Mitsubishi Electronics MR-J3, MR-J3- T specifications

SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

J3 Series MR-J3- T Servo Amplifier Instruction Manual (CC-Link) E

General-Purpose AC Servo

MODEL

MR-J3- T

SERVO AMPLIFIER

INSTRUCTION MANUAL

(CC-Link)

Built-in Positioning Function

J3 Series

E

Contents

Main MR-J3- T J3 E Safety Instructions 1. To prevent electric shock, note the following WARNING 2. To prevent fire, note the following CAUTION 3. To prevent injury, note the follow CAUTION 4. Additional instructions (1) Transportation and installation (2) Wiring (3) Test run adjustment (4) Usage (5) Corrective actions (6) Maintenance, inspection and parts replacement (7) General instruction About processing of waste Precautions for Choosing the Products COMPLIANCE WITH EC DIRECTIVES Page Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Page Page Page Page Page 1. FUNCTIONS AND CONFIGURATION 1 - 2 1 - 3 (2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) 1 - 4 (3) MR-J3-11KT(4) to 22KT(4) Page Page 1 - 7 1.2 Servo amplifier standard specifications (1) 200V class, 100V class 1 - 8 Page 1 - 10 (2) 400V class 1 - 11 Page 1 - 13 Page 1 - 15 1.4 Model code definition (1) Rating plate MITSUBISHI MODEL MR-J3-10T AC SERVO Page 1 - 17 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T or less 1 - 18 (2) MR-J3-200T(4) or less 1 - 19 (3) MR-J3-350T 1 - 20 1 - 21 1 - 22 Page Page Page Page 1 - 27 (b) For 1-phase 100V to 120VAC 1 - 28 (2) MR-J3-60T4 MR-J3-100T4 1 - 29 (3) MR-J3-200T(4) 1 - 30 (4) MR-J3-350T 1 - 31 (5) MR-J3-350T4 MR-J3-500T(4) 1 - 32 (6) MR-J3-700T(4) 1 - 33 (7) MR-J3-11KT(4) to MR-J3-22KT(4) Page 1 - 35 Page 2. INSTALLATION Page Page Page 3. CC-LINK COMMUNICATION FUNCTIONS Page Page Page Page Page Page CC-Link operation mode Test operation mode Page 3 - 10 (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Note. "n" depends on the station number setting. Page Page 3 - 13 3 - 14 3 - 15 3 - 16 3 - 17 3 - 18 3 - 19 3 - 20 Page Page Page 3 - 24 3 - 25 3 - 26 3 - 27 3 - 28 3 - 29 3 - 30 Page Page 3 - 33 Page Page Page Page Page Page Page Page Page 3 - 43 3 - 44 3 - 45 Page Page Page Page Page Page Page Page Page Page Page 3 - 57 Page Page 3 - 60 4. SIGNALS AND WIRING Page 4 - 3 (2) For 1-phase 200 to 230VAC power supply to M R-J3-10T to MR-J3-70T 4 - 4 (3) MR-J3-10T1 to MR-J3-40T1 4 - 5 (4) MR-J3-60T4 to MR-J3-200T4 4 - 6 (5) MR-J3-500T MR-J3-700T 4 - 7 (6) MR-J3-350T4 to MR-J3-700T4 4 - 8 (7) MR-J3-11KT to MR-J3-22KT 4 - 9 (8) MR-J3-11KT4 to MR-J3-22KT4 4 - 10 4.2 I/O signal connection diagram + 4 - 11 Page 4. SIGNALS AND WIRING CAUTION Page Page Page Page Page Page Page Page 4 - 22 Page Page Page 4 - 26 4.5.2 Input signals Page Page Page 4. SIGNALS AND WIRING CAUTION Page 4 - 32 4.8 Interface 4.8.1 Internal connection diagram Page Page Page Page 4. SIGNALS AND WIRING WARNING CAUTION WARNING 4 - 38 Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Page 4 - 40 2) When the power supply connector and the electr omagnetic brake connector are shared. 4 - 41 4 - 42 4 - 43 2) 400V class 4 - 44 (b) Servo motor terminals Terminal box inside (HA-LP601(4) 701M(4) 11K2(4)) Page Page 4 - 47 Page 4 - 49 (2) Forced stop (EMG) ON/OFF 4 - 50 (3) Alarm occurrence Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 4 - 51 (5) Only main circuit power supply off (contro l circuit power supply remains on) Page Page Page 5. OPERATION 5. OPERATION WARNING CAUTION Page Page Page Page Page Page Page 5 - 9 (2) Indication list Page 5 - 11 Page Page Page Page 5 - 16 (3) Automatic operation timing chart The