Mitsubishi MR-J3-T10 User Manual

General-Purpose AC Servo

J3 Series

Built-in Positioning Function

MODEL(SERVO AMPLIFIER)

MR-J3- _T

MODEL(CC-LINK IE FIELD NETWORK INTERFACE UNIT)

MR-J3-T10

SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link IE Field Network interface)

Safety Instructions

Please read the instructions carefully before using the equipment.

Do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual 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 instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, keep it accessible to the operator.

A - 1

1. Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Install the servo amplifier and servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Install the equipment in the specified direction. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the unit. This unit is a precision instrument. Do not drop or strike the unit. Isolate it from all impact loads. Store and use this unit in the environment conditions described in the section 1.3. When the equipment has been stored for an extended period of time, contact your local sales office.

2. Wiring

CAUTION

Wire the equipment correctly and securely. After wiring, check again for incorrect wiring and tightening of terminal screws, etc. Otherwise, the servo motor may operate unexpectedly.

3. Usage

CAUTION

Immediately shut off the power supply if smoke, abnormal noise, or odor arises from this unit. Disassembly and repair must be performed by a qualified person. Do not modify the equipment.

4. Corrective actions

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

5. Maintenance, inspection and parts replacement

CAUTION

Do not touch connector contacts and leads of the IC and other devices. Do not place the unit on a metal object which is vulnerable to electric leakage, or on a wooden object where static electricity may be charged. Do not place the unit on the object made of materials such as plastic and vinyl. Do not perform an insulation resistance test (megger test) at inspection.

A - 2

6. General instruction

To illustrate details, the equipment in the diagrams of this 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 Instruction Manual.

«About the manuals»

You must have this Instruction Manual and the following manuals to use this unit. Ensure to prepare them to use the unit safely.

Relevant manuals

Manual name Manual number

MR-J3-_T Servo Amplifier Instruction Manual SH(NA)030058 MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310

«Wiring»

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40 °C (104 °F).

A - 3

MEMO

A - 4

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6

1.1 Summary........................................................................................................................................... 1- 1

1.2 System configuration ........................................................................................................................ 1- 1

1.3 Standard specifications..................................................................................................................... 1- 1

1.4 Rating plate....................................................................................................................................... 1- 2

1.5 Connector/interface .......................................................................................................................... 1- 2

1.6 Contents of the package................................................................................................................... 1- 2

1.7 Installation and removal of the unit ................................................................................................... 1- 3

2. I/O SIGNAL CONNECTION EXAMPLE 2- 1 to 2- 2

3. PARAMETERS 3- 1 to 3- 8

3.1 Basic setting parameters [Pr. PA_ _ ]............................................................................................... 3- 1

3.2 Gain/filter parameters [Pr. PB_ _ ].................................................................................................... 3- 2

3.3 Extension setting parameters [Pr. PC_ _ ] ....................................................................................... 3- 3

3.3.1 Parameter list ............................................................................................................................. 3- 3

3.3.2 Detail description........................................................................................................................ 3- 4

3.4 I/O setting parameters [Pr. PD_ _ ]................................................................................................... 3- 5

3.4.1 Parameter list ............................................................................................................................. 3- 5

3.4.2 Detail description........................................................................................................................ 3- 6

3.5 Option unit parameters [Pr. Po_ _ ] .................................................................................................. 3- 7

3.5.1 Parameter list ............................................................................................................................. 3- 7

3.5.2 Detail description........................................................................................................................ 3- 8

4. DISPLAY/OPERATING PARTS 4- 1 to 4- 4

4.1 MR-J3-_T servo amplifier ................................................................................................................. 4- 1

4.1.1 Explanation on the display/operating parts ................................................................................4- 1

4.1.2 Display details ............................................................................................................................ 4- 2

4.1.3 Unspecified station number ....................................................................................................... 4- 2

4.2 MR-J3-T10 IE Field Network interface unit....................................................................................... 4- 3

4.3 Selecting the station number and network number .......................................................................... 4- 4

5. TROUBLESHOOTING 5- 1 to 5- 4

5.1 Alarm and warning list ...................................................................................................................... 5- 2

5.2 Remedies for alarms......................................................................................................................... 5- 3

5.3 Remedies for warnings ..................................................................................................................... 5- 4

6. DIMENSIONS 6- 1 to 6- 2

7. CC-LINK IE FIELD NETWORK COMMUNICATION FUNCTION 7- 1 to 7- 12

7.1 System configuration ........................................................................................................................ 7- 1

7.2 Communication specifications .......................................................................................................... 7- 1

7.3 I/O device.......................................................................................................................................... 7- 2

7.3.1 I/O devices for a programmable controller CPU ........................................................................ 7- 2

7.3.2 I/O devices for a programmable controller CPU during indexer positioning operation ............. 7- 7

7.4 Restrictions on the CC-Link IE Field Network wiring ....................................................................... 7-12

1. FUNCTIONS AND CONFIGURATION

POINT

CC-Link IE Field Network communication function is available for the MR-J3-_T servo amplifiers of which software version is B0 or above.

