Melco MR-J3-T User Manual

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MIT

SUBIS

MR-J3-T

Ser vo Amplifier

Quick Start Manual

HI ELECTRI

Art. No.: xxxxxx 21122007 Version A

MR-J3-T Servo Amplifier

With Point Table Positioning

(Point-to-Point Positioning)

MITSUBISHI ELECTRI

INDUSTRIAL AUTOMATION

About This Manual

If you have any questions about programming or operating the equipment

described in this manual please don’t hesitate to contact your dealer or

one of our official distributors (see back cover).

You can find up-to-date information and answers to frequently-asked

questions on our website (www.mitsubishi-automation.com).

MITSUBISHI ELECTRIC EUROPE B.V. reserves the right to make

technical changes to the products or this manual at any time without prior

notice.

MITSUBISHI ELECTRIC EUROPE B.V.

MR-J3-T Servo Amplifier with Integrated Point Table Positioning

Version Changes / Additions / Corrections

A 10/2007 pdp First Edition

Quick Start Manual

Art. No.: xxxxxx

This Quick Start Manual for the servo amplifiers of the MR-J3-T series with point table positio ning isdesignedtoenableyoutogetyoursysteminstalledand configured for use as quickly as possible.Please notethat this guide only coversthe basic functionswith theinstructions neces sary to use these functions. Complete descriptions of all the supported functions and all availa ble extensions can be found in the instruction manuals.

Please also note that the servo amplifiers of the MR-J3-T series include the following additional major functions that are not covered in this Quick Start Manual:

쎲 Communication via a serial port for controlling point table positioning 쎲 Positioning control in BCD format with the optional MR-DS60 digital switch 쎲 Amplifier c ontroller circuit settings and auto-tuning functions

Safety Instructions

Toensuresafeandproper installationoftheequipmentplease also observetheinstructionsand safety precautions in the instruction manuals supplied for your hardware.

Notes in this Quick Start Manual:

NOTE Tips and useful information.

Additional documentation:

쎲 MR-J3-T Instruction Manual (SH(NA030061-A) 쎲 MR-J3-T Instruction Manual for CC-Link (SH(NA030058-B) 쎲 Instruction Manual for the CC-Link Master Module:

– QJ61BT11N – A1SJ61BT11 – A1SJ61QBT11 – FX2N-16CCL-M

MR-J3-T i

Contents

1 Introduction

1.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

2 Installing the Equipment

2.1 Installing the MR-J3-D01 Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

3 First Functional Test

3.1 Minimum Connections for the Functional Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5

3.1.1 Connector pin assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6

3.2 Functional Test Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7

3.3 Configuring Positioning Point Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9

3.4 Functional Test with MR Configurator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

3.4.1 Selecting point table position entries . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

4 Positioning with Digital Inputs

4.1 Additional Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11

4.2 Turning off Automatic Input Signal Activation . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14

4.3 Home Position Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15

4.3.1 Dogless Z-phase reference mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-15

4.3.2 Dog mode home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-19

4.4 Configuration for Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23

4.4.1 Importing and exporting point tables. . . . . . . . . . . . . . . . . . . . . . . . . . .4-26

4.5 Functional Test of Digital Input Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28

5 Positioning via a CC-Link Network

5.1 Additional Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31

5.2 CC-Link Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33

5.2.1 Settings on the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33

5.2.2 Configuration for communication with GX IEC Developer . . . . . . . . . .5-35

5.3 Testing the Servo Amplifier via CC-Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37

A Appendix

A.1 Digital Signals − Quick Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-39

A.2 Standard Parameters − Quick Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-40

A.3 Alarms and Warning Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-41

ii MITSUBISHI ELECTRIC

Introduction Preparations

1 Introduction

The servo amplifiers of the MR-J3-T series are designed specifically for drive positioning appli cations using point-to-point positioning without interpolation or trajectory control. The positions tobeaccessedstored in atableandcanbe selected cyclically,individuallyor in any orderwith:

쎲 Digital signals 쎲 CC-Link communication

The MR Configurator setup software package enables the user to test the entered positioning steps quickly and easily in test mode.

1. 1 Preparations

The following products and parts are needed for using the point table positioning features described in this manual:

쎲 A servo amplifier, for example MR-J3-10T 쎲 A servo motor compatible with the selected amplifier

Example: HF-KP13 motor for the MR-J3-10T servo amplifier

쎲 MRZJW3-SETUP221E Version C0 of the MR Configurator setup software package 쎲 MR-J3USBCBL3MUSBcableforconnectingyourPC/notebookwiththeservoamplifier 쎲 MR-PWS1CBL M-A1-L motor connection cable

쎲 MR-J3ENCBL M-A2-L rotary encoder cable 쎲 MR-J2CMP2 connector for CN6 I/O signal connector 쎲 Power supply cables conforming to the applicable installation regulations 쎲 Connection cables for the control terminals

Required for positioning control with digital signals:

쎲 MR-J3CN1 connector for communication connector CN10 쎲 Optional MR-J3-D01 expansion card

Useful but not absolutely necessary:

쎲 Simulation Box and terminal block with connection cable for testing:

FX Simulation Box (Art. No.3386) MR-TB50 ter minal block for CN10 (MR-J3-D01) MR-J2M-CN1TBL•M c able for connecting CN10 to MR-TB50

MR-J3-T 1-1

Preparations Introduction

Required for positioning control via a CC-Link network:

Q-Rack with PLC and the CC-Link module QJ61BT11N

쎲

or A–RackwithPLCandCC-LinkmoduleA1SJ61BT11,A1SJ61QBT11orFX2N-16CCL-M

CC-Link cable compatible with version V1.10 Standard

쎲

쎲 Cable for connecting the PC/notebook to the PLC CPU:

Q ser ies: SC-Q QC30R2 A and FX series: SC-09

쎲 The GX IEC Developer programming software package for configuration of the data com-

munications settings

NOTE This Quick Star t Manual describes theinstallation and setup of a typical servo system con-

sisting of an MR-J3-10T servoamplifier (single-phase, 230V / 100W) and an HF-KP13 servo motor. Note that the specifications of this sample system may differ from those of your configuration–pleasecheckyourequipment’sinstr uction manualsfordetails ifnecessary.

