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Mitsubishi Electric MR-JE-_A Instruction Manual
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Mitsubishi Electric MR-JE-_A Instruction Manual

Servo amplifier
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General-Purpose AC Servo
General-Purpose Interface AC Servo
MODEL
MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Modbus-RTU Protocol)
B

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Summary of Contents for Mitsubishi Electric MR-JE-_A

  • Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus-RTU Protocol)

  • Page 2: Safety Instructions

    Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 3 1. To prevent electric shock, note the following. WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp of the servo amplifier is off. 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.
  • Page 4 3. To prevent injury, note the following. CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
  • Page 5 CAUTION When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).
  • Page 6 (3) Test run and adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never adjust or change parameter values drastically. Doing so leads to unstable operations. Do not approach the moving part while the servo amplifier is in the servo-on status. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched...
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.
  • Page 8 Relevant manuals Manual name Manual number MELSERVO MR-JE-_A Servo Amplifier Instruction Manual SH(NA)030128 MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030150 MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166 MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual SH(NA)030135...
  • Page 9 MEMO A - 8...

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4 1.1 Summary ............................1- 1 1.2 Function List ............................1- 2 1.3 Communication Specifications ......................1- 2 1.4 System Configuration ........................1- 3 1.4.1 Diagrammatic sketch ........................1- 3 1.4.2 Cable connection diagram ......................1- 4 2.
  • Page 11 4.8.2 Directions for use ........................4- 9 4.9 Alarm History (Address: 2A00h to 2A0Fh) ..................4-10 4.9.1 List of registers .......................... 4-10 4.9.2 Directions for use ........................4-10 4.10 Alarm History Clear (Address: 2A40h) ..................4-10 4.10.1 List of registers ........................4-10 4.10.2 Directions for use ........................
  • Page 12 4.25.1 List of registers ........................4-21 4.25.2 Directions for use ........................4-21 4.26 Communication Error Count (Address: 2A68h) ................4-21 4.26.1 List of registers ........................4-21 4.26.2 Directions for use ........................4-21 4.27 Supported Profile Information (Address: 1000h) ................4-22 4.27.1 List of registers ........................
  • Page 13 5.8.2 Control input (2D01h to 2D09h) ....................5-33 5.8.3 Control output (2D11h to 2D19h) ....................5-38 5.8.4 Simultaneous start bit setting (2D9Ah) ..................5-43 5.8.5 Controller force stop (2D9Bh) ....................5-43 5.8.6 Override (2DB0h) ........................5-44 5.8.7 Forward torque limit value (60E0h) ................... 5-44 5.8.8 Reverse torque limit value (60E1h) ...................

  • Page 14: Functions And Configuration

    Using the functions in the message frames enables to read or write data from/to parameters, write input commands, and check operation status of servo amplifiers. For MR-JE-_A servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive profile.

  • Page 15: Function List

    1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions that can be used in the Modbus-RTU communication. Function Description Detailed explanation Reads the items in "Display all", the monitor function of MR Configurator2, Status monitor Section 4.2 such as the servo motor speed and droop pulses.

  • Page 16: System Configuration

    1. FUNCTIONS AND CONFIGURATION 1.4 System Configuration 1.4.1 Diagrammatic sketch Up to 32 axes of servo amplifiers can be operated and controlled on one bus. Servo amplifier Servo amplifier Servo amplifier Terminal Terminal block block Modbus- 1st axis 2nd axis nth axis (station n) compatible (station 1)

  • Page 17: Cable Connection Diagram

    1. FUNCTIONS AND CONFIGURATION 1.4.2 Cable connection diagram (1) Half duplex wiring Wire the system as shown below. (Note 3) 30 m or shorter (Note 1) (Note 1) (Note 1) Connector for nth Connector for Connector for (n = 1 to 32) (last axis) 1st servo amplifier CN1 2nd servo amplifier CN1 servo amplifier CN1...

  • Page 18: Parameter

    Do not change parameters for manufacturer setting. Do not set any values other than the described setting values to each parameter. This chapter describes the parameters used for the communication with the MR-JE-_A servo amplifiers using the Modbus-RTU communication protocol. Refer to "MELSERVO-JE-_A Servo Amplifier Instruction Manual"...