1.1 Summary

This instruction manual explains about MR-J3-T10 CC-Link IE Field Network interface unit. Refer to MR-J3_T Servo Amplifier Instruction Manual for the information not given in this manual. Always use MR-J3-T10 with an MR-J3-_T. MR-J3-T10 enables an MR-J3-_T to connect to the CC-Link IE Field Network by being attached to the MR-J3-_T. The CC-Link IE Field Network communication function is exclusive of the CC-Link communication function. It cannot be used with the CC-Link communication function at the same time.

1.2 System configuration

Master

Controller

CN10A

Slave

MR-J3-_T

MR-J3-T10 MR-J3-_T MR-J3-T10MR-J3-_T MR-J3-T10

CN10A

CNP3

CN2

CN10B

CNP3

CN2

CN10B

1.3 Standard specifications

Model MR-J3-T10

Control circuit power supply

I/O interfaces CC-Link IE Field Network interface Number of communication ports 2 (CN10A connector/CN10B connector) Structure Natural-cooling, open (IP rating: IP 00)

Environment

Mass [g] 150

Voltage 5 V DC (supplied from the servo amplifier) Rated current [A] 0.8

Ambient temperature

Ambient humidity

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude 1000 m or less above sea level Vibration resistance 5.9 m/s

Operation

Storage

Operation

Storage

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

90 %RH or less (non-condensing)

at 10 Hz to 55 Hz (X, Y and Z axes)

CNP3

CN2

CN10B

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.4 Rating plate

MODEL

POWER INPUT

OUTPUT

SERIAL

1.5 Connector/interface

MR-J3-T10

RUN

ERR.

D LINK

L.ERR

CN10ACN10B

PUSH PUSH

CC-Link IE Field Network communication connector (CN10A)

CC-Link IE Field Network communication connector (CN10B)

1.6 Contents of the package

MR-J3-T10

IP00 MANUAL IB-0300171

1.5A 3PH+1PH

3PH+1PH200-230V

2.2A 1PH 200-230V

170V 0-360Hz 1.5A

For the wiring of CC-Link IE Field Network, use the following wiring tools recommended by the CC-Link Partner Association.

Items Description

Cable type Shielded twisted pair cable (Category 5e)

Standard

Connector Category 5e or more RJ-45 plug

Commercially available products (as of April 2012)

Model Manufacturer Contact (Note)

SC-E5EW(-L) (Note 1)

Note. The SC-E5EW cable is for in-enclosure and indoor uses. The SC-E5EW-

L cable is for outdoor use.

The CC-Link IE controller network cable cannot be used for the CC-Link IE Field Network.

Model IP rating Installation guide

Serial number

One of the following standards must be met.

IEEE802.3 1000BASE-T ANSI/TIA/EIA-568-B (Category 5e)

Mitsubishi Electric System & Service

email: oss-ip@melsc.jp

Contents Quantity

MR-J3-T10 CC-Link IE Field Network interface unit 1 MR-J3-T10 Installation Guide (IB(NA)0300159) 1 ZCAT1730-0730 data line filer (TDK) (Note 1) 2 Connector cover for CN10A/CN10B/CN3 (Note 2) 3

Note 1. Use the data line filters on the cables connected to the CN10A and CN10B connectors.

2. Two of the connector covers are already mounted on the CN10A and CN10B connectors when the product is shipped from the factory. The other connector cover is for the CN3 connector of the MR-J3_T servo amplifier.

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.7 Installation and removal of the unit

Before installing or removing the unit, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P

WARNING

CAUTION

(+) and N (-) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Avoid installing and removing the unit repeatedly. Any contact failure of the connector may be caused. Avoid unsealing the unit to be free of dust and dirt against the connector except installing. Make sure to use the pre-packing when storing. Avoid using the unit of which the hook and knobs for fixing are damaged. Any contact failure of the connector may be caused. When installing and removing the unit to the MR-J3-500T or more, avoid dropping out the installing screw inside it. Otherwise, it may cause a malfunction. When installing and removing the unit to the MR-J3-500T or more, avoid damaging the control board by the fixing plate. Otherwise, it may cause a malfunction. Make sure to tighten the unit with the enclosed installing screws when installing.

POINT

The internal circuits of the servo amplifier and the unit may be damaged by static electricity. Always take the following precautions.

Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

1 - 3

1. FUNCTIONS AND CONFIGURATION

(1) MR-J3-350T or less/MR-J3-200T4 or less

(a) Installation of the unit

Guide hole

Guide pins

Unit (MR-J3-T10)

1) Remove the cover of connector for connecting an option. Make sure to store the removed cover.

2) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the unit's guide pins.

Knobs

(b) Removal of the unit

3) Push the unit until the knobs click.

4) Tighten the unit with the enclosed installing screw (M4).

1) Remove the installing screw.

2) Keep pushing the knobs ( a) , b)) and pull out the unit to the arrow direction. Avoid pulling out the unit while it is tightened with the installation

screw.

When removing the unit, make sure to reinstall the cover of connector for connecting an option to avoid dust and dirt.

1 - 4

1. FUNCTIONS AND CONFIGURATION

(2) MR-J3-350T4/MR-J3-500T(4)/MR-J3-700T(4)

(a) Removal of the side cover

(b) Installation of the unit

Guide hole

Keep pushing the knobs ( a) , b)) and pull out the side cover to the arrow direction.

1) Find the guide hole on the side of the servo amplifier. To the guide hole, insert the unit's guide pins.

Guide pins

Knobs

2) Push the unit until the knobs click.

3) Tighten the unit with the enclosed installing screw (M4).

1) Remove the installing screw.

2) Keep pushing the knobs ( a) , b)) and pull out the unit to the arrow direction. Avoid pulling out the unit while it is tightened with an installation

screw.

1 - 5

1. FUNCTIONS AND CONFIGURATION

(d) Installation of the side cover

Hook of the side cover

1) Insert the side cover setting tabs into the sockets a) of servo amplifier.

2) Push the side cover at the supporting point a) until the knob clicks.

Knob

(3) MR-J3-11KT(4) to MR-J3-22KT(4)

Avoid touching any remained burr after cutting off the part a) of the case.

CAUTION

Otherwise, injury may occur.

The installing screw holes for the MR-J3-11KT(4) to MR-J3-22KT(4) are covered at shipping. When installing the unit for the first time, cut off the part a) of the case after removing the side cover. When cutting off the part a), avoid damaging the case of the servo amplifier. After cutting off it, inside of the servo amplifier has been exposed even though the side cover and the unit are installed. Avoid unwanted parts from entering through the opened area into the servo amplifier. For installing or removing the unit, refer to (2) in this section. The side cover structure is the same for MR-J3-11KT(4) to MR-J3-22KT(4) and for this unit. Install or remove the side cover with the same way as for the unit. However, the installing screw for the side cover is unnecessary.

1 - 6

2. I/O SIGNAL CONNECTION EXAMPLE

This chapter describes an example of connecting I/O signals. For details of MRJ3-_T signals and how to connect them, be sure to refer to the chapter 4 of MRJ3-_T Servo Amplifier Instruction Manual.

CAUTION

(Note 3, 5)

(Note 9)

(Note 5)

(Note 8)

(Note 7) MR Configurator/ MR Configurator2

Forced stop Proximity dog Forward rotation stroke end Reverse rotation stroke end

Connecting the CC-Link IE Field Network cable to the CN3 connector on MR-J3_T causes malfunctions in network devices. Pay attention when connecting the CC-Link IE Field Network cable because the CN3, CN10A, and CN10B connectors have the same shape.

POINT

Use MR Configurator of MRZJW3-SETUP221E (software version C4 or above). Use MR Configurator2 of SW1DNC-MRC2-E (software version 1.10L or above).

Servo amplifier

24 V DC (Note 4)

10 m or less

Personal

computer

MR-J3USBCBL3M

(Option)

CN6

DICOM

DOCOM

EMG DOG

LSP

LSN

CN5

CN6

14 RD

1 2 3 4

16 ZP

13 26 11 24 12 25 23

Plate

CN3

ALM

LZR

LAR

LBR

LG SD

(Note 1)

(Note 2)

RA1

RA3

RA4

10 m or less

(Note 12) Connector cover

Ready

Malfunction (Note 6)

Home position return completion

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

(Note 9)

MR-J3-T10

(Note 10, 11)

CN10B

CN10A

CC-Link IE Field Network

Data line filter ZCAT1730-0730 (TDK)

80 mm or less 80 mm or less

CC-Link IE Field Network

2 - 1

2. I/O SIGNAL CONNECTION EXAMPLE

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling EMG (Forced stop) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% 150 mA current for interfaces from the outside. 150 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 4.8.2 (1) in MR-J3-_T Servo Amplifier Instruction Manual that gives the current value necessary for the interface.

5. When starting operation, always turn on EMG (Forced stop) and LSP/LSN (Forward/Reverse rotation stroke end). (Normally closed contact)

6. ALM (Malfunction) turns on in normal alarm-free condition.

7. Use MR Configurator of MRZJW3-SETUP221E (software version C4 or above). Use MR Configurator2 of SW1DNC-MRC2-E (software version 1.10L or above).

8. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.

Personal compute

RS-232C/RS-422 conversion cable

Mitsubishi MR-J3-T10 User Manual

Safety Instructions

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 System configuration

1.3 Standard specifications

1.4 Rating plate

1.5 Connector/interface

1.6 Contents of the package

1.7 Installation and removal of the unit

2. I/O SIGNAL CONNECTION EXAMPLE