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Mitsubishi Electric MR-J5-G User Manual
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Mitsubishi Electric MR-J5-G User Manual

Mitsubishi Electric MR-J5-G User Manual

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Mitsubishi Electric AC Servo System
MR-J5-G/MR-J5W-G
User's Manual
(Communication Function)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_

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  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Communication Function) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_...

  • Page 3: 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 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 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for the converter unit/drive unit) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...

  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...

  • Page 6: Object Units

    OBJECT UNITS This section explains the pos units, vel units, and acc units used in this manual. The degree unit is available on servo amplifiers with firmware version B6 or later. The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).

  • Page 7: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 8 IP address setting function ..............87 Hold/Clear of output at CPU STOP and at CPU stop error .

  • Page 9: Chapter 1 Cc-Link Ie Tsn

    Outline Motion mode Motion mode is used with a controller supported by a CANopen profile. Combining with Mitsubishi Electric manufactured Motion modules enables advanced motion control such as positioning of multiple axes, synchronous control by sequential command or interpolation control. The positioning function built-in servo amplifier can be used for positioning operation.

  • Page 10: Function List

    Function list Communication-related function list (Application) Category Subcategory Function Description Detailed explanation Page 9 Network Open network CC-Link IE TSN This servo amplifier supports CC-Link IE TSN. communication protocol Communication specifications Page 13 Startup CC-Link IE TSN Network configuration settings and station-specific mode selection communication setting are performed by using GX Works3.

  • Page 11: Communication Specifications

    Communication specifications Communication specifications of CC-Link IE TSN Item Description Remark Physical layer 1000BASE-T (1 Gbps), 100BASE-TX (100 Mbps) Twisted pair Communication connector RJ-45 × 2   Communication Cable type Category 5e or higher, (double shielded/STP) straight cable cable Standard One of the following standards must be met.
  • Page 12 *2 There are restrictions on the communication cycle depending on the function used. For details, refer to "CC-Link IE TSN restrictions" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) *3 The communication speed can be set to 1 Gbps or 100 Mbps. 100 Mbps can be used with servo amplifiers with firmware version B6 or later.

  • Page 13: Establishing And Disconnecting The Communication

    Communication profile Dictionary) 2000h to 5FFFh Objects group defined by Mitsubishi Electric 6000h to 9FFFh CiA 402 drive profile The classification of the objects defined by Mitsubishi Electric is as follows. Index Description Reference MR-J5-G/MR-J5W-G User's Manual (Object 2000h to 27FFh...

  • Page 14: Engineering Tool

    For details about objects that can be stored in the non-volatile memory, refer to the following manual. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) ■Store parameters Writing "65766173h" (= reverse order of the ASCII code "save") to [Save all parameters (Obj. 1010h: 01h)] enables the setting value of an object to be stored in the non-volatile memory of the servo amplifier.

  • Page 15: Startup

    This chapter describes the setting procedure for CC-Link IE TSN. Refer to the following manual for startup of the servo amplifier. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) • To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.
  • Page 16 Settings when connecting to Mitsubishi Electric Motion Unit To control the stroke limit on the controller side, set [Pr. PD41]. For details, refer to the manual for the controller being used. Servo parameter Name PD41.2 Limit switch enabled status selection PD41.3...

  • Page 17: Cc-Link Ie Tsn Class A Settings

    CC-Link IE TSN Class A settings To establish communication between the master and device stations (servo amplifiers) through CC-Link IE TSN Class A, configure the settings as follows. Master station setting Update the profile (CSP+) before configuring the network settings of the master station. For CC-Link IE TSN Class A, the servo amplifier starts in the profile position mode.

  • Page 18: Application Function

    The items displayed on the selected station communication status monitor are shown below. Setting item Description Reference Status display The status of the servo amplifier is displayed via LED. MR-J5-G/MR- J5W-G User's Manual CC-Link IE TSN status display The CC-Link IE TSN status (CN1A/CN1B connector LED) is displayed. (Introduction) MR-J5D-G...

  • Page 19: Ip Address Setting Function

    IP address setting function IP addresses are delivered from the controller to servo amplifiers via CC-Link IE TSN. Set the IP address required for CC-Link IE TSN communication from the following items. The IP address range is between 0.0.0.1 and 223.255.255.254. Set the IP address within the range. [Pr.