  • Page 19: Detailed List Of Parameters

    2. PARAMETER 2.1 Detailed list of parameters (1) Extension setting parameters ([Pr. PC_ _ ]) Control mode Initial value No./Symbol/Name Setting digit Function [unit] CP CL PC70 Set a station number for the Modbus-RTU communication. *SNOM The station number "0" does not send a response data to the master (controller).
  • Page 20 2. PARAMETER Control mode Initial value No./Symbol/Name Setting digit Function [unit] CP CL PC71 *COPF Table 2.1 Setting of [Pr. PC71] for the Modbus-RTU communication Function selection Modbus-RTU communication For operating input [Pr. PA01] For operating input devices via the devices via DI Modbus-RTU communication...
  • Page 21 2. PARAMETER (2) Extension setting 3 parameters ([Pr. PF_ _ ]) Control mode Initial value No./Symbol/Name Setting digit Function [unit] CP CL _ _ _ x PF45 Modbus-RTU communication Parity selection *FOP12 0: Even parity, stop bit length of 1 bit Function selection 1: Odd parity, stop bit length of 1 bit F-12...

  • Page 22: Restrictions On Using Modbus-Rtu Communication

    2. PARAMETER 2.2 Restrictions on using Modbus-RTU communication (1) Restrictions on operating input devices via DI When the input devices are operated via DI ([Pr. PC71]: _ 1 _ 1), the Modbus registers shown in table 2.2 cannot be used in the Modbus-RTU communication. Table 2.2 Unusable registers when the input devices are operated via DI Address Modbus register...
  • Page 23 2. PARAMETER MEMO 2 - 6...

  • Page 24: Modbus Protocol

    3. MODBUS PROTOCOL 3. MODBUS PROTOCOL 3.1 Modbus-RTU Message Format In the Modbus-RTU communication, a command sent from a master (controller) to a slave (servo amplifier) is called "Query Message", and a command that the slave (servo amplifier) returns to the master (controller) is called "Response Message".

  • Page 25: Modbus-Rtu Communication Message Frame

    3. MODBUS PROTOCOL 3.3 Modbus-RTU Communication Message Frame Query Messages sent from the master (controller) and Response Messages sent from the slaves (servo amplifiers) are both sent in the following message frame format. Address Function Data Error Check Query Message Master Slave (controller)

  • Page 26: Function Codes

    3. MODBUS PROTOCOL 3.4 Function Codes 3.4.1 List of function codes The MR-JE-_A servo amplifier supports the following function codes. Code Function name Description Broadcast communication Reading data in holding registers Read Holding Registers Not supported The data in the registered holding registers can be read from the master.

  • Page 27: Read Holding Registers (Reading Data In Holding Registers: 03H)

    3. MODBUS PROTOCOL 3.4.2 Read Holding Registers (Reading data in holding registers: 03h) Data in consecutive registers is read for the specified number of data points starting from the specified register address. (1) Message frame Query Message Starting Address No. of Points CRC Check Slave Address Function...
  • Page 28 3. MODBUS PROTOCOL (2) Usage example The following shows a setting example of when Modbus registers 2B05h (Command pulse frequency) to 2B07h (Analog torque limit voltage) in the slave address "02" are read. No. of Points Continuous Register value Index Name Data type Read/write...

  • Page 29: Diagnostics (Function Diagnostics: 08H)

    3. MODBUS PROTOCOL 3.4.3 Diagnostics (Function diagnostics: 08h) Use this register when performing the communication check from the master (controller). When a slave (servo amplifier) received a Query Message, the slave sends the received data as a Response Message without any changes to the master (controller). (1) Message frame Query Message Sub Function...
  • Page 30 3. MODBUS PROTOCOL (2) Usage example The following shows a setting example of when the function diagnostics of the slave address "03h" is executed. Query Message Sub Function Data CRC Check Slave Address Function (8 bits) (8 bits) Set the following values to each Query Message. Message Description Slave Address...

  • Page 31: Preset Multiple Registers (Writing Data In Multiple Holding Registers: 10H)

    3. MODBUS PROTOCOL 3.4.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) Data is written to consecutive holding registers for the specified number of data points starting from the specified register address. (1) Message frame Query Message Starting Address No.
  • Page 32 3. MODBUS PROTOCOL (2) Usage example The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]) of the slave address "02h". No. of Registers Continuous Index Name Data type Read/write Setting value (Number of registers to write) read/write 2102h PC02...

  • Page 33: Processing At Occurrence Of An Error

    3. MODBUS PROTOCOL 3.4.5 Processing at occurrence of an error In the Modbus-RTU communication, when the Query Message sent from the master (controller) includes an incorrect value, the slave (servo amplifier) returns an exception response to the master (controller). When a parity error, CRC error, overrun error, or framing error occurs, the slave (servo amplifier) does not return a message to the master (controller).

  • Page 34: Modbus Registers

    For details on the registers for driving a motor, refer to chapter 5. 4.1 List of Available Registers By reading and writing data in the registers that are compatible with the Modbus-RTU communication, the following functions can be performed using the MR-JE-_A servo amplifier. Function Description...

  • Page 35: Monitor (Address: 2B01H To 2B7Fh)

    4. MODBUS REGISTERS 4.2 Monitor (Address: 2B01h to 2B7Fh) Each status in the servo amplifier can be monitored. For the items that can be monitored, refer to the list of registers. 4.2.1 List of registers The following items can be monitored. Refer to "MELSERVO-JE-_A Servo Amplifier Instruction Manual" and "MELSERVO-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)"...

  • Page 36: Directions For Use

    4. MODBUS REGISTERS No. of points/ Continuous read/ Address Name Unit Data type Read/write No. of registers continuous write Feed current position of CAM 0.001 mm 2B3Ah 4 bytes Read Possible (Note 1) 2B3Bh CAM No. 2 bytes Read Possible Stroke movement of CAM 0.001 mm 2B3Ch...

  • Page 37: Parameter Setting (Address: 2001H To 27Ffh)

    4. MODBUS REGISTERS 4.3 Parameter Setting (Address: 2001h to 27FFh) Data can be read and written from/to parameters. 4.3.1 List of registers Data can be read and written from/to the following parameters. Refer to "MELSERVO-JE-_A Servo Amplifier Instruction Manual" and "MELSERVO-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)" for the setting of each parameter.

  • Page 38: Point Table Setting (Address: 2801H To 281Fh)

    4. MODBUS REGISTERS 4.4 Point Table Setting (Address: 2801h to 281Fh) Point table data can be read and written. 4.4.1 List of registers Point table data can be read and written from/to the following registers. For details of point tables, refer to "MELSERVO-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)".

  • Page 39: Directions For Use

    4. MODBUS REGISTERS 4.5.2 Directions for use Using the function code "03h" (Read Holding Registers) reads the information that shows whether each command can be used or not. The following table shows the returned values of each item. Item Saved parameter Returned value Number of entries Address: 2001h to 27FFh...

  • Page 40: Alarm Information (Address: 1001H)

    4. MODBUS REGISTERS 4.6 Alarm Information (Address: 1001h) The error status can be checked. 4.6.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 1001h Error Register 1 byte Read Impossible 4.6.2 Directions for use The occurrence of an alarm can be read using the function code "03h"...

  • Page 41: Alarm Occurrence Monitor (Address: 2B81H To 2Bffh)

    4. MODBUS REGISTERS 4.8 Alarm Occurrence Monitor (Address: 2B81h to 2BFFh) Each monitor information at occurrence of an error can be read. 4.8.1 List of registers No. of points/ Continuous read/ Address Name Unit Data type Read/write No. of registers continuous write 2B81h Cumulative feedback pulses...

  • Page 42: Directions For Use

    4. MODBUS REGISTERS No. of points/ Continuous read/ Address Name Unit Data type Read/write No. of registers continuous write 2BB3h Step No. 2 bytes Read Possible 2BB4h Override voltage 0.01 V 2 bytes Read Possible 2BB5h Override level 2 bytes Read Possible 2BB6h...

  • Page 43: Alarm History (Address: 2A00H To 2A0Fh)

    4. MODBUS REGISTERS 4.9 Alarm History (Address: 2A00h to 2A0Fh) The history of up to 16 alarms can be read. 4.9.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write Number of entries 1 byte 2A00h to Alarm History0 to...

  • Page 44: Parameter Error Count (Address: 2A44H)

    4. MODBUS REGISTERS 4.11 Parameter Error Count (Address: 2A44h) When [AL. 37 parameter error] has occurred, the number of parameters where parameter errors have occurred can be read. 4.11.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No.

  • Page 45: Point Table Error (Address: 2A43H)

    4. MODBUS REGISTERS 4.13 Point Table Error (Address: 2A43h) When a point table error [AL. 37] has occurred, the detail of the point table where the point table error has occurred can be read. 4.13.1 List of registers No. of points/ Continuous read/ Address Name...

  • Page 46: External Input Pin Status (Address: 2C10H)

    "02h" is returned to Number of entries. External Input pin display1 displays the input pin status of the MR-JE-_A servo amplifier. The following table shows the details. When the input of the target pin is on, "1" is returned. When the input of the target pin is off, "0"...

  • Page 47: External Output Pin Status (Address: 2C11H)

    "02h" is returned to Number of entries. External Output pin display1 displays the output pin status of the MR-JE-_A servo amplifier. The following table shows the details. When the output of the target pin is on, "1" is returned. When the output of the target pin is off, "0"...

  • Page 48: Directions For Use

    External Input signal display1 (Input device status 1) to External Input signal display4 (Input device status 4) display the ON/OFF state of each input device of the MR-JE-_A servo amplifier. The following table shows the details. When the input of the target device is on, "1" is returned. When the input of the target device is off, "0"...

  • Page 49: Output Device Status (Address: 2C13H)

    4. MODBUS REGISTERS 4.17 Output Device Status (Address: 2C13h) The current output device status can be read. 4.17.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write Number of entries 1 byte External Output signal 4 bytes display1...

  • Page 50: Directions For Use

    External Output signal display1 (Output device status 1) to External Output signal display4 (Output device status 4) display the ON/OFF state of each output device of the MR-JE-_A servo amplifier. The following table shows the details. When the output of the target device is on, "1" is returned. When the output of the target device is off, "0"...

  • Page 51: Servo Amplifier Model (Address: 1008H)

    4. MODBUS REGISTERS 4.18 Servo Amplifier Model (Address: 1008h) The model name of the currently-connected servo amplifier can be read. 4.18.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 1008h Manufacture Device Name 32 bytes Read...

  • Page 52: Broadcast Setting (Address: 2D98H)

    4. MODBUS REGISTERS 4.20 Broadcast Setting (Address: 2D98h) The setting of the broadcast communication of the Modbus-RTU communication can be configured. The broadcast command can be disabled for each axis using this register. 4.20.1 List of registers No. of points/ Continuous read/ Address Name...

  • Page 53: Sdo Abort Code (Address: 2A60H)

    4. MODBUS REGISTERS 4.23 SDO Abort Code (Address: 2A60h) The latest SDO Abort Code can be read. The access to registers can be checked by reading the latest SDO Abort Code. When an error is found by reading SDO Abort Codes, change the method to access registers. 4.23.1 List of registers No.

  • Page 54: Access Log 2 (Address: 2A65H)

    4. MODBUS REGISTERS 4.25 Access Log 2 (Address: 2A65h) The access log 2 can be read. 4.25.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 2A65h Access log 2 2 bytes Read Impossible 4.25.2 Directions for use...

  • Page 55: Supported Profile Information (Address: 1000H)

    4. MODBUS REGISTERS 4.27 Supported Profile Information (Address: 1000h) The supported profile information can be read. 4.27.1 List of registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 1000h Device type 4 bytes Read Impossible 4.27.2 Directions for use...

  • Page 56: Driving Motor

    This chapter describes how to drive a servo motor in the Modbus-RTU communication. For MR-JE-_A servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive profile. The servo motors are driven.by Modbus compatible controller as master accessing to the assigned holding registers.

  • Page 57: Device Control

    (forced stop deceleration, alarm In normal drive history writing, and alarm display Error occurs (servo-on) change) Transition by slave Transition by master Transition by slave or master Note. This is not supported by the MR-JE-_A servo amplifier. 5 - 2...

  • Page 58: Related Registers

    Bit 3 Bit 2 Bit 1 Bit 0 Shutdown Switch On Disable voltage Quick stop (not supported) (Note) Disable operation Enable operation 0 → 1 Fault reset Note. This is not supported by the MR-JE-_A servo amplifier. 5 - 3...

  • Page 59: Directions For Use

    5. DRIVING MOTOR (2) Control status (Statusword: 6041h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6041h Statusword 2 bytes Read Impossible The current control status can be checked using the function code "03h" (Read Holding Registers). The following table lists the bits of this register.

  • Page 60: Control Mode

    5. DRIVING MOTOR 5.2 Control Mode This section describes the control modes that the MR-JE-_A servo amplifier supports. 5.2.1 Function description The MR-JE-_A servo amplifier supports various control modes. A control mode can be selected with the control mode (Modes of operation: 6060h).
  • Page 61 5. DRIVING MOTOR (2) Control mode display (Modes of operation Display: 6061h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6061h Modes of operation Display 1 byte Read Impossible The current control mode can be read using the function code "03h" (Read Holding Registers). The following table shows the correspondence between control modes and setting values.

  • Page 62: Directions For Use

    5. DRIVING MOTOR 5.2.4 Directions for use (1) Positioning with point table operation ([Pr. PA01]: "_ _ _ 6") After performing a home position return operation, perform a point table operation. Use the control mode (Modes of operation: 6060h) when switching the mode to the home position return or point table operation.

  • Page 63: Related Registers

    5. DRIVING MOTOR 5.3.2 Related registers No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6040h Controlword 2 bytes Read/write Impossible 6098h Homing method 1 byte Read/write Impossible Number of entries 1 byte 6099h Homing speed Speed during search for switch 4 bytes...
  • Page 64 5. DRIVING MOTOR (2) Home position return method (Homing method: 6098h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6098h Homing method 1 byte Read/write Impossible The current home position return method can be read using the function code "03h" (Read Holding Registers).
  • Page 65 5. DRIVING MOTOR Home position return parameter Direction Setting Home position Description [Pr. PT04] [Pr. PT45] value return method rotation (_ _ x x) (_ _ x x) At the front end of the proximity dog, deceleration Forward Count type starts.
  • Page 66 5. DRIVING MOTOR (4) Control status (Statusword: 6041h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6041h Statusword 2 bytes Read Impossible The current control status can be checked using the function code "03h" (Read Holding Registers). The bits of this register that relate to the home position return operation are shown below.

  • Page 67: Directions For Use

    5. DRIVING MOTOR 5.3.4 Directions for use [Precondition setting] Select "Modbus-RTU protocol" in [Pr. PC71]. Set the point table method or program method in "Control mode selection" of [Pr. PA01]. Set a home position return method (address 6098h). Save the parameter in the EEP-ROM with Save manufacturer defined parameters of Store parameters (address 1010h). Cycle the power.

  • Page 68: Jog Operation Mode

    5. DRIVING MOTOR 5.4 JOG Operation Mode This section describes how to perform a JOG operation in the Modbus-RTU communication. 5.4.1 Function description Perform a JOG operation following the instruction below. After setting the command speed (Profile Velocity: 6081h), acceleration time constant (Point Table No. 1: Acceleration: 2801h/Profile Acceleration: 6083h), deceleration time constant (Point Table No.

  • Page 69: Details Of Registers

    5. DRIVING MOTOR 5.4.3 Details of registers (1) Control command (Controlword: 6040h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6040h Controlword 2 bytes Read/write Impossible The status of the current control command input can be checked using the function code "03h" (Read Holding Registers).
  • Page 70 5. DRIVING MOTOR (4) Deceleration time constant (Profile Deceleration: 6084h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6084h Profile Deceleration 4 bytes Read/write Impossible The current deceleration time constant can be read using the function code "03h" (Read Holding Registers).
  • Page 71 5. DRIVING MOTOR (6) Control status (Statusword: 6041h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6041h Statusword 2 bytes Read Impossible The current control status can be checked using the function code "03h" (Read Holding Registers). The bits of this register that relate to the JOG operation are shown below.