timing chart is shown below. Page Page Page Page Page Page 5 - 23 Page 5 - 25 Page 5 - 27 Page Page Page Page 5 - 32 Page Page Page Page 5 - 37 (2) Timing chart Page Page 5 - 40 (2) Timing chart Page Page Page Page Page Page 5 - 47 (2) Timing chart Page 5 - 49 (2) Timing chart Page Page Page Page Page Page Page Page Page Page Page 6. PARAMETERS 6. PARAMETERS CAUTION Page Page Page Page 6. PARAMETERS CAUTION Page Page Page Page 4 6 - 12 6.2 Gain/filter parameters (No.PB ) 6.2.1 Parameter list Page 6 - 14 6 - 15 6 - 16 6 - 17 00 0 6 - 18 6 - 19 6 - 20 6.3 Extension setting parameters (No.PC ) 6.3.1 Parameter list 6 - 21 6.3.2 Detail list 6 - 22 6 - 23 6 - 24 6 - 25 6 - 26 Page Page 6 - 29 6.4 I/O setting parameters (No.PD ) 6.4.1 Parameter list 6 - 30 6.4.2 Detail list 6 - 31 6 - 32 6 - 33 6 - 34 6 - 35 6 - 36 6 - 37 6 - 38 6 - 39 Page 7. MR Confi g urato r 7 - 2 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 789 8 - 2 456 123 0 0 9 Page Page Page 8 - 6 (2) Cable internal wiring diagram Wire the cables as shown below. Page Page Page 8 - 10 Page Page Page 8 - 14 8.5.6 Point table mode The flowchart below shows the procedure for sett ing point table data. Note. This applies to all types of data. Page Page Page Page Page Page 9 GENERAL GAIN ADJUSTMENT 9 - 2 (2) Adjustment sequence and mode usage Page Page Page Page Page Page Page Page Droop pulse value (pulse) 262144(pulse) Rotation speed (r/min) 60 Model loop gain setting Page 10. SPECIAL ADJUSTMENT FUNCTIONS Page 10 - 3 (3) Adaptive tuning mode procedure Page Page Page 10 - 7 (3) Vibration suppression control tuning mode procedure Page Page Page 10 - 11 10 - 12 Page Page Page Page 11 - 1 11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up CAUTION Page 11 - 3 Page 11 - 5 11 - 6 11 - 7 11 - 8 11 - 9 11 - 10 11. TROUBLESHOOTING CAUTION 11 - 12 11 - 13 Page 12 - 1 12. OUTLINE DRAWINGS Mounting hole process drawing 6 mounting hole With MR-J3BAT 4 12 - 2 (2) MR-J3-40T MR-J3-60T MR-J3-40T1 6 2-M5 screw 12 - 3 (3) MR-J3-70T MR-J3-100T Approx. 12 3-M5 screw 12 - 4 (4) MR-J3-60T4 MR-J3-100T4 Rating plate Page 12 - 6 (6) MR-J3-350T [Unit: mm] 12 - 7 (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] 12 - 8 (8) MR-J3-700T(4) [Unit: mm] 12 - 9 (9) MR-J3-11KT(4) to 22KT(4) 236 0.5 Page Page Page 13. CHARACTERISTICS 13. CHARACTERISTICS Page Page 13 - 4 Page Page 13 - 7 0 100 13 - 8 HA-LP1500r/min series HA-LP2000r/min series Page Page 14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 14 - 2 14.1.1 Combinations of cable/connector sets Note. Connectors for 3.5kW or less For 5kW or more, terminal blocks 14 - 3 14 - 4 14 - 5 14 - 6 14 - 7 14 - 8 (a) Connection of servo amplifier and servo m otor Page 14 - 10 (a) Connection of servo amplifier and servo m otor 14 - 11 (b) Internal wiring diagram 9 Page 14 - 13 (a) Connection of servo amplifier and servo m otor View seen from wiring side. 14 - 14 (a) Connection of servo amplifier and servo m otor 14 - 15 (b) Internal wiring diagram Parts/Tool Description MR- J3SCNS (Option) Page 14 - 17 (1) Connection of servo amplifier and servo m otor Page 14 - 19 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Regenerative options CAUTION 14 - 20 6) 2) Page Page Page Page Page Page Page Page 14 - 29 (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 (c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4 14 - 30 (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 Page Page Page 14 - 34 Page 14 - 36 14 - 37 (2) Combination with MT-BR5-(H) resistor unit Page Page Page Page 14 - 42 (2) FR-BR- (H) resistor unit (3) MT-BR5- (H) resistor unit Page 14 - 44 (2) Connection example Page Page Page 14 - 48 (3) Connection diagram (a) 200V class (Note 1) 14 - 49 (b) 400V class MC Page 14 - 51 Page 14 - 53 (6) Specifications Page 14 - 55 (2) Connection example 14 - 56 14 - 57 (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K Page Page Page Page Page 14 - 63 Use wires 8) of the following sizes with the power r egeneration converter (FR-RC-(H)). 