1-2 MITSUBISHI ELECTRIC

Installing the Equipment Installing the MR-J3-D01 Extension

2 Installing the Equipment

The procedure for the physical installation of the MR-J3-T series hardware is exactly the same as for the MR-J3-A and MR-J3-B models. The dimensions of the MR-J3-T series amplifiers are identical to those of the matching models of the MR-J3-A and MR-J3-B series.

NOTE Please consult the instruction manual for detailed installation instructions.

2. 1 Installing the MR-J3-D01 Extension

Procedure:

햲

Remove the cover of the CN7 connector on the r ight side of the MR-J3-T housing.

Upper mounting point 2

Cover forCN7

connector

Lower mounting point 2

Upper mounting point 1

Lower mounting point 1

Fig. 2-1: Fixing points of the extension MR-J3-D01

햳

PositiontheMR-J3-D01 extension over theupper and lowermounting points 1 on the ser voamplifier,then press theextensionintoplace so thatthelugs click into positioninthe upperand lowermounting points 2.This also connects the extensionto theamplifier via connector CN7 on the amplifier.

햴

Fasten the extension securely to the servo amplifier with the M4 screw (included) as showninFig.2-2.

MR-J3-T 2-3

Installing the MR-J3-D01 Extension Installing the Equipment

Fig. 2-2: Fastening screw dimensions for extension MR-J3-D01

NOTE Touninstall the extensionperform the above steps in the reverseorder.To release the retai-

ning clips press the retaining tabs marked “Push” inwards and pull the extension out to the side.

2-4 MITSUBISHI ELECTRIC

First Functional Test MinimumConnections for the Functional Check

3 First Functional Test

Thewiring diagram below (Fig. 3-1)shows theminimum connectionsthat youmust maketo test an MR-J3-T series amplifier with the MR Configurator setup software. In test mode you can check whether all the components are working properly.

NOTE You can also use the optional MR-PRU-03 HMI control terminal for performing initial tests

andsettingthe amplifier’sparameters.Forfur ther detailssee the MR-J3-Tseries instruction manual.

3.1 Minimum Connections for the Functional Check

Servo motor

1-phase

200–230V AC

Motor

Fig. 3-1: Wir ing diagram for minimum configuration without control ter minals

MR-J3-T 3-5

Minimum Connections for the Functional Check First Functional Test

3.1.1 Connector pin assignments

Power terminals

Connector CN2

USB port

Servo amplifier MR-J3-첸T

I/O extension MR-J3-D01

Fig. 3-2: Power and control connector pin assignments for minimum c onfiguration

3-6 MITSUBISHI ELECTRIC

First Functional Test Functional Test Settings

3. 2 Functional Test Settings

The following input signals are required to activate the servo amplifier’s motor output:

EMG -> Force stop (safety signal)

쎲

쎲 SON -> Ser vo ON 쎲 LSP -> Forward rotation stroke end (limit switch) 쎲 LSN -> Reverse rotation stroke end (limit switch)

You can configure the servo amplifier to activate these signals automatically when the power is switched on:

Procedure:

햲

Connect the PC / notebook to the servo amplifier’s USB port (CN5) with the MR-J3USBCBL3M cable.

햳

Start MR Configurator on the computer and make the following settings:

– Select the MR-J3-T series servo amplifier:

Fig. 3-3: Selecting the servo amplifier







MR-J3-T 3-7

Functional Test Settings First Functional Test

Set the parameter for the automatic activation of the EMG, SON and LSP/LSN input

–

signals:

Parameter PD01 “Input signal automatic ON selection 1” = 1C04







Fig. 3-4: Parameter settings for automatic input signal activation.

– Turn the servoamplifier off and then tur n it on again to initialise the newparameter set-

ting.

3-8 MITSUBISHI ELECTRIC

First Functional Test Configuring Positioning Point Tables

3. 3 Configuring Positioning Point Tables

The position values, travel speeds and acceleration and deceleration times are stored in tables known as “point tables”. We will now go through the steps required to configure and define a point table.

Procedure:

햲

Select the

햳

Enterthevalues for the movements(position,speed,acceleration anddecelerationtimes) in the

– Enter target position (a) in µm x 10 – Enter speed (b) in rpm. – Enteracceleration/decelerationtimes(c) and (d)inms as requiredforthemotor’srated

speed.

Point Table

Point Table List

option from the

window, using one line for each movement:

Point-data

STM

menu.

(STM: e in diagram).

햴

Save the entries by clicking on the

Write All

button.

b c d



{

Fig. 3-5: Point table positioning entries in the point table list window





Make sure that the ensure that selecting a position value in the table does not inadvertently activate any subsequent table entries.

NOTES Inthe factorydefault settings the absolutevalue commandsystem forthe targetpositions is

activatedwith parameter PA01 “*STY”.When this system is active all target position values arereferred to the physical homeposition.Alter natively you can also select the incremental value command system. The absolute position detection system for the home return function can be set with parameter PA03 “*ABS” (see chapter 4.3).

Loading the factory defaults will not overwrite your point table entries.

MR-J3-T 3-9

Aux. Func.

value in every line is left at the default factory setting (“0”) to

Functional Test with MR Configurator First Functional Test

3. 4 Functional Test with MR Configurator

UsingMRConfigurator you canperform a basictestof the individualpositioningsteps andmake adjustmentsfor your application. Note that setting parameter PA14 does not have any effect on the rotation direction in jog mode when using MR Configurator. The rotation directions are defined as follows, looking at the end of the drive shaft (i.e. towards the motor):

쎲 FORWARD -> anticlockwise 쎲 REVERSE -> clockwise

NOTES Homeposition return is not possible intest modewhen usingMR Configurator– usethe jog

function to move to the starting position.

You can set the rotation direction in “single-step feed mode” with parameter PA14.

3.4.1 Selecting point table position entries

Procedure:

햲

Select Single-step Feed  in the

햳

To select a position enter its point table line number in the d ialog box displayed .

햴

Start the positioning operation .

Test

menu.







Fig. 3-6: Single-step Feed window for testing individual positioning steps

3-10 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Additional Connections

4 Positioning with Digital Inputs

Thischapterdescribes howpointtable positioning isusedin mostapplicationswith the MR-J3-T series amplifiers and the MR-J3-D01 I/O extension.