  • Page 72: Directions For Use

    5. DRIVING MOTOR 5.4.4 Directions for use [Precondition setting] Select "Modbus-RTU protocol" in [Pr. PC71]. Set the point table method or program method in "Control mode selection" of [Pr. PA01]. Set a command value limit minimum value and a command value limit maximum value (address 607Dh). Skip if not using software.

  • Page 73: Point Table Operation Mode

    5. DRIVING MOTOR 5.5 Point Table Operation Mode This section describes how to perform a point table data operation. 5.5.1 Function description Perform a point table data operation following the instruction below. After setting the point table (Point Table: 2801h to 281Fh), point table specification (Target Point Table: 2D60h), and Software Position Limit (607Dh), start the operation with the control command (Controlword: 6040h).

  • Page 74: Details Of Registers

    5. DRIVING MOTOR 5.5.3 Details of registers (1) Control command (Controlword: 6040h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6040h Controlword 2 bytes Read/write Impossible The status of the current control command input can be checked using the function code "03h" (Read Holding Registers).
  • Page 75 5. DRIVING MOTOR The current software limit setting can be written using the function code "10h" (Preset Multiple Registers). At this time, set "02h" for Number of entries. Set the stroke limit value in the reverse direction in Min Position Limit (stroke limit -) in units of commands.
  • Page 76 5. DRIVING MOTOR (a) Bit 10 of the control status (6041h) (Target reached) Bit 10 turns on (1) when the command position is reached. If bit 8 (Halt) of the control command is set to "1", bit 10 turns on (1) when a deceleration stop is completed. If a command is input again, bit 10 turns off (0).

  • Page 77: Directions For Use

    5. DRIVING MOTOR 5.5.4 Directions for use (1) For operation that uses point table data saved in the EEP-ROM [Precondition setting] Select "Modbus-RTU protocol" in [Pr. PC71]. Set the point table method or program method in "Control mode selection" of [Pr. PA01]. [Positioning control parameter settings] Positioning command method "_ _ _ x"...
  • Page 78 5. DRIVING MOTOR (2) For operation that uses point table data sequentially sent to the servo amplifier (Method of saving point table data in RAM) [Precondition setting] Select "Modbus-RTU protocol" in [Pr. PC71]. Set the point table method or program method in "Control mode selection" of [Pr. PA01]. [Positioning control parameter settings] Positioning command method "_ _ _ x"...

  • Page 79: Program Operation Mode

    5. DRIVING MOTOR 5.6 Program Operation Mode This section describes how to perform a program operation. 5.6.1 Function description Set a program beforehand, and then set a program number in the program number specification (Target Program No.: 2D70h) and start the operation with the control command (Controlword: 6040h). The specified program starts running.

  • Page 80: Details Of Registers

    5. DRIVING MOTOR 5.6.3 Details of registers (1) Control command (Controlword: 6040h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 6040h Controlword 2 bytes Read/write Impossible The status of the current control command input can be checked using the function code "03h" (Read Holding Registers).
  • Page 81 5. DRIVING MOTOR The current software limit setting can be written using the function code "10h" (Preset Multiple Registers). At this time, set "02h" for Number of entries. Set the stroke limit value in the reverse direction in Min Position Limit (stroke limit -) in units of commands.

  • Page 82: Directions For Use

    5. DRIVING MOTOR (5) Program number request (Program No. Demand Value: 2D78h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 2D78h Program No. Demand Value 2 bytes Read Impossible The currently commanded program number can be read using the function code "03h" (Read Holding Registers).

  • Page 83: Touch Probe (Address: 60B8H To 60Bbh)

    5. DRIVING MOTOR 5.7 Touch Probe (Address: 60B8h to 60BBh) The current position latch data at the time of MSD (Mark detection) input can be read. 5.7.1 Function description When the touch probe function (60B8h) is set, and MSD (Mark detection), an external signal, is turned on/off, the current position at the rising and falling edges are latched.

  • Page 84: Details Of Registers

    5. DRIVING MOTOR 5.7.3 Details of registers (1) Touch probe function setting (Touch probe function: 60B8h) No. of points/ Continuous read/ Address Name Data type Read/write continuous write No. of registers 60B8h Touch probe function 2 bytes Read/write Possible The current setting of the touch probe function can be checked using function code "03h" (Read Holding Registers).
  • Page 85 5. DRIVING MOTOR (2) Status of the touch probe function (Touch probe status: 60B9h) No. of points/ Continuous read/ Address Name Data type Read/write continuous write No. of registers 60B9h Touch probe status 2 bytes Read Possible The current status of the touch probe function can be checked using function code "03h" (Read Holding Registers).

