User ManualTable of ContentsSafety Instructions2About processing of waste7COMPLIANCE WITH EC DIRECTIVES8CONFORMANCE WITH UL/C-UL STANDARD11About the manuals12CONTENTS141. FUNCTIONS AND CONFIGURATION221.1 Introduction221.1.1 Features of CC-Link communication functions221.1.2 Function block diagram231.1.3 System configuration261.2 Servo amplifier standard specifications281.3 Function list341.4 Model code definition361.5 Combination with servo motor371.6 Structure381.6.1 Parts identification381.6.2 Removal and reinstallation of the front cover441.7 Configuration including auxiliary equipment471.8 Selection of operation method552. INSTALLATION582.1 Installation direction and clearances582.2 Keep out foreign materials602.3 Cable stress602.4 Inspection items612.5 Parts having service lives613. CC-LINK COMMUNICATION FUNCTIONS623.1 Communication specifications623.2 System configuration633.2.1 Configuration example633.2.2 Wiring method643.2.3 Station number setting663.2.4 Communication baud rate setting673.2.5 Occupied station count setting673.3 Functions683.3.1 Function block diagram683.3.2 Functions683.4 Servo amplifier setting693.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU703.5.1 I/O signals (I/O devices)703.5.2 Detailed explanation of I/O signals733.5.3 Monitor codes833.5.4 Instruction codes (RWwn+2 RWwn+3)843.5.5 Respond codes (RWrn+2)923.5.6 Setting the CN6 external input signals933.6 Data communication timing charts953.6.1 Monitor codes953.6.2 Instruction codes973.6.3 Remote register-based position/speed setting993.7 Function-by-function programming examples1023.7.1 System configuration example1023.7.2 Reading the servo amplifier status1053.7.3 Writing the operation commands1063.7.4 Reading the data1073.7.5 Writing the data1103.7.6 Operation1133.8 Continuous operation program example1163.8.1 System configuration example when 1 station is occupied1163.8.2 Program example when 1 station is occupied1173.8.3 System configuration example when 2 stations are occupied1193.8.4 Program example when 2 stations are occupied1204. SIGNALS AND WIRING1224.1 Input power supply circuit1234.2 I/O signal connection diagram1314.3 Explanation of power supply system1324.3.1 Signal explanations1324.3.2 Power-on sequence1334.3.3 CNP1, CNP2, CNP3 wiring method1354.4 Connectors and signal arrangements1434.5 Signal (device) explanation1444.5.1 I/O devices1444.5.2 Input signals1474.5.3 Output signals1474.5.4 Power supply1484.6 Detailed description of signals (devices)1484.6.1 Forward rotation start reverse rotation start temporary stop/restart1484.6.2 Movement completion rough match in position1494.6.3 Torque limit1514.7 Alarm occurrence timing chart1524.8 Interface1534.8.1 Internal connection diagram1534.8.2 Detailed description of interfaces1544.8.3 Source I/O interfaces1564.9 Treatment of cable shield external conductor1574.10 Connection of servo amplifier and servo motor1584.10.1 Connection instructions1584.10.2 Power supply cable wiring diagrams1594.11 Servo motor with an electromagnetic brake1694.11.1 Safety precautions1694.11.2 Timing charts1704.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)1734.12 Grounding1745. OPERATION1765.1 Switching power on for the first time1765.1.1 Startup procedure1765.1.2 Wiring check1775.1.3 Surrounding environment1785.2 Startup1795.2.1 Power on and off procedures1795.2.2 Stop1795.2.3 Test operation1805.2.4 Parameter setting1815.2.5 Point table setting1825.2.6 Actual operation1825.3 Servo amplifier display1835.4 Automatic operation mode1855.4.1 What is automatic operation mode?1855.4.2 Automatic operation using point table1875.4.3 Remote register-based position/speed setting1975.5 Manual operation mode2035.5.1 JOG operation2035.5.2 Manual pulse generator2045.6 Manual home position return mode2065.6.1 Outline of home position return2065.6.2 Dog type home position return2095.6.3 Count type home position return2115.6.4 Data setting type home position return2135.6.5 Stopper type home position return2145.6.6 Home position ignorance (servo-on position defined as home position)2165.6.7 