NOTE Pleaserefertothe instructionmanual if youneedother functionsother than thosedescribed

here for your application.

4. 1 Additional Connections

Theinitial functional tests described in chapter 3.1 were performed with a minimumconnection configuration. For the full range of standard functions you now need to make additional power supplyand controlterminal connectionson theCN6 andCN10 terminal blocks, as shown below in Figs. 4-1 and 4-2.

1-phase

200–230V AC

EMG. OFF

24V DC

24V DC ± 10 % 800 mA

OFF

Servo amplifier

Encoder cable

24V DC

24V DC ±10% 150mA

Servo motor

Motor

Encoder

Alarm

Servo ON

Fig. 4-1: Single-phase power connections for the MR-J3-T amplifier

MR-J3-T 4-11

Additional Connections Positioning with Digital Inputs

Connector CN6 Connector CN10 CN10 pin assignments

1 DI0 2 DI1 3 DI2 4 DI3 5 DI4 6 DI5 7 DI6 8 DI7 13 DICOM 14 DICOM 21 SON 22 ACD0 23 ACD1 24 ACD2 25 ACD3 26 RES 32 MD0 35 ST1 36 ST2 37 DOCOM 49 INP

Fig. 4-2: Pin assignments of connectors CN6 and CN10

4-12 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Additional Connections

24V DC ±10%

햲

150mA

EMG. OFF

Proximity dog Forward stroke end Reverse stroke end

24V DC ±10%

햲

800mA

Point table

selection

SERVO ON

RESET

24V DC

max. 10m

MR-J3USBCBL3M

(Option)

24V DC

Alarm code

Automatic/Manuall

Forward rotation start Reverse rotation start

햲

A 24V 1000mA power supply can be used for all control terminals.

max.10 m

In position

max. 10m

Fig. 4-3: Connection of the control terminals with PNP logic (source logic)

NOTES You can find a brief descriptions of the signal functions in Appendix A.1.Please refer to the

instruction manual for a complete reference.

All digital signals described in this manual use source logic.

For safety reasons the EMG signal must be connected to pin 1 of connector CN6 if the servo amplifier is not operated during the first functional test. The EMG signal is perma nently assigned to pin 1 and the amplifier is deactivated when there is no EMG signal if it is configured accordingly (see chapter 3.2).

MR-J3-T 4-13

Turning off Automatic Input Signal Activation Positioning with Digital Inputs

4. 2 Turning off Automatic Input Signal Activation

Procedure:

햲

Reset parameter PD01 to a value of "0":



Fig. 4-4: Switching off automatic input signal activation

4-14 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Home Position Return

4. 3 Home Position Return

At the factory the MR-J3-T servo amplifiers are configured with the incremental system acti vatedby default (i.e.the absoluteposition detectionsystem isswitched off).This meansthat the currentposition is notstored when the amplifier's power supply is switched off, making it neces sary to perform a return to home position every time the unit is powered up. You can configure the home position return mode with Parameter PC02:

Parameter PC02

Home position return modes

0: Proximity dog mode 1: Count mode 2: Data setting mode 3: Stopper mode 4: Ignore home position 5: Dog mode, rear end reference

6: Count mode, front end reference 7: Dog cradle mode 8: Dog mode, last Z-phase reference 9: Dog mode, front end reference A: Dogless Z-phase reference

The most commonly used modes are:

1. Dogless Z-phase reference mode (A)

2. Proximity dog mode (0)

Thesetwomodes aredescribed indetail below. DoglessZ-phase referencemode issuitable for simple applications. Dog mode is frequently used for standard applications.

4.3.1 Dogless Z-phase reference mode

In this mode the Z-phase of the rotary encoder (zero position of the encoder) is used as the machine'sphysical home position. However, it is quite rare to be able toconfigure a machine so that its physical home position exactly matches the Z-phase of the encoder. It is thus almost always necessary to enter an offset (shift) with parameter PC06.

After activation of the forward start command ST1 (or reverse ST2) the home position return is initiatedby parameter PC04 (“homeposition return speed”). Whenthe Z-phase signalfrom the encoder is registered the servo motor brakes to a halt. After this a precise return to home is performed at creep speed with parameter PC05.

The physical home position can be shifted in relation to the zero position of the encoder (Z-phase) with the home position offset (shift) defined with parameter PC06. Parameter PC07 can be used to define a home position value other than zero.

When the home position return has been completed successfully the servo amplifier activates the ZP signal.

MR-J3-T 4-15

Home Position Return Positioning with Digital Inputs

Timing chart:

Auto/Manual mode (MD0)

Select point table no.(DI0)

Start command

Forward (ST1)ONOFF

Start command

Reverse (ST2)ONOFF

Servo motor speed setting

Z-phase of encoder

Home return complete (ZP)

ON OFF

PC04 “Home pos.return speed”

PC06 “Home offset”

PC05 “Creep speed”

ON OFF

Fig. 4-5: Home position return sequence in dogless Z-phase reference mode

No. Code Function Description

햲

PA05

PC02

PC03

PC04 ZRF Home position re-

PC05 CRF Creep speed Speed for precise movement to home position in [rpm]. PC06 ZST Home position off-

PC07

*FTY Feed length multi-

햲

*ZTY Home position re-

햲

*ZDIR Home position re-

햲

*ZPS Home position re-

plication factor

turn mode

turn direction

turn speed

set (shift)

turn position value

Needed here to scale the home position value to the physical coordinate system.

Selects the home position return mode: A: Dogless Z-phase reference mode

0: Incrementing counting of encoder pulses 1: Decrementing counting of encoder pulses

Sets home position return speed until first detection of the Z-phase in [rpm].

Distance between the encoder zero point (Z-phase) and the physical home position in [µm].

The home position return stops when the Z-phase position is reached.You can enter a non-zero coordinate for this position [in

STM

µm] with this parameter.

Table 4-1: Parameter reference table

햲

You must turn the power off and on again to activate this parameter.

4-16 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Home Position Return

Examples:

햲

TheZ-phaseof the encoderisdefined asthephysicalhomeposition ofthemachine.In this example we are going to perform the home position return at 200 rpm in the direction in which the encoder pulses are counted incrementally.