  • Page 86: Directions For Use

    5. DRIVING MOTOR (4) Falling edge position of touch probe (Touch probe position negative value: 60BBh) No. of points/ Continuous read/ Address Name Data type Read/write continuous write No. of registers 60BBh Touch probe position negative value 4 bytes Read Possible The current position of the touch probe falling edge can be checked using function code "03h"...
  • Page 87 5. DRIVING MOTOR The following shows a timing chart. (1) 60B8h = 0013h 60B8h bit 0 60B8h bit 1 60B8h bit 4 (4) 60B9h = 0043h (6) 60B9h = 0083h (7) Latches continuously 60B8h bit 5 (2) 60B9h = 0001h 60B9h bit 0 60B9h bit 1 60B9h bit 2...

  • Page 88: Function Common To The Modes

    5. DRIVING MOTOR 5.8 Function common to the modes This section describes the registers that can be used for the home position return mode, JOG mode, point table mode, and program operation mode. 5.8.1 List of registers Detailed Function Description Read/write explanation Control input...
  • Page 89 5. DRIVING MOTOR The following table lists readable and writable input devices. Bit definition of control DI1 Abbreviation Description C_EM1/2 Forced stop 1/2 The value at reading is undefined. Set "0" at writing. C_CDP Gain switching The value at reading is undefined. Set "0" at writing. Internal torque limit selection The smallest value among Object 60E0h/60E1h and the torque limits in the table below is applied as the...
  • Page 90 5. DRIVING MOTOR Bit definition of control DI3 Abbreviation Description The value at reading is undefined. Set "0" at writing. C_CM1 Electronic gear selection 1 C_CM2 Electronic gear selection 2 The value at reading is undefined. Set "0" at writing. C_CR Clear The value at reading is undefined.
  • Page 91 5. DRIVING MOTOR Bit definition of control DI5 Abbreviation Description The value at reading is undefined. Set "0" at writing. Bit definition of control DI6 Abbreviation Description The value at reading is undefined. Set "0" at writing. 5 - 36...
  • Page 92 5. DRIVING MOTOR Bit definition of control DI7 Abbreviation Description C_PI1 Program input 1 C_PI2 Program input 2 C_PI3 Program input 3 C_TCH Teach C_TP0 Generator multiplication 1 C_TP1 Generator multiplication 2 The value at reading is undefined. Set "0" at writing. C_OVR Analog override selection C_LPS...

  • Page 93: Control Output (2D11H To 2D19H)

    5. DRIVING MOTOR Bit definition of control DI9 Abbreviation Description The value at reading is undefined. Set "0" at writing. 5.8.3 Control output (2D11h to 2D19h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 2D11h to Status DO1 to Status DO9 2 bytes...
  • Page 94 5. DRIVING MOTOR Bit definition of status DO2 Abbreviation Description S_ZPAS Z-phase already passed The value at reading is undefined. S_ZSP Under zero speed S_VLC Under speed limit S_CAMS Under cam control The value at reading is undefined. S_PC Under proportional control The value at reading is undefined.
  • Page 95 5. DRIVING MOTOR Bit definition of status DO4 Abbreviation Description The value at reading is undefined. Bit definition of status DO5 Abbreviation Description The value at reading is undefined. S_CPO Rough match S_MEND Travel completed S_ZP Home position return operation completed S_PUS Pause The value at reading is undefined.
  • Page 96 5. DRIVING MOTOR Bit definition of status DO6 Abbreviation Description The value at reading is undefined. Bit definition of status DO7 Abbreviation Description S_ALMWNG Failure/warning The value at reading is undefined. S_POT Position range output S_PED Position end S_SOUT SYNC synchronous output The value at reading is undefined.
  • Page 97 5. DRIVING MOTOR Bit definition of status DO8 Abbreviation Description The value at reading is undefined. Bit definition of status DO9 Abbreviation Description The value at reading is undefined. 5 - 42...