  • Page 20: Parameter Automatic Setting

    Parameter automatic setting The parameters of the servo amplifier are held by the master station, and are compared with those of the replaced servo amplifier. When there is a difference in those parameters, the parameters held by the CPU module are automatically written to the replaced servo amplifier.

  • Page 21: Hold/Clear Of Output At Cpu Stop And At Cpu Stop Error

    Hold/Clear of output at CPU STOP and at CPU stop error This function sets Hold/Clear of the auto refresh device output when CPU module operation of the cyclic master is at STOP or at CPU stop error. The following shows the servo amplifier status at CPU STOP and at stop error. Motion mode When both the motion control axis and motion non-control axis are at CPU STOP, the servo amplifier stops the servo motor in the manner commanded by the controller.

  • Page 22: Master-Slave Operation Function

    Master-slave operation function The master-slave operation function is available on the following servo amplifiers and also with firmware version D0 or later. • MR-J5-_G_ • MR-J5D1-_G_ Outline The master-slave operation function transmits the torque of the master axis through driver communication (servo amplifier communication through CC-Link IE TSN device station communication), and uses the torque as a command to activate slave axes.
  • Page 23 • Use the master-slave operation function together with a Motion module. For details, refer to the Motion module manual. • When the master-slave operation function is used, "dynamic brake" is the stop method regarding alarms and warnings whose stop methods are "electronic dynamic brake". •...
  • Page 24 System configuration • The master axis and slave axes are recommended to be used in a linked condition for the reason of machine components. When they are not linked, the speed may reach a speed limit level, causing [AL. 031 Overspeed].
  • Page 25 ■Compatible controller Use together with a controller that supports the driver communication function. The following controller supports the driver communication function. Category Model number Motion module RD78G(S) *1 Use a firmware version that enables master-slave operation. For details, refer to the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) ■Supported control mode The control modes compatible with the master-slave operation function are as follows.
  • Page 26 Related parameters The following servo parameters are related to the master-slave operation function. Servo parameter Name Description PA04.3 Forced stop deceleration function selection Set "Forced stop deceleration function" to enabled/disabled. PA14 Travel direction selection Set a torque generation direction. PC29.3 Torque POL reflection selection Set a torque generation direction.
  • Page 27 Master-slave operation settings ■Master-slave control with torque command method The master-slave operation function with the torque command method transmits the torque command and speed feedback of the master axis to slave axes as a torque command and speed limit value through driver communication. Then, the slave axes perform the torque control operation in the slave axis torque mode (slt).
  • Page 28 [Position actual value (Obj. 6064h)] [Velocity actual value (Obj. 606Ch)] × [Torque actual value (Obj. 6077h)] × • Related objects For details of the objects, refer to the following manual. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) Index Object Name Description  6072h...
  • Page 29 The following parameters and objects can be used to adjust the torque command value and speed command value. Servo parameter list for command adjustment Servo parameter Name Unit Reference PD30 Master-slave operation - Slave-side torque command MR-J5-G/MR-J5W-G User's Manual (Parameters) coefficient PD31 Master-slave operation - Slave-side speed limit coefficient PD32 Master-slave operation - Slave-side speed limit...
  • Page 30 • Travel direction setting Configure the settings for the controller command so that the rotation/travel directions of the master and slave axes are in accordance with the moving direction of the mechanical system. The following shows an example of setting the rotation/travel direction of a platform truck with one master axis and three slave axes.
  • Page 31 Network settings ■Communication cycle settings The driver communication cycle is set automatically in accordance with the controller being used. For details, refer to the manual for the controller being used. If the driver communication cycle is shorter than the communication cycle interval that is compatible with the controller, driver communication is not available.
  • Page 32 • Master axis settings Set [Pr. PD15.0 Master axis operation selection] to "1" (enabled). • Slave axis settings Set [Pr. PD15.1 Slave axis operation selection] to "1" (enabled). Set the station No. of the servo amplifier (master axis) in [Pr. PD22 Driver communication setting - Slave - Master axis 1 - Station No.
  • Page 33 • Servo parameter setting example (when setting a slave axis as a control slave axis) The following shows an example of establishing driver communication between the master axis with station No. 1 and the slave axis with station No. 2, and setting a slave axis as a control slave axis. Servo parameter Setting value Station 1 Station 2...
  • Page 34 Slave axis function ■Master-slave operation simultaneous stop function The master-slave operation simultaneous stop function stops slave axes in the following way: When the master axis stops the servo motor due to an error detection or other reason, a stop command is notified to the slave axes without a controller through driver communication.
  • Page 35 • Precautions regarding the master-slave operation simultaneous stop function In the initial settings, the master-slave operation simultaneous stop function is enabled. To disable the master-slave operation simultaneous stop function, set [Pr. PD26 Master-slave operation simultaneous stop function operation setting] to "00000011h".
  • Page 36 • Stop method using the master-slave operation simultaneous stop function When the master axis stops the servo motor due to an alarm detection or other reason, a dynamic brake stop command is notified to the slave axes when the dynamic brake of the master axis is activated. The slave axes that have received a dynamic brake stop command activate the dynamic brakes to stop the servo motors.
  • Page 37 When the slave axes stop the servo motors with the forced stop deceleration due to an alarm detection or other reason, a deceleration request is notified to the master axis. The master axis that has received a deceleration stop request starts forced stop deceleration.
  • Page 38 When the slave axes stop the servo motors using the dynamic brakes due to an alarm detection or other reason, the dynamic brakes are activated to stop the servo motors. A dynamic brake stop request is notified to the master axis when the dynamic brakes of the slave axes are activated. The master axis that has received a dynamic brake stop request activates the dynamic brake to stop the servo motor.

