H) brake unit
    • 14.3.1 Selection
    • 14.3.2 Brake unit parameter setting
    • 14.3.3 Connection example
    • 14.3.4 Outline dimension drawings
  • 14.4 Power regeneration converter
  • 14.5 Power regeneration common converter
  • 14.6 External dynamic brake
  • 14.7 Battery MR-J3BAT
  • 14.8 Heat sink outside mounting attachment (MR-J3ACN)
  • 14.9 Selection example of wires
  • 14.10 No-fuse breakers, fuses, magnetic contactors
  • 14.11 Power factor improving DC reactor
  • 14.12 Power factor improving reactors
  • 14.13 Relays (recommended)
  • 14.14 Surge absorbers (recommended)
  • 14.15 Noise reduction techniques
  • 14.16 Leakage current breaker
  • 14.17 EMC filter (recommended)
  • 14.18 MR-HDP01 manual pulse generator
• 15. COMMUNICATION FUNCTION
  • 15.1 Configuration
  • 15.2 Communication specifications
    • 15.2.1 Communication overview
    • 15.2.2 Parameter setting
  • 15.3 Protocol
    • 15.3.1 Transmission data configuration
    • 15.3.2 Character codes
    • 15.3.3 Error codes
    • 15.3.4 Checksum
    • 15.3.5 Time-out operation
    • 15.3.6 Retry operation
    • 15.3.7 Initialization
    • 15.3.8 Communication procedure example
  • 15.4 Command and data No. list
    • 15.4.1 Read commands
    • 15.4.2 Write commands
  • 15.5 Detailed explanations of commands
    • 15.5.1 Data processing
    • 15.5.2 Status display
    • 15.5.3 Parameters
    • 15.5.4 External I/O signal statuses (DIO diagnosis)
    • 15.5.5 Device ON/OFF
    • 15.5.6 Disable/enable of I/O devices (DIO)
    • 15.5.7 Input devices ON/OFF (test operation)
    • 15.5.8 Test operation mode
    • 15.5.9 Alarm history
    • 15.5.10 Current alarm
    • 15.5.11 Point table
    • 15.5.12 Servo amplifier group designation
    • 15.5.13 Other commands
• 16. INDEXER POSITIONING OPERATION
  • 16.1 Function
    • 16.1.1 Overview
    • 16.1.2 Servo amplifier standard specifications (functions only)
    • 16.1.3 Function list
  • 16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU
    • 16.2.1 I/O signals (I/O devices)
    • 16.2.2 Detailed explanation of I/O signals
    • 16.2.3 Monitor codes
    • 16.2.4 Instruction codes (RWwn+2 RWwn+3)
    • 16.2.5 Respond codes (RWrn+2)
  • 16.3 Signal
    • 16.3.1 Signal (device) explanation
    • 16.3.2 Detailed description of signals (devices)
  • 16.4 Switching power on for the first time
    • 16.4.1 Startup procedure
    • 16.4.2 Wiring check
    • 16.4.3 Surrounding environment
  • 16.5 Startup
    • 16.5.1 Power on and off procedures
    • 16.5.2 Stop
    • 16.5.3 Test operation
    • 16.5.4 Parameter setting
    • 16.5.5 Point table setting
    • 16.5.6 Actual operation
  • 16.6 Servo amplifier display
  • 16.7 Automatic operation mode
    • 16.7.1 What is automatic operation mode?
    • 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)
    • 16.7.3 Automatic operation mode 2 (Shortest rotating indexer)
  • 16.8 Manual operation mode
    • 16.8.1 Indexer JOG operation
    • 16.8.2 JOG operation
  • 16.9 Home position return mode
    • 16.9.1 Outline of home position return
    • 16.9.2 Torque limit changing dog type home position return
    • 16.9.3 Torque limit changing data setting type home position return
    • 16.9.4 Home position return automatic return function
  • 16.10 Absolute position detection system
  • 16.11 Parameters
    • 16.11.1 Basic setting parameters (No.PA[ ][ ] )
    • 16.11.2 Gain/filter parameters (No.PB[ ][ ] )
    • 16.11.3 Extension setting parameters (No.PC[ ][ ] )
    • 16.11.4 I/O setting parameters (No.PD[ ][ ] )
  • 16.12 TROUBLESHOOTING
    • 16.12.1 Trouble at start-up
    • 16.12.2 Operation at error occurrence
    • 16.12.3 CC-Link communication error
    • 16.12.4 When alarm or warning has occurred
    • 16.12.5 Point table error
• APPENDIX
  • App. 1 Parameter list
  • App. 2 Signal layout recording paper
  • App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO)
  • App. 4 Change of connector sets to the RoHS compatible products
  • App. 5 MR-J3-200T-RT servo amplifier
  • App. 6 Selection example of servo motor power cable
  • App. 7 Parameter list
  • App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation)