1. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 SERIES GENERAL PRODUCT INTRODUCTION

2. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 SERIES Development Concept –Achieve higher performance High-level auto tuning Advanced vibration suppression High-performance servo motors Ultra high-performance positioning –Reduce component size Amplifier and Motor downsizing Reduced wiring –Simplify operation New configuration software Easier operation Simplified tuning Enhanced setup and maintenance functions

3. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Reduced Size –Example of 400W capacity amplifier 40% reduction 168mm 70mm40mm 118cm 2 67cm 2 MR-J2SMR-J2-SuperMR-J3

4. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Hardware Features –Front side connectors –Easier connections Insertion style power connectors One 50 pin I/O connector One accessory terminal block and cable Encoder connector size reduction External battery mounting RJ-45 connector for RS-485 multi- drop USB1.1 for configuration software Pushbuttons with 5 digit display

5. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Speed frequency response Response (dB) -3dB 900Hz Hz 1996 1998 2000 2002 2004 J2 ｰ Super J2 J3 0 200 400 600 800 1000 900Hz ! High Response

6. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Industry leading feedback loop times Current loop – 11us Speed loop – 55us Position loop – 222us POSITION SPEED CURRENT

7. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Advanced Vibration Suppression Control Motor position Machine position Suppress the mechanical vibration on machines with low rigidity

8. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Adaptive filter II - Machine resonance suppression filter Auto-tuning ON Frequency range increases from (10Hz-1kHz) to (3Hz-4.5kHz)

9. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 AMPLIFIER FEATURES Position command Velocity control Differential － ＋ － ＋ Adaptive vibration compensation function Position droop data The error value of droop pulse is reduced Adaptive Vibration Compensation Function Gain can be increased without increasing machine resonance Position control Motor

10. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 MOTOR FEATURES HIGH-PERFORMANCE SERVO MOTORS HF SERIES

11. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 MOTOR FEATURES Ultra Compact Size: –High density coil using new joint-wrap core method –New, smaller size encoder development High resolution, absolute – 262,144ppr IP65 (HF-MP – HF-KP) and IP67 (HF-SP) is standard Reduced length compared to HC-Series Cable direction can be changed 180 degrees

12. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 MOTOR FEATURES Ultra Compact Size –High density coil using new joint-wrap core method –New, small size encoder development ABS and High resolution (self-development) Permeate optical and Increment 1000 ppr 130k ppr 260k ppr Glass disc (ABS code) Prism Joint-wrap core + Flyer mass winding Flat core + mass winding Circular core + mass winding

13. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 MOTOR FEATURES High-speed - High torque motors –Up to 6000rpm maximum continuous speed 0 10002000300050006000 100% 300% 4000 300% Torque Rating 6000rpm Speed Torque

14. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 Setup Software MR-Configurator (Servo Setup Software) –USB Compatible –Improved Functionality –Improved Performance USB1.1 USB mini-B USB A

15. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 Setup Software Graphical representation of parameters

16. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 Setup Software Easy-to-use Auto-Tuning features 31 step auto-tuning gain response 31 step auto-tuning gain response Vibration suppression auto-tuning Auto-tuning notch filter

17. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 Setup Software Trend graphs via oscilloscope function Command / Droop / Torque simultaneous monitoring 3 channel oscilloscope Settling / mechanical characteristics confirmation History function （ overwrite function ） History function （ overwrite function ） Sampling data: 0.4ms/30000points = 12 seconds (MR-J2S: 0.8ms/1024points)

18. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MR-J3 Setup Software Machine Analyzer II –Provides highly accurate mechanical characteristics Frequency range – from 3Hz up to 4.5kHz Advanced algorithm Frequency range – from 3Hz up to 4.5kHz Advanced algorithm MR-J2S SERIES More accurate MR-J3 SERIES

19. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// SSCNET III MOTION CONTROL STRATEGY PRODUCT STRATEGY AND UPDATE DECEMBER 2005

20. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers Introducing the new QH-Series Motion Controller with SSCNETIII and MR-J3-B Servos Q172HCPU Q173HCPU QD75MH1 / 2 / 4 MR-J3-B

21. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// SSCNET SSCNET III 5.6Mbps 8 axes/3.55ms 2004 50Mbps 8 axes/0.44ms 16 axes/0.88ms 1994 Communication speed High speed dedicated motion network Fiber optic medium SSCNET II 5.6Mbps 6 axes/0.88ms SSCNET Mitsubishi Electric – MR-J3 General introduction presentation - September 2005

22. /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// SSCNET SPECIFICATION NETWORK SSCNET III SSCNET BAUD RATE 50Mbps5.6Mbps CYCLE TIME – NUMBER OF AXES SendReceiveServoSendReceiveServo 0.22ms0.22msJ3-B (4 axes) 0.88ms3.55msJ2S-B (8 axes) 0.44ms0.44msJ3-B 1.77ms 0.88ms0.88msJ3-B (16 axes) 3.55ms CABLE Optical fibre Metal cable CABLE LENGTH 20m between each node (standard cable) 50m between each node (long cable type) Total 30m

23. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// SSCNET III OPTICAL FIBRE ITEM Standard cable Long cable APPLICATION Internal to the panel External to the panel FEATURES Easy to make the cable and attach node Long distance wiring is possible, bending radius and protection against oil MAXIMUM LENGTH BETWEEN NODES 20m50m STOCK Standard stock product Stocked with limited quantities STANDARD LENGTH (m) 0.15 – 0.3 – 0.5 – 1 - 3 5 – 10 - 20 30 – 40 -50 OUTER DIAMETER 4.4 +/-0.1mm 6.0 +/-0.2mm 7.6 +/- 0.5mm SMALLER BENDING RADIUS 25mm50mm50mm BENDING LIFETIME Same as the standard "ENC" cable (MR-J3ENCBLE_-L) Same as the long bending life cable (MR-J3ENCBL_-H) CONNECTOR

24. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers Q172HCPU – 1 channel SSCNET III - up to 8 axes Q173HCPU – 2 channels SSCNET III - up to 32 axes Up to 16 axes per channel Up to 50 meters between stations (800 meters per channel) 50Mbps communication speed Q172H – axes 1 - 8 Q173H – axes 1 - 16 Q173H – axes 17 - 32

25. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// SSCNET III – HIGH SPEED DEDICATED MOTION NETWORK The network communication speed has been increased to 50Mbps The overall network wiring length has been increased to 800m

26. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers Faster cycle times produce a smoother operation

27. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers External Input Signals Available on MR-J3-B Amplifier Selectable I/O connection to Q172LX or MR-J3-B amplifier Selectable I/O connection to Q172LX or MR-J3-B amplifier Q172LX is not necessary when connecting directly to amplifier Q172LX is not necessary when connecting directly to amplifier Selectable I/O connection to Q172LX or MR-J3-B amplifier Selectable I/O connection to Q172LX or MR-J3-B amplifier Q172LX is not necessary when connecting directly to amplifier Q172LX is not necessary when connecting directly to amplifier

28. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers MT-Developer now incorporates MR-Configurator –Motion controller and servo amplifier software – integrated into a single software package –Servo parameter setting and monitoring functions have the same look and feel as MR-Configurator –Multi-axis screens for parameters and monitoring –A single point of connection (USB) to the Q-Motion CPU – communicate with all connected servo amplifiers USB

29. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers New and Improved Synchronous Encoder – Q170ENC –Q172EX changes to Q172EX-S2 –262,144ppr high-resolution feedback –IP65 protection rating –Serial communication –Absolute feedback system –3600rpm speed rating –Cable lengths up to 50 meters Q172EX-S2 module

30. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// QH-Motion Controllers Phase Delay Compensation Function In case of encoder following function, compensate the encoder data feedback delay time + droop pulses delay time. Delay to Encoder command Phase delay compensation CAM axis Encoder F/B Cutting the sheet with CAM axis by following conveyer line speed using synchronous encoder

31. Mitsubishi Electric – MR-J3 General introduction presentation - September 2005 /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION /// SERVO /// MOTION OPERATING SYSTEMS Motion control operating systems –SV13 uses Motion SFC compatible language for programming Applications include: Inserter – Feeder – Conveyor X-Y table –SV22 uses both Motion SFC and unique Mechanical system software Applications include: Food packaging – Textile machine – Printing machine SV13 SV22