  • Page 39: Clock Function

    Clock function This function is used to acquire time information from the grand master (the station serving as a clock source) via CC-Link IE TSN so that this information may be used for the time management of functions performed by the servo amplifier, such as alarm history.

  • Page 40: Appendix

    APPENDIX CC-Link IE TSN communication protocol Communication management The communication state of the device unit in CC-Link IE TSN is broadly classified as being either an "initialization phase" or an "under control communication phase" and then managed. ■Communication state management of the motion mode The motion mode of the servo amplifier support CANopen profile.
  • Page 41 The controller and the servo amplifier perform the following procedure to establish communication (transition to "Operational"). Transition Operation Power-on During the transition from the initialization phase to the control communication phase of CC-Link IE TSN, the servo amplifier transitions from "Init"...

  • Page 42: Cyclic Transmission

    Cyclic transmission Cyclic transmission is a function that cyclically exchanges data between stations. Cyclic transmission of motion mode Cyclic transmission of the motion mode is a function that uses PDOs to cyclically exchange data between stations. A PDO is an aggregate of objects such as [Modes of operation (Obj. 6060h)] and [Modes of operation display (Obj. 6061h)]. The placement of objects in a PDO is called PDO mapping, and the initial placement (default PDO mapping) is defined.
  • Page 43 ■Default PDO mapping Default PDO mapping is the initial placement of objects included in a PDO. When there is no request from the controller or the engineering tool to change PDO mapping objects, the servo amplifier operates using default PDO mapping. •...
  • Page 44 • RPDO, TPDO 2nd mapping ([2nd Receive PDO Mapping (Obj. 1601h)] and [2nd Transmit PDO Mapping (Obj. 1A01h)]) PDO mapping for the motion mode (high-speed). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 1D01h Watch dog counter DL 0002h...
  • Page 45 • RPDO, TPDO 3rd mapping ([3rd Receive PDO Mapping (Obj. 1602h)] and [3rd Transmit PDO Mapping (Obj. 1A02h)]) PDO mapping for profile mode operation (pp/pv/tq/hm). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 6060h Modes of operation 0001h...
  • Page 46 • RPDO, TPDO 4th mapping ([4th Receive PDO Mapping (Obj. 1603h)] and [4th Transmit PDO Mapping (Obj. 1A03h)]) PDO mapping for positioning mode (pt/jg/hm). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 6060h Modes of operation 0001h 0000h...
  • Page 47 ■PDO mapping objects The placement of objects in a PDO can be changed with PDO mapping objects ([1st Receive PDO Mapping (Obj. 1600h)] to [4th Receive PDO Mapping (Obj. 1603h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] to [4th Transmit PDO Mapping (Obj. 1A03h)]).
  • Page 48 • PDO mapping objects between the master station and the servo amplifier When changing the PDO mapping between the master station and the servo amplifier, use [1st Receive PDO Mapping] to [4th Receive PDO Mapping] for the RPDO and [1st Transmit PDO Mapping] to [4th Transmit PDO Mapping] for the TPDO. Index Object Name...
  • Page 49 • PDO mapping setting procedure When a motion module is used as the motion control axis, the mapping is automatically changed on the motion module side. Using [1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] as examples, the following shows the procedure for setting objects one at a time.
  • Page 50 ■Objects that require PDO mapping • Objects that require RPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode [Watch dog counter DL (Obj. 1D01h)] ...
  • Page 51 • Objects that require TPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode          [Watch dog counter UL (Obj. 1D02h)] [Statusword (Obj.
  • Page 52 ■PDO configuration object To enable the data exchange by PDO mapping, perform settings for the PDO (RPDO and TPDO) by using PDO configuration objects ([1st PDO Config (Obj. 1C00h)] and [2nd PDO Config (Obj. 1C01h)]). In the factory setting, 1st PDO mapping objects ([1st Receive PDO Mapping (Obj.
  • Page 53 • Initial value of PDO configuration object The initial values of PDO configuration objects ([1st PDO Config (Obj. 1C00h)] and [2nd PDO Config (Obj. 1C01h)]) are different for Motion mode and Motion mode (high-speed) as shown in the following table. Index Name Default...

  • Page 54: Transient Transmission

    Transient transmission The transient transmission is a function that communicates data only when there is a communication request. Data communication is performed between stations by using SLMP and other protocols, regardless of the communication cycles. For CC-Link IE TSN, transient transmission and cyclic transmission are performed using different communication bands in order to ensure the stability of the cyclic transmission.
  • Page 55 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 56 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. Reserved 1 byte ...
  • Page 57 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 58 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 59 ■End code The following shows end codes that are stored by the servo amplifier for SLMP. End code Cause 0000h The request was processed normally. C059h • There is an error in the command or subcommand specification. • A command that is not prescribed is received. C05Ch There is an error in the request message.

  • Page 60: Drive Profile

    Drive profile This section explains the CiA 402 drive profile specification as well as the unique functions of servo amplifiers. Each function can be controlled by using the object dictionary via the network. Network Controller Servo amplifier Network protocol Network protocol (cyclic communication, transient communication) (cyclic communication, transient communication) Object dictionary...
  • Page 61 PDS state transitions The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. The servo motor can be operated immediately after turning on the power supply by shifting from the "Not ready to switch on" state to the "Operation enabled"...
  • Page 62 Events and PDS state transitions Setting Controlword enables control of the state transitions. After the PDO communication is established (after the NMT state has reached "Operational"), the status is controlled by the master station transmitting commands (by setting Controlword) in accordance with the following table. Each axis of the multi-axis servo amplifier supports the PDS state.
  • Page 63 The following shows the related correspondence between the command bit setting and the PDS state. In order to avoid missing the command at the time of communication error, maintain the state of Bit 7 = 1 on the Fault Reset command for at least 10 ms when the communication cycle is 4 ms or less, or at least 20 ms when the communication cycle is 8 ms.
  • Page 64 4 and Bit 5, "0030h" is displayed. 2D00h ARRAY Supported Control DI 10 Correspondence information for Control DI 10  2D01h Control DI 1 Object defined by Mitsubishi Electric  2D0Ah Control DI 10 Object defined by Mitsubishi Electric ■Bit definition of Controlword Symbol Description Reference Page 60 Events and PDS...
  • Page 65 ■Bit definition of Control DI With the communication function, reading the following objects enables reading of the on/off state of the input device. In addition, the input device can be set to on/off by writing to the following objects. • Control DI 1 Symbol Description Reference...
  • Page 66 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 67 • Control DI 5 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.       C_CDP2 Gain switching 2 Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware)
  • Page 68 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 69 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 70 The Statusword objects and the Status DO x objects notify the master station of the PDS state and other drive states. States defined by CiA 402 are notified by using [Statusword (Obj. 6041h)], and other states defined by Mitsubishi Electric are notified by using [Status DO 1 (Obj.
  • Page 71 • State coding Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the PDS state (servo amplifier internal state). Details are as follows: Statusword (bin) PDS state x0xx xxx0 x0xx 0000 Not ready to switch on x0xx xxx0 x1xx 0000 Switch on disabled x0xx xxx0 x01x 0001...
  • Page 72 • Status DO 2 Symbol Description Reference  S_ZPASS Z-phase already passed After the Z-phase is passed, S_ZPASS turns on.   The value at reading is undefined.   S_ZSP Zero speed detection Refer to "Signal (device) explanations" in the following S_VLC Limiting speed manual.
  • Page 73 • Status DO 4 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 74 • Status DO 6 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 75 • Status DO 8 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 76 • Status DO 10 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 77 Page 20 Master-slave operation function • Related objects Index Object Name Data Access Default Description Index Type value MR-J5-G/MR-J5W-G User's 6060h Modes of operation Manual (Object Dictionary)  6061h Modes of operation display 6502h Supported drive mode 000003A0h 1 CC-Link IE TSN 1.4 APPENDIX...
  • Page 78 • Control switching between position/speed/torque modes Changes to the OMS Bit of [Controlword (Obj. 6040h)] are not accepted until control switching finishes. Before inputting commands, check that the control mode has been switched by referring to [Modes of operation display (Obj. 6061h)]. In addition, switch the control modes when the start command is turned off. (For example, when "Homing operation start"...
  • Page 79 • Control switching for continuous operation to torque control mode (ct) To switch to continuous operation to the torque control mode (ct), the switching must be performed from the cyclic synchronous position mode (csp) or cyclic synchronous velocity mode (csv). Only the "csp" and "csv" control modes switch to "ct".