  • Page 98: Simultaneous Start Bit Setting (2D9Ah)

    5. DRIVING MOTOR 5.8.4 Simultaneous start bit setting (2D9Ah) Multiple axis system with different operation modes (for example, point table operation and program operation) can be started simultaneously using the broadcast communication. This setting is not needed when the same operation mode is used. (1) List of registers No.

  • Page 99: Override (2Db0H)

    5. DRIVING MOTOR 5.8.6 Override (2DB0h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 2DB0h Override 2 bytes Read/write Impossible Turning on OVR (override selection) enables the setting. The override value can be read using the function code "03h" (Read Holding Registers). An override value can be set using the function code "10h"...

  • Page 100: Current Torque (6077H)

    49 - Cam No.] is "0", the cam number setting with "2D80h" is enabled. If the cam number is not "0", the setting of [Cam control data No. 49] is enabled. For details of cam control data numbers, refer to "MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode).

  • Page 101: Request Store Cam (2D88H)

    5. DRIVING MOTOR 5.8.16 Request store CAM (2D88h) No. of points/ Continuous read/ Address Name Data type Read/write No. of registers continuous write 2D88h Request store CAM 1 bytes Writing Impossible Cam data can be written in the RAM space in the servo amplifier using the function code "10h" (Preset Multiple Registers).

  • Page 102: List Of Modbus Registers

    -32768 to 32767 Interger32 INT32 4 bytes -2147483648 to 2147483647 Visible string The following shows the list of the Modbus registers supported in the Modbus-RTU communication for the MR-JE-_A servo amplifier. Register No. Function Data type Reference 1000h Supported profile information 4 bytes (UINT32) Section 4.27...
  • Page 103 6. LIST OF MODBUS REGISTERS Register No. Function Data type Reference 2A45h Parameter error list 1 byte (UINT8) Section 4.12 2 bytes (UINT16) × 32 2A60h SDO Abort Code 4 bytes (UINT32) Section 4.23 2A64h Access Log 1 4 bytes (UINT32) Section 4.24 2A65h Access Log 2...
  • Page 104 6. LIST OF MODBUS REGISTERS Register No. Function Data type Reference 2C13h Output device status 1 byte (UINT8) Section 4.17 4 bytes (UINT32) 4 bytes (UINT32) 4 bytes (UINT32) 4 bytes (UINT32) 2D01h to 2D09h Control input 2 bytes (UINT16) Section 5.8.2 2D11h to 2D19h Control output...
  • Page 105 6. LIST OF MODBUS REGISTERS MEMO 6 - 4...

  • Page 106: Application Of Functions

    7. APPLICATION OF FUNCTIONS 7. APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions. 7.1 Connection with GOT2000 series POINT For the details of the device data transfer, refer to section 9.4 of "GT Designer3 (GOT2000) Screen Design Manual". For the details of conversion of Modbus register addresses, refer to chapter 5 of "GOT2000 Series Connection Manual (Microcomputers, MODBUS/Fieldbus Products, Peripherals)".
  • Page 107 7. APPLICATION OF FUNCTIONS 1) Points Set the number of Modbus registers (No. of Points). 2) Source device Set a servo amplifier station number and a Modbus register address. The address must be converted into the device number readable on GT Designer3 before setting. Example of converting a Modbus register address into a device number readable on GT Designer3: Reading the data of Modbus register address "2801h"...
  • Page 108 7. APPLICATION OF FUNCTIONS (2) Writing data to Modbus registers POINT When reading/writing data from/to a Modbus register with one GOT data register (GD), use different device data transfer IDs for reading and writing. When writing data to a 4-byte Modbus register or a Modbus register containing multiple elements, store the data in consecutive GD devices.
  • Page 109 7. APPLICATION OF FUNCTIONS MEMO 7 - 4...
  • Page 110 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 111 MEMO...
  • Page 112 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Modbus is registered trademark of SCHNEIDER ELECTRIC USA, INC. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 113 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 114 MR-JE-A MODEL INSTRUCTIONMANUAL(MODBUS-RTU) MODEL 1CW708 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030177-B(1608)MEE Printed in Japan Specifications are subject to change without notice.

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