PLC Inovance “Servo Control” Mitsubishi MR-J4-A Tutorial

Introduction

The Mitsubishi MR-J4-A Servo Motor is a widely recognized component in industrial automation, known for its high performance, durability, and cost-effectiveness. Due to its robust features, it is extensively used in various applications across the globe. This tutorial, authored by Faizal Afzal, will guide you through the process of controlling the Mitsubishi MR-J4-A Servo Motor using an Inovance H3U-3232MT PLC via the “Pulse Train Output” (PTO) method.

Whether you’re an experienced automation engineer or a beginner, this tutorial aims to provide clear, step-by-step instructions for setting up and programming the system, ensuring efficient and accurate control over your servo motor.

Step 1: PLC Inovance & Mitsubishi MR-J4-A “Wiring Diagram”

1.1 Wiring Overview

To control the Mitsubishi MR-J4-A Servo Motor using the Inovance H3U-3232MT PLC, a correct wiring setup is crucial. Below is a simple yet effective wiring diagram that illustrates how to connect the PLC with the servo motor.

The wiring diagram between the Inovance H3U-3232MT PLC and the Mitsubishi MR-J4-A Servo Motor. Include clear labels for input and output connections.

1.2 Input/Output (I/O) Configuration

• Inputs:
  • X0: Origin Sensor (Typically Normally Open)
  • X1: Clockwise (CW) Limit Sensor (Normally Open)
  • X2: Counter-Clockwise (CCW) Limit Sensor (Normally Open)
• Outputs:
  • Y0: Pulse Output
  • Y3: Direction Output
  • Y4: Servo ON/OFF Control

These I/O configurations ensure that the PLC can effectively send control signals to the servo motor, allowing precise movement and operational control.

Step 2: Mitsubishi MR-J4-A Parameters Setting

2.1 Configuring the Servo Motor

For the Mitsubishi MR-J4-A Servo Motor to correctly interpret and respond to the control pulses sent from the PLC, several key parameters must be configured. These configurations can be done either directly on the servo driver or using the MR-Configurator2 software for a more user-friendly interface.

2.2 Key Parameters for Operation

• PA1: Servo Control Mode Selection
  • Setting: 1000 (Position Control Mode)
  • Function: This setting enables the servo to operate in position control mode, where it moves to a specific position based on the pulse signals received from the PLC.
• PA6/7: CMX/CDV (Input Pulse Gain Ratio)
  • Default Setting: 1/1
  • Function: These parameters adjust the pulse-to-revolution ratio, ensuring the correct number of pulses per revolution of the servo motor. The default setting corresponds to 131072 pulses/rev.
• PA13: PLSS (Selection of Control Pulse Types)
  • Default Setting: 0100
  • Function: This parameter determines the type of pulse inputs the servo will accept. Adjustments may be necessary depending on the specific pulse type generated by the PLC.

Table here that lists the various pulse input types and their corresponding settings

2.3 Example Configuration

To ensure proper operation, the following configuration was used for this project:

• PA1: 1000 (Position Control Mode)
• PA6/7: 1/1 (Default Pulse Gain Ratio)
• PA13: Configured based on the pulse type output from the Inovance PLC

These settings will ensure that the Mitsubishi MR-J4-A Servo Motor responds correctly to the control pulses generated by the Inovance H3U-3232MT PLC.

The key parameter values and their corresponding settings.

Step 3: PLC Programming

3.1 Introduction to Programming

Programming the Inovance PLC to control the Mitsubishi MR-J4-A Servo Motor involves creating specific logic that controls the servo motor’s on/off states, its movement, and handling the axis jog process. Below, we outline the fundamental aspects of the program that you will need to implement.

3.2 Basic Control Logic

• Servo ON/OFF Control:
  • Implement a control routine that toggles the servo motor on and off. This is fundamental for starting and stopping the motor in response to specific conditions or commands.
• Origin Return:
  • Program a sequence that returns the servo to its origin or home position. This ensures that the motor starts from a known reference point, which is critical for precision operations.
• Axis Jog Process:
  • Create logic that allows manual jogging of the servo axis, enabling fine-tuned adjustments to the motor position. This can be especially useful during setup and calibration phases.

The control logic from the Inovance programming software showing the basic of servo control.

3.3 Axis Control Command

• Pulse Output for Positioning:
  • Implement commands that control the pulse output from the PLC to the servo motor, determining the motor’s position based on the number of pulses sent.
• Direction Control:
  • Write logic to control the direction of the motor’s rotation by switching the direction output signal (Y3).

These commands form the core of the program, ensuring that the servo motor operates smoothly and accurately according to the desired specifications.

Example code snippet showing how axis control commands are implemented in the PLC software.

Conclusion

This comprehensive tutorial has provided detailed guidance on controlling the Mitsubishi MR-J4-A Servo Motor using the Inovance H3U-3232MT PLC. By following the outlined steps for wiring, parameter configuration, and programming, you can achieve precise and reliable control of your servo motor, enhancing the performance and efficiency of your automation systems.

For further advancements, consider exploring additional programming techniques and integrating more sensors or actuators to expand your system’s capabilities.

For further assistance or more detailed information, please refer to the Mitsubishi manuals or contact a Mitsubishi Electric support representative.