  • Page 80: Setting Of Positioning Data

    Setting [Pr. PC76.1_ZSP disabled selection at control switching] to "1" (disabled (control switching is performed regardless of the range of ZSP)) enables switching of the control mode without checking for switching condition "Servo motor being stopped" on the servo amplifier. Set [Pr. PC76.1] to "1" only if switching the control mode without waiting for the servo motor to stop.

  • Page 81: Chapter 2 Cc-Link Ie Field Network Basic

    This manual describes communication with the MR-JET-_G servo amplifiers using CC-Link IE Field Network Basic communication protocol. Refer to the following manual when using CC-Link IE Field Network Basic. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) Outline CC-Link IE Field Network Basic is a protocol that utilizes 100 Mbps for general-purpose Ethernet communications. By taking advantage of using general-purpose Ethernet, TCP/IP communications (HTTP, FTP, and the like) can also be used together, allowing for a high flexibility system configuration.

  • Page 82: Function List

    Function list Communication-related function list (Application) Category Subcategory Functions Description Detailed explanation Page 89 Cyclic Network Open network CC-Link IE Field Network This function supports CC-Link IE Field Network Basic. Basic protocol transmission CC-Link IE Field Network Network configuration settings are performed by using GX Works2, Page 84 Startup Basic communication GX Works3, and MR Configurator2.

  • Page 83: Establishing And Disconnecting The Communication

    Communication profile Dictionary) 2000h to 5FFFh Objects group defined by Mitsubishi Electric 6000h to 9FFFh CiA 402 drive profile The classification of the objects defined by Mitsubishi Electric is as follows. Index Description Reference MR-J5-G/MR-J5W-G User's Manual (Object 2000h to 27FFh...
  • Page 84 For details about objects that can be stored in the non-volatile memory, refer to the following manual. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) ■Store parameters Writing "65766173h" (= reverse order of the ASCII code "save") to [Save all parameters (Obj. 1010h: 01h)] enables the setting value of an object to be stored in the non-volatile memory of the servo amplifier.

  • Page 85: Engineering Tool

    Engineering tool The following explains the main purposes of the engineering tools used in CC-Link IE Field Network Basic communication. For specific usages, refer to the manuals of the engineering tool and controller. Engineering tool list This list shows engineering tools used in CC-Link IE Field Network Basic. Engineering tool Description MR Configurator2...

  • Page 86: Startup

    This chapter describes the setting procedure for CC-Link IE Field Network Basic. Refer to the following manual for startup of the servo amplifier. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) • To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.
  • Page 87 To connect the master station and servo amplifier correctly, a profile (CSP+ file) must be set in GX Works2 or GX Works3. The CSP+ file can be downloaded from the Mitsubishi Electric FA site or the CC-Link Partner Association website.
  • Page 88 Network connection procedure Follow the procedures below to set up the network. Connect the master station and the servo amplifier with a network cable. There is no difference between CN1A and CN1B. Turn on the power of the master station and the servo amplifier. Open the diagnostic screen of GX Works2 or GX Works3 and make sure that there is no error in the network.