Parameter settings:

Parameter settings for example



Fig. 4-6: Relevant parameter settings for example 1



Fig. 4-7: Values shown when the home position return has

been completed correctly

MR-J3-T 4-17

Home Position Return Positioning with Digital Inputs

햳

Perform ahomepositionreturnasinexample1butwithan offset betweenthephysicaland encoder home positions, set with parameter PC06.

Parameter settings:

Parameter settings for example





Fig. 4-8: Relevant parameter settings for example 2. The offset is entered with param-

eter PC06.

Following completion of the home position return:

The servo motor has travelled to the specified home position. The home position of the encoder has been exceeded by the value of PC06 = 3,000 µm. For the motor connected this is equivalent to 259,144 encoder pulses.

Fig. 4-9: Values shown when the home position return has been completed correctly

4-18 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Home Position Return

4.3.2 Dog mode home position return

In this mode, instead of the encoder Z-phase(Fig. 4-6), the DOG signal is used to switch from “homepositionreturn speed” PC04to“creep speed”PC05.You can useparameter PD16 “prox imitydogdetection polarity” tospecify whether alogical “1” ora logical “0”should beidentifiedas an active DOG signal.

As in 햲 above, the physical home position can be shifted in relation to the home (zero) position ofthe encoder (Z-phase) withPC06 “homeposition offset(shift)”. Inaddition to this you can also set a non-zero coordinate for the home position with PC07.

Conditions for the proximity dog signal: Theproximity dog signal(DOG) mustfulfill the followingconditions toensure that theZ-phase of

the encoder is detected during the activation period of the DOG signal:

암60폷

암 2 폷욼S L2 = Length of the DOG signal in [mm]

L1 = Length of the DOG signal in [mm] V = Home position retur n speed in [mm/min] t

= Deceleration time in [s]

욼S = Distance for one rotation of the motor in [mm]

MR-J3-T 4-19

Home Position Return Positioning with Digital Inputs

Timing chart:

Auto/Manual mode (MD0)

Select point table no.(DI0)

Start command

Forward (ST1)ONOFF

Start command

Reverse (ST2)ONOFF

Servo motor speed setting

Z-phase of encoder

DOG signal

Home return complete (ZP)

ON OFF

PC04 “Home pos.return speed”

PC05 “Creep speed”

PC06 “Home offset”

ON OFF

Fig. 4-10: Home position return in proximity dog mode

4-20 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Home Position Return

No. Code Function Description

햲

PA05

PC02

PC03

*FTY Feed length multi

햲

*ZTY Home position re

햲

*ZDIR Home position re-

plication factor

turn mode

turn direction

Needed here to scale the home position value to the physical coor

dinate system when a home position offset (shift) has been set.

Parameter value Multiplication factor STM 01 110 2 100 3 1000

Selects the home position return mode: 0: Proximity dog mode (DOG)

0: Incrementing counting of encoder pulses 1: Decrementing counting of encoder pulses

PC04 ZRF Home position re-

PC05 CRF Creep speed Speed for precise movement to home position in [rpm] PC06 ZST Home position

햲

PC07

PD16

*ZPS Home position re-

햲

*DIAB Input signal

turn speed

offset (shift)

turn position value

polarity

Sets home position return speed until first detection of the Z-phase in [rpm].

Distance between the encoder home position (Z-phase) and the physical home position in [µm]. Does not change the zero point of the physical coordinate system.

The home position return stops when the Z-phase position is reached.You can enter a non-zero coordinate for this position [in

STM

µm] with this parameter.

Logical value for detection of the proximity dog signal (DOG): 0: Active DOG on logical "0" 1: Active DOG on logical "1"

Table 4-2: Parameter reference table

햲

You must turn the power off and on again to activate this parameter.

Example:

In the following example the physical home position is at the position of the Z-phase of the encoder.However,we nowwantto assign anon-zero valueinthe physical coordinatesystem to this position.

MR-J3-T 4-21

Home Position Return Positioning with Digital Inputs

Parameter settings:

Parameter settings for example





Fig. 4-11: Relevant parameter settings for the example. The home position value is en-

teredwithPC07.

Following completion of the home position return:

The servo motor has travelled to the encoder home position which is also the machine’s physical home position.However, this position corresponds to a value of 100mm in the machine’s coordinate system.

Fig. 4-12: Values shown when the home position return has been completed correctly

The position value is calculated as follows:

X = PA05 폷 PC07 in [mm]

STM

In the above example with PA05 = 1 and PC07 = 1000 [10

X = 1000 폷 10

µm

µm] this gives us:

4-22 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Configuration for Positioning

4. 4 Configuration for Positioning

Ifyouinstall theMR-J3-D01 I/Oexpansion youcan usepoint table positioning,which allowsyou to select positions from a list of up to 256 table entries with a combination of eight digital inputs. Table 4-3 shows how binary input signals are encoded to address the point table entries.

Digital Input Signals

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

00000001 1 00000010 2 00000011 3 00000100 4

· 11111110 254 11111111 255

Selected Point

Table Entry

Table 4-3: Selection of point table entries with digital input signals

In the factory default configuration the incremental system is activated, which means that the absolute position detection system is turned off (PA03 “absolute position detection system”).In this mode the current position is not stored when the power is turned off and you must thus perform a home position return every time the amplifier is powered on. The default configuration also uses absolute target positions (PA01 “positioning control mode”).

No. Code Function Description

햲

PA01

PA03

PA05

*STY Positioning control

햲

*ABS Absolute position

햲

*FTY Feed length multi-

mode

detection system

plication factor

0: Absolute target position values 1: Incremental target position values

0: Incremental system (absolute detection off) 1: Absolute position detection system on

Needed here to scale the home position value to the physical coordinate system when a home position offset (shift) has been set.

Parameter value

01 110 2 100 3 1000

Multiplication factor STM

Range of the target position values

−999.999 .. +999.999

−9999.99 .. +9999.99

−99999.9 .. +99999.9

−999999 .. +999999

Table 4-4: Parameter reference

햲

To activate this parameter you must switch the amplifier power off and on again.

MR-J3-T 4-23

Configuration for Positioning Positioning with Digital Inputs

The following example shows some typical configuration settings used for many common posi tioning applications:

Procedure:

햲

Select the incremental system for positions with PA03 *ABS.

햳

Select absolute value command mode for target positions with PA01 *STY.

