Инструкции для Mitsubishi Electronics MR-J3

Содержание

• Safety Instructions

  2
• About processing of waste

  7
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  11
• About the manuals

  12
• CONTENTS

  14
• 1. FUNCTIONS AND CONFIGURATION

  22
  • 1.1 Introduction

    22
    • 1.1.1 Features of CC-Link communication functions

      22
    • 1.1.2 Function block diagram

      23
    • 1.1.3 System configuration

      26
  • 1.2 Servo amplifier standard specifications

    28
  • 1.3 Function list

    34
  • 1.4 Model code definition

    36
  • 1.5 Combination with servo motor

    37
  • 1.6 Structure

    38
    • 1.6.1 Parts identification

      38
    • 1.6.2 Removal and reinstallation of the front cover

      44
  • 1.7 Configuration including auxiliary equipment

    47
  • 1.8 Selection of operation method

    55
• 2. INSTALLATION

  58
  • 2.1 Installation direction and clearances

    58
  • 2.2 Keep out foreign materials

    60
  • 2.3 Cable stress

    60
  • 2.4 Inspection items

    61
  • 2.5 Parts having service lives

    61
• 3. CC-LINK COMMUNICATION FUNCTIONS

  62
  • 3.1 Communication specifications

    62
  • 3.2 System configuration

    63
    • 3.2.1 Configuration example

      63
    • 3.2.2 Wiring method

      64
    • 3.2.3 Station number setting

      66
    • 3.2.4 Communication baud rate setting

      67
    • 3.2.5 Occupied station count setting

      67
  • 3.3 Functions

    68
    • 3.3.1 Function block diagram

      68
    • 3.3.2 Functions

      68
  • 3.4 Servo amplifier setting

    69
  • 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU

    70
    • 3.5.1 I/O signals (I/O devices)

      70
    • 3.5.2 Detailed explanation of I/O signals

      73
    • 3.5.3 Monitor codes

      83
    • 3.5.4 Instruction codes (RWwn+2 RWwn+3)

      84
    • 3.5.5 Respond codes (RWrn+2)

      92
    • 3.5.6 Setting the CN6 external input signals

      93
  • 3.6 Data communication timing charts

    95
    • 3.6.1 Monitor codes

      95
    • 3.6.2 Instruction codes

      97
    • 3.6.3 Remote register-based position/speed setting

      99
  • 3.7 Function-by-function programming examples

    102
    • 3.7.1 System configuration example

      102
    • 3.7.2 Reading the servo amplifier status

      105
    • 3.7.3 Writing the operation commands

      106
    • 3.7.4 Reading the data

      107
    • 3.7.5 Writing the data

      110
    • 3.7.6 Operation

      113
  • 3.8 Continuous operation program example

    116
    • 3.8.1 System configuration example when 1 station is occupied

      116
    • 3.8.2 Program example when 1 station is occupied

      117
    • 3.8.3 System configuration example when 2 stations are occupied

      119
    • 3.8.4 Program example when 2 stations are occupied

      120
• 4. SIGNALS AND WIRING

  122
  • 4.1 Input power supply circuit

    123
  • 4.2 I/O signal connection diagram

    131
  • 4.3 Explanation of power supply system

    132
    • 4.3.1 Signal explanations

      132
    • 4.3.2 Power-on sequence

      133
    • 4.3.3 CNP1, CNP2, CNP3 wiring method

      135
  • 4.4 Connectors and signal arrangements

    143
  • 4.5 Signal (device) explanation

    144
    • 4.5.1 I/O devices

      144
    • 4.5.2 Input signals

      147
    • 4.5.3 Output signals

      147
    • 4.5.4 Power supply

      148
  • 4.6 Detailed description of signals (devices)

    148
    • 4.6.1 Forward rotation start reverse rotation start temporary stop/restart

      148
    • 4.6.2 Movement completion rough match in position

      149
    • 4.6.3 Torque limit

      151
  • 4.7 Alarm occurrence timing chart

    152
  • 4.8 Interface

    153
    • 4.8.1 Internal connection diagram

      153
    • 4.8.2 Detailed description of interfaces

      154
    • 4.8.3 Source I/O interfaces

      156
  • 4.9 Treatment of cable shield external conductor

    157
  • 4.10 Connection of servo amplifier and servo motor

    158
    • 4.10.1 Connection instructions

      158
    • 4.10.2 Power supply cable wiring diagrams

      159
  • 4.11 Servo motor with an electromagnetic brake

    169
    • 4.11.1 Safety precautions

      169
    • 4.11.2 Timing charts

      170
    • 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)