  • Page 89: Application Function

    Application function CC-Link IE Field Network Basic Diagnostics The servo amplifier supports the following CC-Link IE Field Network Basic diagnostic functions CC-Link IE Field Network Basic diagnostics is a function that uses an engineering tool to check the status of the master station and each remote station. This function can be used to check detailed information such as master station parameter settings and network connection status.

  • Page 90: Hold/Clear Of Output At Cpu Stop And At Cpu Stop Error

    Hold/Clear of output at CPU STOP and at CPU stop error This function sets Hold/Clear of the auto refresh device output when CPU module operation of the cyclic master is at STOP or at CPU stop error. The following shows the servo amplifier status at CPU STOP and at stop error. •...

  • Page 91: Appendix

    APPENDIX Cyclic transmission Outline In CC-Link IE Field Network Basic, the command sent from the master station (controller) to the remote station (servo amplifier) is called a request message, and the command sent from the remote station (servo amplifier) to the master station (controller) is called a response message.
  • Page 92 PDO mapping The placement of RPDO and TPDO objects is called PDO mapping. This placement has an initial placement defined and can be changed with variable PDO mapping. The following table shows values for items such as the number of objects that can be mapped to the PDO and the initial size of the PDO.
  • Page 93 Link device (RWwn/RWrn) If a value outside the range is set for the request (RYn and RWwn) from the master station to the servo amplifier in cyclic communication, the setting value may not be reflected. Set the value within the range. The sent and received data of the request message and response message of cyclic communication is used as the object data (RWwn, RWrn) of the servo amplifier.
  • Page 94 ■Network standard mode This is the PDO mapping when [Pr. PA01.0] is "0" (network standard mode). • RWwn mapping (mode 1) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1...
  • Page 95 • RWrn mapping (mode 1) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 2D11 Status DO 1 RWrn03 2D12 Status DO 2 RWrn04 2D13 Status DO 3 ...
  • Page 96 • RWwn mapping (mode 2) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1 RWwn03 2D02 Control DI 2 RWwn04 2D03 Control DI 3 RWwn05 607A Target position RWwn06...
  • Page 97 • RWrn mapping (mode 2) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01   RWrn02 6041 Statusword RWrn03 6064 Position actual value RWrn04 RWrn05 606C Velocity actual value RWrn06 RWrn07 60F4 Following error actual value...
  • Page 98 ■Positioning mode (point table method) This is the PDO mapping when [Pr. PA01.0] is "6" (positioning mode (point table method)). • RWwn mapping (mode 1) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword...
  • Page 99 • RWrn mapping (mode 1) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 2D11 Status DO 1 RWrn03 2D12 Status DO 2 RWrn04 2D13 Status DO 3 RWrn05 2D15 Status DO 5...
  • Page 100 • RWwn mapping (mode 2) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1 RWwn03 2D02 Control DI 2 RWwn04 2D03 Control DI 3 RWwn05 2D60 Target point table RWwn06...
  • Page 101 • RWrn mapping (mode 2) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 6064 Position actual value RWrn03 RWrn04 606C Velocity actual value RWrn05 RWrn06 60F4 Following error actual value RWrn07 RWrn08 6077...
  • Page 102 Variable PDO mapping function for PDO communication data The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data sent and received with RPDO and TPDO. For the SDO end code, refer to "End code" below. Page 111 End code The variable PDO mapping is as follows.
  • Page 103 • Positioning mode (point table method) (mode 1) Index Object Name Data Access Default Description Type 1600h ARRAY 1st Receive PDO Mapping Number of entries  1 to 32 Mapped Object 1 to Mapped Refer to the following for default Object 32 mappings.
  • Page 104 ■PDO mapping setting procedure The PDO mapping can be changed by using the PDO mapping object. • How to use PDO mapping objects The usage is shown using [1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] as examples.
  • Page 105 Objects that require PDO mapping • Objects that require RPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode       [Controlword (Obj.
  • Page 106 • Objects that require TPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode [Statusword (Obj. 6041h)]         ...