햴

Set a multiplication factor with PA05 *FTY = 1 => 10 times factor.

This gives us the following position system:

Min. absolute value

−9999.99

Range of possible position values

STM

in [10

µm]

Max. absolute value +9999.99

Fig. 4-13: Effective range of the position values with the sample settings

Parameter settings for example





Fig. 4-14: Relevant parameters affecting the target position setpoint values

NOTE If target positions are entered using the incremental system it is not possible to change the

rotation direction via the point table.In this mode the rotation direction can only be changed with the start commands (ST1/ST2).

4-24 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Configuration for Positioning

햵

The point table entries for the individual positioning steps are configured in the columns numbered  to  in the point table list shown below.



Fig. 4-15: Example of a positioning application with 8 positioning steps

Tips for editing point table entries:







쎲 Thevalue in the

will automatically jump to the nextentry in the table and executethe nextpositioning commandaftercompletingapositioningstep,evenif thereisnochangeinthe input signals.

쎲 The

쎲 The button

쎲 The Verifyfunction checks whether the positioning table in MR Configurator matches the

DwellTime

of the positioning step for the current table line and continuing to the next table line.This option should only be used when multiple positioning steps are performed automatically, without changes in the input signals.

lected line.

table stored in the connected ser vo amplifier.If the tables don't match a message is displayed showing the line number where the difference was found:

Aux.Func.

columncan beused toinserta delaybetweenreaching the target position

Insert

inserts a new line above the selected table line.

columnshould normally alwaysbezero.Otherwise the system

Delete

Number of table line where tables in amplifier and MR-Configurator do not match

deletes the se-

MR-J3-T 4-25

Configuration for Positioning Positioning with Digital Inputs

AlwaysdeactivatestartcommandST1/ST2beforestarting a newpositioningsequence.

쎲

Then you can select a new table entr y with DI0 - DI7 and start the positioning sequence with ST1/ST2.

Table entries are not reset when you restore the amplifier's factory default settings!

쎲

You do not need to tur n the amplifier off and on again after changing table entries.

쎲

NOTE Please see the instruction manual for full details on all these procedures.

4.4.1 Importing and exporting point tables

Therearetwo differentwaysto store thepointtable fromyourproject sothatyou caneditit again later in external programs and MR Configurator:

쎲 Export the point table asa textfile with theextension .ptb.This creates a plain text filethat

can be edited with a normal text editor.

쎲 Export thepoint tableas afile withthe extension.csv. These files c ontain datathatcan be

edited by spreadsheet programs like Microsoft Excel.

Procedure:

햲

The Point Table List w indow must be open and active.

햳

How to export the point table to a file:







Fig. 4-16: Exporting the point table to a file for archival or editing

4-26 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Configuration for Positioning

햴

How to open/import a point table data file:





Fig. 4-17: Opening a point table file to import the data

Fig. 4-18: Point table position data imported from a .csv file

MR-J3-T 4-27

Functional Test of Digital Input Positioning Positioning with Digital Inputs

4.5 Functional T est of Digital Input Positioning

Normallyyou need asimple controller toset the digitalinputs used toselect the pointtable posi tionentries, forexample aPC, a mini PLC or an HMIcontrol terminal.This chapter explainshow youcan performa thorough check ofthe functionality ofthe positioningcontrol functionswithout needing to perform the additional work of programming and installing a controller.

Fig.4-19shows a testinstallationwithout anexternalcontroller. NotethattheFX SimulationBox used in this setup can set a maximum of 14 digital inputs.

Servo motor

1-phase

200–230V AC

 MR-J3USBCBL3M

Cable length: 3m

 MR-J2CMP2  MR-J2M-CNT1TBL-M

Cable length: 0.5–1m

 MR-TB50

Encoder cable

Motor

Encoder

FX Simulation Box

24V DC

power supply

Fig. 4-19: Test setup for simulating positioning with digital inputs

NOTE The test setup shown abovedoes not use any safetyfeatures forthe tests (EMG.OFF).You

should thus only use this setup in a controlled test environment where errors cannot cause any danger for personnel or equipment!

4-28 MITSUBISHI ELECTRIC

Positioning with Digital Inputs Functional Test of Digital Input Positioning

MR Configurator can monitor all the inputs and outputs of the MR-J3-T, including those on the MR-J3-D01 I/O extension.

Procedure:

햲

Connect the PC/notebook to the USB port (CN5) of the ser vo amplifier using cable MR-J3USBCBL3M.

햳

Start MR Configurator and make the following selections:

– Select the MR-J3-T series amplifier. – Select the MR-J3-D01 expansion card (“option unit”).





Fig. 4-20: Settings in MR Configurator for checking the MR-J3-T with the MR-J3-D01

expansion card

Afterthisyoucan monitor thesignalsofthe expansion cardwith the option in the

Monitor

Fig. 4-21: Selection of the “Option unit I/F display” terminal monitor option

menu.

OptionunitI/Fdisplay

MR-J3-T 4-29

Functional Test of Digital Input Positioning Positioning with Digital Inputs

Fig. 4-22: The “Option unit I/F display” terminal monitor ing window

4-30 MITSUBISHI ELECTRIC

Positioning via a CC-Link Network Additional Connections

5 Positioning via a CC-Link Network

As an alternative to using digital signals you can also control positioning with MR-J3-T servo amplifiers via a CC-Link network connection.

NOTE Before proceeding ensure that the MR-J3-D01I/O expansion card is not installed. If it is in-

stalled CC-Link communications will be disabled.

5. 1 Additional Connections

In addition to the minimum configuration described in chapter 3.1 you also need to connect the CC-Link cable and the cabling for connector CN6 for this mode.

1-phase

200–230V AC

EMG. OFF

24V DC

24V DC ±10% 800mA

OFF

Servo amplifier

Encoder cable

24V DC

24V DC ±10% 150mA

Servo motor

Motor

Encoder

Alarm

CC-Link module

Servo ON

CC-Link cable V1.10 compatible

Fig. 5-1: Connections for operating the servo amplifier via a CC-Link network

MR-J3-T 5-31

Additional Connections Positioningvia a CC-Link Network

Connections for the CC-Link network

CC-Link

Master module

(e.g.QJ61BT11N)

MR-J3-T

Fig. 5-2: Connections between the servo amplifier and the CC-Link master module

NOTE Youmust install a terminating resistor on terminals DB and DB on the physical first and last

stations in the CC-Link network.The required ohmage of the resistor depends on the cable length, please check the version V1.10 specifications for details.