      173
  • 4.12 Grounding

    174
• 5. OPERATION

  176
  • 5.1 Switching power on for the first time

    176
    • 5.1.1 Startup procedure

      176
    • 5.1.2 Wiring check

      177
    • 5.1.3 Surrounding environment

      178
  • 5.2 Startup

    179
    • 5.2.1 Power on and off procedures

      179
    • 5.2.2 Stop

      179
    • 5.2.3 Test operation

      180
    • 5.2.4 Parameter setting

      181
    • 5.2.5 Point table setting

      182
    • 5.2.6 Actual operation

      182
  • 5.3 Servo amplifier display

    183
  • 5.4 Automatic operation mode

    185
    • 5.4.1 What is automatic operation mode?

      185
    • 5.4.2 Automatic operation using point table

      187
    • 5.4.3 Remote register-based position/speed setting

      197
  • 5.5 Manual operation mode

    203
    • 5.5.1 JOG operation

      203
    • 5.5.2 Manual pulse generator

      204
  • 5.6 Manual home position return mode

    206
    • 5.6.1 Outline of home position return

      206
    • 5.6.2 Dog type home position return

      209
    • 5.6.3 Count type home position return

      211
    • 5.6.4 Data setting type home position return

      213
    • 5.6.5 Stopper type home position return

      214
    • 5.6.6 Home position ignorance (servo-on position defined as home position)

      216
    • 5.6.7 Dog type rear end reference home position return

      217
    • 5.6.8 Count type front end reference home position return

      219
    • 5.6.9 Dog cradle type home position return

      221
    • 5.6.10 Dog type first Z-phase reference home position return

      223
    • 5.6.11 Dog type front end reference home position return method

      225
    • 5.6.12 Dogless Z-phase reference home position return method

      227
    • 5.6.13 Home position return automatic return function

      229
    • 5.6.14 Automatic positioning function to the home position

      230
  • 5.7 Roll feed display function in roll feed mode

    231
  • 5.8 Absolute position detection system

    232
• 6. PARAMETERS

  236
  • 6.1 Basic setting parameters (No.PA[ ][ ] )

    236
    • 6.1.1 Parameter list

      236
    • 6.1.2 Parameter write inhibit

      237
    • 6.1.3 Selection of command system

      238
    • 6.1.4 Selection of regenerative option

      238
    • 6.1.5 Using absolute position detection system

      239
    • 6.1.6 Follow-up for absolute value command system in incremental system

      239
    • 6.1.7 Feeding function selection

      240
    • 6.1.8 Electronic gear

      241
    • 6.1.9 Auto tuning

      242
    • 6.1.10 In-position range

      243
    • 6.1.11 Torque limit

      244
    • 6.1.12 Selection of servo motor rotation direction

      245
    • 6.1.13 Encoder output pulse

      245
  • 6.2 Gain/filter parameters (No.PB[ ][ ] )

    247
    • 6.2.1 Parameter list

      247
    • 6.2.2 Detail list

      248
  • 6.3 Extension setting parameters (No.PC[ ][ ] )

    255
    • 6.3.1 Parameter list

      255
    • 6.3.2 Detail list

      256
    • 6.3.3 S-pattern acceleration/deceleration

      262
    • 6.3.4 Alarm history clear

      262
    • 6.3.5 Rough match output

      262
    • 6.3.6 Software limit

      263
  • 6.4 I/O setting parameters (No.PD[ ][ ] )

    264
    • 6.4.1 Parameter list

      264
    • 6.4.2 Detail list

      265
    • 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid

      273
    • 6.4.4 Stopping method when a software limit is detected

      274
• 7. MR Configurator

  276
  • 7.1 Specifications

    276
  • 7.2 System configuration

    277
  • 7.3 Station selection

    279
  • 7.4 Parameters

    280
  • 7.5 Point table

    282
  • 7.6 Device assignment method

    284
  • 7.7 Test operation

    288
    • 7.7.1 Jog operation

      288
    • 7.7.2 Positioning operation

      290
    • 7.7.3 Motor-less operation

      293
    • 7.7.4 Output signal (DO) forced output

      294
    • 7.7.5 Single-step feed

      295
  • 7.8 Alarm

    298
    • 7.8.1 Alarm display

      298
    • 7.8.2 Batch display of data at alarm occurrence

      299
    • 7.8.3 Alarm history

      301
• 8. PARAMETER UNIT (MR-PRU03)