Dog type rear end reference home position return2175.6.8 Count type front end reference home position return2195.6.9 Dog cradle type home position return2215.6.10 Dog type first Z-phase reference home position return2235.6.11 Dog type front end reference home position return method2255.6.12 Dogless Z-phase reference home position return method2275.6.13 Home position return automatic return function2295.6.14 Automatic positioning function to the home position2305.7 Roll feed display function in roll feed mode2315.8 Absolute position detection system2326. PARAMETERS2366.1 Basic setting parameters (No.PA[ ][ ] )2366.1.1 Parameter list2366.1.2 Parameter write inhibit2376.1.3 Selection of command system2386.1.4 Selection of regenerative option2386.1.5 Using absolute position detection system2396.1.6 Follow-up for absolute value command system in incremental system2396.1.7 Feeding function selection2406.1.8 Electronic gear2416.1.9 Auto tuning2426.1.10 In-position range2436.1.11 Torque limit2446.1.12 Selection of servo motor rotation direction2456.1.13 Encoder output pulse2456.2 Gain/filter parameters (No.PB[ ][ ] )2476.2.1 Parameter list2476.2.2 Detail list2486.3 Extension setting parameters (No.PC[ ][ ] )2556.3.1 Parameter list2556.3.2 Detail list2566.3.3 S-pattern acceleration/deceleration2626.3.4 Alarm history clear2626.3.5 Rough match output2626.3.6 Software limit2636.4 I/O setting parameters (No.PD[ ][ ] )2646.4.1 Parameter list2646.4.2 Detail list2656.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid2736.4.4 Stopping method when a software limit is detected2747. MR Configurator2767.1 Specifications2767.2 System configuration2777.3 Station selection2797.4 Parameters2807.5 Point table2827.6 Device assignment method2847.7 Test operation2887.7.1 Jog operation2887.7.2 Positioning operation2907.7.3 Motor-less operation2937.7.4 Output signal (DO) forced output2947.7.5 Single-step feed2957.8 Alarm2987.8.1 Alarm display2987.8.2 Batch display of data at alarm occurrence2997.8.3 Alarm history3018. PARAMETER UNIT (MR-PRU03)3028.1 External appearance and key explanations3038.2 Specifications3048.3 Outline dimension drawings3048.4 Connection with servo amplifier3058.4.1 Single axis3058.4.2 Multidrop connection3068.5 Display3088.5.1 Outline of screen transition3088.5.2 MR-PRU03 parameter unit setting3098.5.3 Monitor mode (status display)3108.5.4 Alarm/diagnostic mode3128.5.5 Parameter mode3148.5.6 Point table mode3158.5.7 Test operation mode3168.6 Error message list3209. GENERAL GAIN ADJUSTMENT3229.1 Different adjustment methods3229.1.1 Adjustment on a single servo amplifier3229.1.2 Adjustment using MR Configurator3239.2 Auto tuning3249.2.1 Auto tuning mode3249.2.2 Auto tuning mode operation3259.2.3 Adjustment procedure by auto tuning3269.2.4 Response level setting in auto tuning mode3279.3 Manual mode 1 (simple manual adjustment)3289.4 Interpolation mode3329.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning33310. SPECIAL ADJUSTMENT FUNCTIONS33410.1 Function block diagram33410.2 Adaptive filter II33410.3 Machine resonance suppression filter33710.4 Advanced vibration suppression control33910.5 Low-pass filter34310.6 Gain changing function34310.6.1 Applications34310.6.2 Function block diagram34410.6.3 Parameters34510.6.4 Gain changing operation34711. TROUBLESHOOTING35011.1 Trouble at start-up35011.2 Operation at error occurrence35111.3 CC-Link communication error35111.4 When alarm or warning has occurred35211.4.1 Alarms and warning list35211.4.2 Remedies for alarms35311.4.3 Remedies for warnings36011.5 Point table error36212. OUTLINE DRAWINGS36412.1 Servo amplifier36412.2 Connector37313. CHARACTERISTICS37613.1 Overload protection characteristics37613.2 Power supply equipment capacity and generated loss37813.3 Dynamic brake characteristics38113.3.1 Dynamic brake operation38113.3.2 The dynamic brake at the load inertia moment38413.4 Cable flexing life38513.5 Inrush currents at power-on of main circuit and control circuit38514. OPTIONS AND AUXILIARY EQUIPMENT38614.1 Cable/connector sets38614.1.1 