5-32 MITSUBISHI ELECTRIC

Positioning via a CC-Link Network CC-Link Communication Settings

5. 2 CC-Link Communication Settings

5.2.1 Settings on the servo amplifier

Inthe instructions below we are assuming that you have an operating CC-Link network with the following specifications:

쎲 Data rate 156Kbit/s 쎲 The master station is a QJ61BT11N module that is integrated in a System Q con-

troller platform with a Q02H-CPU.

Procedure:

햲

Set the number of reserved stations:

Factory default setting

1 reserved station

2 reserved stations

Fig. 5-3: Correct position of switch S1 for setting the number of reserved stations

햳

Set the station address (max. value 64):

x10

higher values lower values address digits

Fig. 5-4: Set switches x1 and x10 to the correct station address

MR-J3-T 5-33

CC-Link Communication Settings Positioningvia a CC-Link Network

햴

Set the data rate:

Mode Baud rate

Fig. 5-5: Mode switch setting for the network data rate

NOTE Theservoamplifiersettings required forpoint tablepositioningaredescribedinchapters 4.2

through4.4.Pleasecheckthatthesesettings havebeenmadecorrectly beforeproceeding.

5-34 MITSUBISHI ELECTRIC

Positioning via a CC-Link Network CC-Link Communication Settings

5.2.2 Configuration for communication with GX IEC Developer

Generally,positioning control isperformed viaa CC-Linknetwork inapplications where anaddi tional PLC system is used for automation tasks as well as the integrated controller in the ampli fier. In this example we will thus only provide detailed descriptions of the settings required to integrate the servo amplifier in your project.

Procedure:

How to open an existing project in GX IEC Developer:

햲

Select

햳

Select

햴

This opens the window enter the settings shown in Fig. 5-6 .

Network CC-Link

 in the project directory tree in the left window.

 in the

Network Parameter

Network parameters: Setting the CC-Link list

box.

where you can now



(a)

(b)





(c)

Fig. 5-6: Settings required in GX IEC Developer for CC-Link communication between

the controller and the servo amplifier

MR-J3-T 5-35

CC-Link Communication Settings Positioningvia a CC-Link Network

Notes on the network settings: (a)Inthe example onlyoneservoamplifier is connectedtotheCC-Link network.Thisvaluemust

be increased by the number of slave stations installed if applicable.

(b)These values specify which bits or data words are to be used to control the servo amplifier.

The settings shown in the example are for the following assignments:

PLC -> Servo Amplifier Servo Amplifier -> PLC

PLC I/Os Registers Signals PLC I/Os Registers Signals

Y100 RYn0 SON X100 RXn0 RD Y101 RYn1 ST1 X101 RXn1 INP Y102 RYn2 ST2 X103 RXn3 ZP Y103 RYn3 DOG X11A RX(n+1)A ALM Y104 RYn4 LSP Y105 RYn5 LSN Y106 RYn6 MD0 Y10A RYnA DI0 Y10B RYnB DI1 Y10C RYnC DI2 Y10D RYnD DI3 Y10E RYnE DI4 Y10F RYnF RES

NOTE:

Signals DI5, DI6 and DI7 are only available when the amplifier is configured to occupy 2 stations in the network.

Table 5-1: Signal assignments

(c)Slave station type setting:

Fig. 5-7: This configuration also enables exchange of data words

햵

Connect the PC to the PLC and transfer the modified project to the controller.

NOTE If the CC-Link connection to the servo amplifier is established successfully the L.RUN, SD

und RD status LEDs on the servo amplifier will light up.

5-36 MITSUBISHI ELECTRIC

Positioning via a CC-Link Network Testing the Servo Amplifier via CC-Link

5. 3 Testing the Servo Amplifier via CC-Link

Before proceeding it is a good idea use the monitoring function in GX IEX Developer to check that the individual servo functions can be started correctly (e.g. return to home, positioning). After this you can then test the correct operation of the servo system with the PLC program.

Procedure:

햲

Activate monitoring mode.

햳

Select

햴

Enter the individual remote I/Os to be set or monitored.

Entry Data Monitor

in the

Online

menu.



Fig. 5-8: The Entry Data Monitor window where you can set remote I/Os to test the

servo functions

MR-J3-T 5-37

Appendix Digital Signals − Quick Reference

A Appendix

A.1

Digital Signals

Connector Pins

CN6-1 EMG – Forced stop - emergency safety signal:

CN6-2 DOG RYn3 Proximity dog switch:

CN6-3 LSP RYn4 Forward rotation stroke end switch DI CN6-4 LSN RYn5 Reverse rotation stroke end switch DI CN6-14 RD RXn0 Servo amplifier ready DO CN6-15 ALM RX(n+1)A Alarm, signals a servo error DO CN6-16 ZP RXn3 Home position return completed successfully DO

CN10-1 DI0 RYnA Select point table entry, i.e. activate a line in the table for position-

CN10-2 DI1 RYnB DI

CN10-3 DI2 RYnC DI

CN10-4 DI3 RYnD DI

CN10-5 DI4 RYnE DI

CN10-6 DI5 RY(n+2)3 DI

CN10-7 DI6 RY(n+2)4 DI

CN10-8 DI7 RY(n+2)5 DI

CN10-13 DICOM – Connection for an external power supply for the digital control termiCN10-14 CN10-21 SON RYn0 SERVO ON:

CN10-22 ACD0 – Digital output signals for encoded error messages (see Appendix CN10-23 ACD1 – CN10-24 ACD2 – CN10-25 ACD3 – CN10-26 RES RY1A Reset for error messages DI CN10-32 MD0 RYn6 Switch between automatic/manual mode:

CN10-35 ST1 RYn1 Start signal for forward rotation DI CN10-36 ST2 RYn2 Start signal for reverse rotation DI CN10-37 DOCO – Connection for an external power supply for the digital control termi

CN10-49 INP RXn1 IN Position: Target position reached signal. DO

Signal Codes DI/DO CC-Link

Point table entry no.1

Point table entry no. 2

Point table entry no. 3

Point table entry no. 4

Point table entry no. 5

Point table entry no. 6

Point table entry no. 7

Point table entry no. 8

Quick R eference

Description

The signal is permanently assigned to this pin and must be activated for motor control.