  302
  • 8.1 External appearance and key explanations

    303
  • 8.2 Specifications

    304
  • 8.3 Outline dimension drawings

    304
  • 8.4 Connection with servo amplifier

    305
    • 8.4.1 Single axis

      305
    • 8.4.2 Multidrop connection

      306
  • 8.5 Display

    308
    • 8.5.1 Outline of screen transition

      308
    • 8.5.2 MR-PRU03 parameter unit setting

      309
    • 8.5.3 Monitor mode (status display)

      310
    • 8.5.4 Alarm/diagnostic mode

      312
    • 8.5.5 Parameter mode

      314
    • 8.5.6 Point table mode

      315
    • 8.5.7 Test operation mode

      316
  • 8.6 Error message list

    320
• 9. GENERAL GAIN ADJUSTMENT

  322
  • 9.1 Different adjustment methods

    322
    • 9.1.1 Adjustment on a single servo amplifier

      322
    • 9.1.2 Adjustment using MR Configurator

      323
  • 9.2 Auto tuning

    324
    • 9.2.1 Auto tuning mode

      324
    • 9.2.2 Auto tuning mode operation

      325
    • 9.2.3 Adjustment procedure by auto tuning

      326
    • 9.2.4 Response level setting in auto tuning mode

      327
  • 9.3 Manual mode 1 (simple manual adjustment)

    328
  • 9.4 Interpolation mode

    332
  • 9.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning

    333
• 10. SPECIAL ADJUSTMENT FUNCTIONS

  334
  • 10.1 Function block diagram

    334
  • 10.2 Adaptive filter II

    334
  • 10.3 Machine resonance suppression filter

    337
  • 10.4 Advanced vibration suppression control

    339
  • 10.5 Low-pass filter

    343
  • 10.6 Gain changing function

    343
    • 10.6.1 Applications

      343
    • 10.6.2 Function block diagram

      344
    • 10.6.3 Parameters

      345
    • 10.6.4 Gain changing operation

      347
• 11. TROUBLESHOOTING

  350
  • 11.1 Trouble at start-up

    350
  • 11.2 Operation at error occurrence

    351
  • 11.3 CC-Link communication error

    351
  • 11.4 When alarm or warning has occurred

    352
    • 11.4.1 Alarms and warning list

      352
    • 11.4.2 Remedies for alarms

      353
    • 11.4.3 Remedies for warnings

      360
  • 11.5 Point table error

    362
• 12. OUTLINE DRAWINGS

  364
  • 12.1 Servo amplifier

    364
  • 12.2 Connector

    373
• 13. CHARACTERISTICS

  376
  • 13.1 Overload protection characteristics

    376
  • 13.2 Power supply equipment capacity and generated loss

    378
  • 13.3 Dynamic brake characteristics

    381
    • 13.3.1 Dynamic brake operation

      381
    • 13.3.2 The dynamic brake at the load inertia moment

      384
  • 13.4 Cable flexing life

    385
  • 13.5 Inrush currents at power-on of main circuit and control circuit

    385
• 14. OPTIONS AND AUXILIARY EQUIPMENT

  386
  • 14.1 Cable/connector sets

    386
    • 14.1.1 Combinations of cable/connector sets

      387
    • 14.1.2 Encoder cable/connector sets

      393
    • 14.1.3 Motor power supply cables

      402
    • 14.1.4 Motor brake cables

      403
  • 14.2 Regenerative options

    404
  • 14.3 FR-BU2-(H) brake unit

    417
    • 14.3.1 Selection

      418
    • 14.3.2 Brake unit parameter setting

      418
    • 14.3.3 Connection example

      419
    • 14.3.4 Outline dimension drawings

      426
  • 14.4 Power regeneration converter

    428
  • 14.5 Power regeneration common converter

    431
  • 14.6 External dynamic brake

    439
  • 14.7 Battery MR-J3BAT

    444
  • 14.8 Heat sink outside mounting attachment (MR-J3ACN)

    445
  • 14.9 Selection example of wires

    447
  • 14.10 No-fuse breakers, fuses, magnetic contactors

    453
  • 14.11 Power factor improving DC reactor

    454
  • 14.12 Power factor improving reactors

    456
  • 14.13 Relays (recommended)

    458
  • 14.14 Surge absorbers (recommended)

    458
  • 14.15 Noise reduction techniques

    459
  • 14.16 Leakage current breaker

    466
  • 14.17 EMC filter (recommended)

    468
  • 14.18 MR-HDP01 manual pulse generator

    473
• 15. COMMUNICATION FUNCTION

  476
  • 15.1 Configuration

    476
  • 15.2 Communication specifications

    478
    • 15.2.1 Communication overview

      478
    • 15.2.2 Parameter setting

      479
  • 15.3 Protocol

    480
    • 15.3.1 Transmission data configuration

      480
    • 15.3.2 Character codes

      481
    • 15.3.3 Error codes

      482
    • 15.3.4 Checksum

      482
    • 15.3.5 Time-out operation

      483
    • 15.3.6 Retry operation

      483
    • 15.3.7 Initialization

      484
    • 15.3.8 Communication procedure example

      484
  • 15.4 Command and data No. list

    485
    • 15.4.1 Read commands

      485
    • 15.4.2 Write commands

      489
  • 15.5 Detailed explanations of commands

    492
    • 15.5.1 Data processing

      492
    • 15.5.2 Status display

      494
    • 15.5.3 Parameters

      495
    • 15.5.4 External I/O signal statuses (DIO diagnosis)

      498
    • 15.5.5 Device ON/OFF

      503
    • 15.5.6 Disable/enable of I/O devices (DIO)

      504
    • 15.5.7 Input devices ON/OFF (test operation)

      505
    • 15.5.8 Test operation mode

      506
    • 15.5.9 Alarm history

      512
    • 15.5.10 Current alarm

      513
    • 15.5.11 Point table

      514
    • 15.5.12 Servo amplifier group designation

      520
    • 15.5.13 Other commands

      521
• 16. INDEXER POSITIONING OPERATION

  522
  • 16.1 Function

    522
    • 16.1.1 Overview

      522
    • 16.1.2 Servo amplifier standard specifications (functions only)

      522
    • 16.1.3 Function list

      523
  • 16.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU

    524
    • 16.2.1 I/O signals (I/O devices)

      524
    • 16.2.2 Detailed explanation of I/O signals

      526
    • 16.2.3 Monitor codes

      535
    • 16.2.4 Instruction codes (RWwn+2 RWwn+3)

      536
    • 16.2.5 Respond codes (RWrn+2)

      543
  • 16.3 Signal

    544
    • 16.3.1 Signal (device) explanation

      544
    • 16.3.2 Detailed description of signals (devices)

      547
  • 16.4 Switching power on for the first time

    550
    • 16.4.1 Startup procedure

      550
    • 16.4.2 Wiring check

      551
    • 16.4.3 Surrounding environment

      552
  • 16.5 Startup

    553
    • 16.5.1 Power on and off procedures

      553
    • 16.5.2 Stop

      553
    • 16.5.3 Test operation

      554
    • 16.5.4 Parameter setting

      555
    • 16.5.5 Point table setting

      556
    • 16.5.6 Actual operation

      556
  • 16.6 Servo amplifier display

    557
  • 16.7 Automatic operation mode

    559
    • 16.7.1 What is automatic operation mode?

      559
    • 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)

      560
    • 16.7.3 Automatic operation mode 2 (Shortest rotating indexer)

      570
  • 16.8 Manual operation mode

    579
    • 16.8.1 Indexer JOG operation

      579
    • 16.8.2 JOG operation

      581
  • 16.9 Home position return mode

    582
    • 16.9.1 Outline of home position return

      582
    • 16.9.2 Torque limit changing dog type home position return

      584
    • 16.9.3 Torque limit changing data setting type home position return

      586
    • 16.9.4 Home position return automatic return function

      587
  • 16.10 Absolute position detection system

    588
  • 16.11 Parameters

    591
    • 16.11.1 Basic setting parameters (No.PA[ ][ ] )

      591
    • 16.11.2 Gain/filter parameters (No.PB[ ][ ] )

      600
    • 16.11.3 Extension setting parameters (No.PC[ ][ ] )

      608
    • 16.11.4 I/O setting parameters (No.PD[ ][ ] )

      614
  • 16.12 TROUBLESHOOTING

    619
    • 16.12.1 Trouble at start-up

      619
    • 16.12.2 Operation at error occurrence

      620
    • 16.12.3 CC-Link communication error

      620
    • 16.12.4 When alarm or warning has occurred

      621
    • 16.12.5 Point table error

      633
• APPENDIX

  634
  • App. 1 Parameter list

    634
  • App. 2 Signal layout recording paper

    636
  • App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO)

    637
  • App. 4 Change of connector sets to the RoHS compatible products

    638
  • App. 5 MR-J3-200T-RT servo amplifier

    639
  • App. 6 Selection example of servo motor power cable

    643
  • App. 7 Parameter list

    644
  • App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation)

    646