Combinations of cable/connector sets38714.1.2 Encoder cable/connector sets39314.1.3 Motor power supply cables40214.1.4 Motor brake cables40314.2 Regenerative options40414.3 FR-BU2-(H) brake unit41714.3.1 Selection41814.3.2 Brake unit parameter setting41814.3.3 Connection example41914.3.4 Outline dimension drawings42614.4 Power regeneration converter42814.5 Power regeneration common converter43114.6 External dynamic brake43914.7 Battery MR-J3BAT44414.8 Heat sink outside mounting attachment (MR-J3ACN)44514.9 Selection example of wires44714.10 No-fuse breakers, fuses, magnetic contactors45314.11 Power factor improving DC reactor45414.12 Power factor improving reactors45614.13 Relays (recommended)45814.14 Surge absorbers (recommended)45814.15 Noise reduction techniques45914.16 Leakage current breaker46614.17 EMC filter (recommended)46814.18 MR-HDP01 manual pulse generator47315. COMMUNICATION FUNCTION47615.1 Configuration47615.2 Communication specifications47815.2.1 Communication overview47815.2.2 Parameter setting47915.3 Protocol48015.3.1 Transmission data configuration48015.3.2 Character codes48115.3.3 Error codes48215.3.4 Checksum48215.3.5 Time-out operation48315.3.6 Retry operation48315.3.7 Initialization48415.3.8 Communication procedure example48415.4 Command and data No. list48515.4.1 Read commands48515.4.2 Write commands48915.5 Detailed explanations of commands49215.5.1 Data processing49215.5.2 Status display49415.5.3 Parameters49515.5.4 External I/O signal statuses (DIO diagnosis)49815.5.5 Device ON/OFF50315.5.6 Disable/enable of I/O devices (DIO)50415.5.7 Input devices ON/OFF (test operation)50515.5.8 Test operation mode50615.5.9 Alarm history51215.5.10 Current alarm51315.5.11 Point table51415.5.12 Servo amplifier group designation52015.5.13 Other commands52116. INDEXER POSITIONING OPERATION52216.1 Function52216.1.1 Overview52216.1.2 Servo amplifier standard specifications (functions only)52216.1.3 Function list52316.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU52416.2.1 I/O signals (I/O devices)52416.2.2 Detailed explanation of I/O signals52616.2.3 Monitor codes53516.2.4 Instruction codes (RWwn+2 RWwn+3)53616.2.5 Respond codes (RWrn+2)54316.3 Signal54416.3.1 Signal (device) explanation54416.3.2 Detailed description of signals (devices)54716.4 Switching power on for the first time55016.4.1 Startup procedure55016.4.2 Wiring check55116.4.3 Surrounding environment55216.5 Startup55316.5.1 Power on and off procedures55316.5.2 Stop55316.5.3 Test operation55416.5.4 Parameter setting55516.5.5 Point table setting55616.5.6 Actual operation55616.6 Servo amplifier display55716.7 Automatic operation mode55916.7.1 What is automatic operation mode?55916.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)56016.7.3 Automatic operation mode 2 (Shortest rotating indexer)57016.8 Manual operation mode57916.8.1 Indexer JOG operation57916.8.2 JOG operation58116.9 Home position return mode58216.9.1 Outline of home position return58216.9.2 Torque limit changing dog type home position return58416.9.3 Torque limit changing data setting type home position return58616.9.4 Home position return automatic return function58716.10 Absolute position detection system58816.11 Parameters59116.11.1 Basic setting parameters (No.PA[ ][ ] )59116.11.2 Gain/filter parameters (No.PB[ ][ ] )60016.11.3 Extension setting parameters (No.PC[ ][ ] )60816.11.4 I/O setting parameters (No.PD[ ][ ] )61416.12 TROUBLESHOOTING61916.12.1 Trouble at start-up61916.12.2 Operation at error occurrence62016.12.3 CC-Link communication error62016.12.4 When alarm or warning has occurred62116.12.5 Point table error633APPENDIX634App. 1 Parameter list634App. 2 Signal layout recording paper636App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO)637App. 4 Change of connector sets to the RoHS compatible products638App. 5 MR-J3-200T-RT servo amplifier639App. 6 Selection example of servo motor power cable643App. 7 Parameter list644App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation)646Size: 14.9 MBPages: 668Language: EnglishOpen manual