This signal is used for some of the home position return modes. (See chapter 4.3)

ing. Combinations of signals DI0 through DI7 (see Table 4-3) can be used to selec up tot 256 positioning steps.

NOTE:

Signals DI5, DI6 and DI7 are only available when the amplifier occupies 2 stations in the network, thus making 64 bits available via CC-Link.

nals. Negative connection for source interface logic (PNP).

Activating the SON signal powers on the base circuit and makes the amplifier ready for operation.

A.3)

The MD0 signal must be off for opertion in jog mode. The signal must be activated before starting a home position return or position ing.

nals. Positive connection for source interface logic (PNP).

DI / DO

Table A-1: Digital signals - quick reference

MR-J3-T A-39

Standard Parameters − Quick Reference Appendix

A.2

Standard Parameters

No. Code Function Description

햲

PA01

PA03

PA05

PA14

PC02

PC03

PC04 ZRF Home position re-

PC05 CRF Creep speed Speed for precise movement to home position in [rpm] PC06 ZST Home position

PC07

PD01

*STY Positioning control

햲

*ABS Absolute position

햲

*FTY Feed length multipli

햲

*POL Servo motor rotation

햲

*ZTY Home position re-

햲

*ZDIR Home position re-

햲

*ZPS Home position re-

햲

*DIA1 Automatic activation

햲

*DIAB Polarity of the input

mode

detection system

cation factor

direction

turn mode

turn direction

turn speed

offset (shift)

turn position value

of input signals

signal

Quick R eference

0: Absolute value command system for target positions 1: Incremental value command system for target positions

0: Incremental system (absolute position detection off) 1: Absolute position detection system on

Needed here to scale the home position value to the physical co ordinate system when a home position offset (shift) has been set.

Parameter value

01 110 2 100

Motor rotation direction (looking at shaft end facing motor): 0: Anticlockwise when ST1 signal is active 1: Clockwise when ST1 signal is active

Selects mode to be used for home position return: 0: Proximity dog mode

0: Incrementing counting of encoder pulses 1: Decrementing counting of encoder pulses

Sets home position return speed until first detection of the Z-phase in [rpm].

Distance between the encoder home position (Z-phase) and the physical home position in [µm]. Does not change the zero point of the physical coordinate system.

The home position return stops when the Z-phase position is reached.You can enter a non-zero coordinate for this position [in

STM

µm] with this parameter.

This parameter configures the amplifier to automatically set the digital signals internally to a logical "1" when the power is switched on.

Logical value for detection of the proximity dog signal (DOG): 0: Active DOG on logical "0" 1: Active DOG on logical "1"

Multiplication factor STM

Range of the target position values

−999.999 ... +999.999

−9999.99 ... +9999.99

−99999.9 ... +99999.9

Table A-2:

햲

To activate this parameter you must switch the amplifier power off and on again.

Standard parameters

quick reference

A-40 MITSUBISHI ELECTRIC

Appendix AlarmsandWarningMessages

A.3 Alarms and Warning Messages

Display

A10 A12 A13

A15

A16 A17 A19

A1A A20

A24 A25

A30

Alarme

A31 A32 A33

A35 A37 A45

A46 A47

A50 A51

Alarm Code

ACD3

ACD2

ACD1

(Bit 3)

(Bit 2)

(Bit 1)

ACD0

(Bit 0)

0010 0000 0000

0000

0110 0000 0000

0110 0110

1100 1110

0001 0101

0100 1001

1101 1000 0011

0011 0011

Error

Undervoltage

Memory error 1

Clock error

Memory error 2

(E²PROM)

Encoder error 1

(at power on) Board error

Memory error 2

(Flash ROM) Incorrect servo

motor Encoder error 2 Main circuit error Absolute position

lost/erased Regenerative

braking overload Overspeed Overcurrent Overvoltage Input frequency

too high Parameter error Main circuit

overheat Servo motor

overheat Cooling fan error Overload 1 Overload 2

Alarm Reset

Power

Supply

OFF

MR-

Configurator/

HMI

Reset

(RES)

✔✔✔

✔ —— ✔ ——

✔ ——

✔ —— ✔ —— ✔ ——

✔ —— ✔ ——

✔✔✔

✔ ——

햲

✔

햲

✔

햲

✔

✔✔✔

✔ ——

✔✔✔

✔ —— ✔ ——

햲

✔

햲

✔

햲

✔

햲

✔

햲

✔

햲

✔

✔ ——

햲

✔

햲

✔

햲

✔

햲

✔

햲

✔

햲

✔

Table A-3: Error messages(1)

MR-J3-T A-41

Alarms and Warning Messages Appendix

Display

A52 A61 A8A

Alarms

A8E 888

Alarm Code

ACD3

ACD2

ACD1

(Bit 3)

(Bit 2)

0101 0101 0000

0000 0 ———

(Bit 1)

ACD0

(Bit 0)

Error

Excessive discrep ancy error

Operation alarm Serial communica

tion timeout Serial communica

tion error Watchdog

Power

Supply

OFF

✔✔✔

✔ ——

Alarm Reset

MR-

Configurator/

HMI

Reset

(RES)

Table A-3: Error messages (2)

햲

Locateand correct the cause of the error and allow the servo amplifier,the servomotor and the regenerative braking unit to cool down forat least 30 minutes before resetting the alarm and restarting the system for normal operation.

햳

Switch on the RES signal.

햴

To reset the alarm click on the Alarm Reset button in the alar m display window in MR Configurator.Youcan also reset the alar m by pressing theSTOP/RESET button on theHMI control unit.

햵

0: OFF 1: ON

NOTE The output signal ALM is activated when an error or alarm signal is triggered.

Display Warning

A90 Home position return incomplete A92 Battery cable disconnected A96 Home position return error A98 Software limit warning A99 Stroke limit warning A9A Option unit input data error A9F Battery warning AE0 Regenerative system overload warning AE1 Overload warning 1

Warning messages

AE3 Absolute position counter error AE6 Server emergency off warning AE8 Cooling fan too slow AE9 Main circuit off AEC Overload warning 2 AED Output wattage exceeded

Table A-4:

Warning messages

NOTE Pleaseseetheinstruction manualformore detaileddescriptionsofthe alarmmessagesand

warnings.

