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J3 Series MR-J3- T Servo Amplifier Instruction Manual (CC-Link)
E
General-Purpose AC Servo
J3 Series
Built-in Positioning Function
MODEL
MR-J3- T
SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link)
MODEL
MODEL
CODE
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
E
This Instruction Manual uses recycled paper.
SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice.
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instruct
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1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground. Any person who is
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4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. I
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(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal
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(4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the
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(7) General instruction To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual. About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, ple
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carr
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(2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. Control box Reinforced insulating type 24VDC power No-fuse Magnetic supply Servo breaker contactor motor Servo amplifier M MC NFB (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) P
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(6) Wiring (a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. Crimping terminal Insulating tube Cable (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 14.1) (7) Auxiliary equipment and options (a) The no-fuse breaker a
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CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 Servo motor :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi. (2) Installation 3 Install a fa
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(5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2). (7) About wiring protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation
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MEMO A - 12
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -36 1.1 Introduction............................................................................................................................................... 1 - 1 1.1.1 Features of CC-Link communication functions ................................................................................ 1 - 1 1.1.2 Function block diagram..........................................................................................................
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3.6.3 Remote register-based position/speed setting................................................................................3 -38 3.7 Function-by-function programming examples........................................................................................3 -41 3.7.1 System configuration example.........................................................................................................3 -41 3.7.2 Reading the servo amplifier status ....................................
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5. OPERATION 5 - 1 to 5 -60 5.1 Switching power on for the first time ....................................................................................................... 5 - 1 5.1.1 Startup procedure.............................................................................................................................. 5 - 1 5.1.2 Wiring check ...................................................................................................................................... 5 - 2
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6.1.8 Electronic gear................................................................................................................................... 6 - 6 6.1.9 Auto tuning ........................................................................................................................................ 6 - 7 6.1.10 In-position range.............................................................................................................................. 6 - 8 6.1.11 Torque limit.
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8.5 Display...................................................................................................................................................... 8 - 7 8.5.1 Outline of screen transition ............................................................................................................... 8 - 7 8.5.2 MR-PRU03 parameter unit setting ................................................................................................... 8 - 8 8.5.3 Monitor mode (status displ
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12. OUTLINE DRAWINGS 12- 1 to 12-12 12.1 Servo amplifier ......................................................................................................................................12- 1 12.2 Connector.............................................................................................................................................12-10 13. CHARACTERISTICS 13- 1 to 13-10 13.1 Overload protection characteristics ..............................................................
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15.3 Protocol .................................................................................................................................................15- 5 15.3.1 Transmission data configuration....................................................................................................15- 5 15.3.2 Character codes.............................................................................................................................15- 6 15.3.3 Error codes.................