14 - 64 Page 14 - 66 Note 1. d is as shown below. d Conductor Insulation sheath Page Page Page 14 - 70 14 - 71 14 - 72 Page Page 14 - 75 Page Page Page 14 - 79 Connection diagram Outline drawing [Unit: mm] FR-BSF01 (for wire size 3.5mm2 (AWG12) or less) FR-BLF(for wire size 5.5mm2 (AWG10) or more) Page Page Page Page Page Page Page Page Page Page Page 15. COMMUNICATION FUNCTION 15 - 2 (b) Cable connection diagram Wire the cables as shown below. Page Page Page Page Page Page Page Page 15 - 11 (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) (3) External I/O signals (Command [1][2]) 15 - 12 (4) Alarm history (Command [3][3]) (5) Current alarm (Command [0][2], [3][5]) Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 15 - 30 Page 15 - 32 15 - 33 Page 15 - 35 Page Page Page Page Page Page Page Page Page 0 0 0 0 Page 16. INDEXER POSITIONING OPERATION 16 - 2 Page 16 - 4 (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Note. "n" depends on the station number setting. Page 16 - 6 16 - 7 16 - 8 16 - 9 16 - 10 16 - 11 16 - 12 Page Page Page 16 - 16 16 - 17 16 - 18 16 - 19 16 - 20 16 - 21 Page Page Page 16 - 25 (4) Power supply Page Page 16. INDEXER POSITIONING OPERATION CAUTION 16. INDEXER POSITIONING OPERATION WARNING CAUTION Page Page Page Page Page Page Page 16 - 37 (2) Indication list Page Page 16 - 40 2) Setting the number of stations Set the number of stations in the parameter No.PC46. Page 16 - 42 Page Page 16 - 45 Page 16 - 47 2) When directly setting the servo motor speed Page Page Page 16 - 51 Page Page 16 - 54 Page 16 - 56 2) When directly setting the servo motor speed ( only when 2 stations are occupied) Page Page Page Page Page Page CMX L160 V 2 16 - 64 (3) Timing chart Page Page Page Page Page 16. INDEXER POSITIONING OPERATION CAUTION Page Page 16. INDEXER POSITIONING OPERATION CAUTION Page Page Page Page 4 16 - 79 16.11.2 Gain/filter parameters (No.PB ) (1) Parameter list Page 16 - 81 16 - 82 16 - 83 16 - 84 00 0 16 - 85 16 - 86 16 - 87 16.11.3 Extension setting parameters (No.PC ) (1) Parameter list 16 - 88 (2) Detail list 16 - 89 16 - 90 16 - 91 Page 16 - 93 16.11.4 I/O setting parameters (No.PD ) (1) Parameter list 16 - 94 (2) Detail list 16 - 95 16 - 96 00 0 16 - 97 16 - 98 16. INDEXER POSITIONING OPERATION 16.12 TROUBLESHOOTING 16.12.1 Trouble at start-up CAUTION Page 16 - 100 Page 16 - 102 16 - 103 16 - 104 16 - 105 16 - 106 16 - 107 16. INDEXER POSITIONING OPERATION CAUTION 16 - 109 16 - 110 16 - 111 Page App. - 1 A PPENDIX App. 1 Parameter list App. - 2 App. - 3 App. 2 Signal layout recording paper App. - 4 App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) App. - 5 App. 4 Change of connector sets to the RoHS compatible products App. - 6 App. 5 MR-J3-200T-RT servo amplifier App. - 7 Page App. - 9 App. 5.4 OUTLINE DRAWINGS (Chapter 12 OUTLINE DRAWINGS) [Unit: mm] App. 6 Selection example of servo motor power cable App. - 11 App. 7 Parameter list App. - 12 App. - 14 App. - 15 Page Page Page Page Page Page Page Page Page Page Page App. - 27 Page Page App. - 30 REVISIONS *The manual number is given on the bottom left of the back cover. Page Page Page MR-J3- T J3 E