A-42 MITSUBISHI ELECTRIC

Index

Alarm messages

List . . . . . . . . . . . . . . . . . . . .A - 41

Automatic input signal activation

Turning off. . . . . . . . . . . . . . . . . 4 - 14

CC-Link communications

Settings . . . . . . . . . . . . . . . . . . 5 - 33

Connections

Minimum connections . . . . . . . . . . . 3 - 5

Creep speed . . . . . . . . . . . . . . . . .4 - 15

Digital signals

Quick reference. . . . . . . . . . . . . . A - 39

DOG home position return . . . . . . . . . . 4 - 19

Expansion card MR-J3-D01

Installation . . . . . . . . . . . . . . . . .2 - 3

Settings . . . . . . . . . . . . . . . . . . 4 - 23

Minimum connections . . . . . . . . . . . . . 3 - 5

MR Configurator

functional check. . . . . . . . . . . . . . 3 - 10

Parameter

Quick reference . . . . . . . . . . . . . . 4 - 21

Pin assignments . . . . . . . . . . . . . . . . 3 - 6

Point table

configuring . . . . . . . . . . . . . . . . .3 - 9

Point table positioning . . . . . . . . . . . . 4 - 11

Preparations . . . . . . . . . . . . . . . . 1 - 1

Positioning

Settings . . . . . . . . . . . . . . . . . . 4 - 23

via a CC-Link network. . . . . . . . . . . 5 - 31

with digital inputs . . . . . . . . . . . . . 4 - 11

Positioning table

exporting . . . . . . . . . . . . . . . . . 4 - 26

importing . . . . . . . . . . . . . . . . . 4 - 26

Positioning table entries

selecting. . . . . . . . . . . . . . . . . . 3 - 10

Functional test . . . . . . . . . . . . . . . . . 3 - 5

CC-Link . . . . . . . . . . . . . . . . . . 5 - 37

Positioning with digital inputs . . . . . . . 4 - 28

Settings. . . . . . . . . . . . . . . . . . .3 - 7

GX IEC Developer

Data communications . . . . . . .5 - 35, 5 - 37

Home position return . . . . . . . . . . . . . 4 - 15

Installation

Hardware . . . . . . . . . . . . . . . . . . 2 - 3

Servo amplifier

selecting . . . . . . . . . . . . . . . . . .3 - 7

Signal assignments

Connectors CN6 and CN10. . . . . . . . 4 - 12

Standard parameters

Quick reference. . . . . . . . . . . . . . A - 40

Warning messages

Reference list . . . . . . . . . . . . . . . A - 42

Z-phase reference

without DOG signal . . . . . . . . . . . . 4 - 15

MR-J3-T A-43

MITSUBISHI ELECTRIC

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MPL Technology Sp. z o.o. Ul. Krakowska 50

Phone: +48 (0)12 / 630 47 00

Fax: +48 (0)12 / 630 47 01

Sirius Trading & Services srl Aleea Lacul Morii Nr. 3

Phone: +40 (0)21 / 430 40 06

Fax: +40 (0)21 / 430 40 02

CRAFT Consulting & Engineering d.o.o. Toplicina str.4 lok 6

Phone: +381 (0)18 / 292-24-4/5 , 523 962

Fax: +381 (0)18 / 292-24-4/5 , 523 962

INEA SR d.o.o. Karadjordjeva 12/260

Phone: +381 (0)26 / 617 163

Fax: +381 (0)26 / 617 163

CS MTrade Slovensko, s.r.o. Vajanskeho 58

Phone: +421 (0)33 / 7742 760

Fax: +421 (0)33 / 7735 144

INEA d.o.o. Stegne 11

Phone: +386 (0)1 / 513 8100

Fax: +386 (0)1 / 513 8170

Beijer Electronics Automation AB Box 426

Phone: +46 (0)40 / 35 86 00

Fax: +46 (0)40 / 35 86 02

ECONOTEC AG Hinterdorfstr. 12

Phone: +41 (0)44 / 838 48 11

Fax: +41 (0)44 / 838 48 12

GTS Darulaceze Cad. No. 43 KAT. 2

Phone: +90 (0)212 / 320 1640

Fax: +90 (0)212 / 320 1649

CSC Automation Ltd. 15, M. Raskova St., Fl. 10, Office 1010

Phone: +380 (0)44 / 494 33 55

Fax: +380 (0)44 / 494-33-66

EURASIAN REPRESENTATIVES

Kazpromautomatics Ltd. 2, Scladskaya str.

Phone: +7 3212 / 50 11 50

Fax: +7 3212 / 50 11 50

AVTOMATIKA SEVER Lva Tolstogo str. 7, off. 311

Phone: +7 812 / 718 3238

Fax: +7 812 / 718 3239

CONSYS Promyshlennaya st. 42

Phone: +7 812 / 325 36 53

Fax: +7 812 / 325 36 53

Electrotechnical Systems Siberia Derbenevskaya st. 11A, Office 69

Phone: +7 495 / 744 55 54

Fax: +7 495 / 744 55 54

STC DRIVE TECHNIQUE Poslannikov per. 9, str 1

Phone: +7 495 / 790 72 10

Fax: +7 495 / 790 72 12

MIDDLE EAST

REPRESENTATIVE

Sherf Motion Techn. Ltd. Rehov Hamerkava 19

Phone: +972 (0)3 / 559 54 62

Fax: +972 (0)3 / 556 01 82

AFRICAN REPRESENTATIVE

CBI Ltd. Private Bag 2016

Phone: + 27 (0)11 / 928 2000

Fax: + 27 (0)11 / 392 2354

MITSUBISHI ELECTRIC

FACTORY AUTOMATION

Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germa ny Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com

Specifications subject to cha nge /// Art. no. XXXXXX-A /// 12.2007

Melco MR-J3-T User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Ser vo Amplifier

1 Introduction

2 Installing the Equipment

3 First Functional Test

4 Positioning with Digital Inputs

5 Positioning via a CC-Link Network

A Appendix