  • Page 107: Slmp

    SLMP Outline • When sending commands from multiple master stations to one servo amplifier, some commands may not be received if the command transmission interval is too short. If there is no command response, increase the command transmission interval. SLMP (SeamLess Message Protocol) is a common protocol for seamless inter-application communication that does not consider network hierarchies and boundaries.
  • Page 108 Message format The request message sent from the master station (external device) and the response message returned from the remote station (servo amplifier) are sent in the following message format. ■Request message format The data length of request messages is 2047 bytes max. SLMP Ethernet Request...
  • Page 109 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. Reserved 1 byte ...
  • Page 110 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. Reserved 1 byte ...
  • Page 111 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 112 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. Reserved 1 byte ...
  • Page 113 End code The following shows end codes that are stored by the servo amplifier for SLMP. End code Cause 0000h The request was processed normally. C059h • There is an error in the command or subcommand specification. • A command that is not prescribed is received. C05Ch There is an error in the request message.

  • Page 114: Drive Profile

    Drive profile This section explains the CiA 402 drive profile specification as well as the unique functions of servo amplifiers. Each function can be controlled by using the object dictionary via the network. Network Controller Servo amplifier Network protocol Network protocol (cyclic communication, transient communication) (cyclic communication, transient communication) Object dictionary...
  • Page 115 PDS state transitions The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. The servo motor can be operated immediately after turning on the power supply by shifting from the "Not ready to switch on" state to the "Operation enabled"...
  • Page 116 Events and PDS state transitions Setting Controlword enables control of the state transitions. After the PDO communication is established (after the AL state has reached "Operational"), the status is controlled by the master station transmitting commands (by setting Controlword) in accordance with the following table. The following shows the PDS state transition events and operations.
  • Page 117 The following shows the related correspondence between the command bit setting and the PDS state. In order to avoid missing the command at the time of communication error, maintain the state of Bit 7 = 1 on the Fault Reset command for at least 10 ms when the communication cycle is 4 ms or less, or at least 20 ms when the communication cycle is 8 ms.
  • Page 118 2D00h ARRAY Supported Control DI 10 Correspondence information for Control DI 10  2D01h Control DI 1 Objects defined by Mitsubishi Electric 2D0Ah  Control DI 10 Objects defined by Mitsubishi Electric ■Bit definition of Controlword Symbol Description Reference Switch On Page 114 Events and PDS...
  • Page 119 ■Bit definition of Control DI With the communication function, reading the following objects enables reading of the on/off state of the input device. In addition, the input device can be set to on/off by writing to the following objects. • Control DI 1 Symbol Description Reference...
  • Page 120 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.               C_ABS2 Homing completion (for scale measurement)  ...
  • Page 121 • Control DI 5 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.       C_CDP2 Gain switching 2 Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware)
  • Page 122 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 123 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 124 The Statusword objects and the Status DO x objects notify the master station of the PDS state and other drive states. States defined by CiA 402 are notified by using [Statusword (Obj. 6041h)], and other states defined by Mitsubishi Electric are notified by using [Status DO 1 (Obj.
  • Page 125 • State coding Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the PDS state (servo amplifier internal state). Details are as follows: Statusword (bin) PDS state x0xx xxx0 x0xx 0000 Not ready to switch on x0xx xxx0 x1xx 0000 Switch on disabled x0xx xxx0 x01x 0001...
  • Page 126 • Status DO 2 Symbol Description Reference  S_ZPASS Z-phase already passed After the Z-phase is passed, S_ZPASS turns on.   The value at reading is undefined.   S_ZSP Zero speed detection Refer to "Signal (device) explanations" in the following S_VLC Limiting speed manual.
  • Page 127 • Status DO 4 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 128 • Status DO 6 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 129 • Status DO 8 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 130 • Status DO 10 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 131 • Related objects Index Object Name Data Access Default Description Index Type value MR-J5-G/MR-J5W-G User's Manual 6060h Modes of operation (Object Dictionary)  6061h Modes of operation display 6502h Supported drive mode 000003A0h 2 CC-Link IE Field Network Basic 2.4 APPENDIX...

  • Page 132: Revisions

    Chapter 1, Section 2.4 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 133: Warranty

    We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

  • Page 134: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030302ENG-G...
  • Page 136 SH(NA)-030302ENG-G(2207)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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