Page 1 MELSEC iQ-R Motion Module User's Manual (Network) -RD78G4 -RD78G8 -RD78G16 -RD78G32 -RD78G64 -RD78GHV -RD78GHW...
Page 3: When Using A Switching Hub With Cc-Link Ie Tsn
WHEN USING A SWITCHING HUB WITH CC-Link IE A dedicated TSN hub may be required depending on parameter settings or the network topology used to connect modules on CC-Link IE TSN. Read the following manual carefully. MELSEC iQ-R Motion Module User's Manual (Startup) SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle...
Page 4 [Design Precautions] WARNING ● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.
Page 5 [Design Precautions] WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
Page 6 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100 mm or more between those cables. ●...
Page 7 Also, attach an extension connector protective cover to each unused extension cable connector as necessary. Directly touching any conductive parts of the connectors while power is on may result in electric shock. *1 For details, please consult your local Mitsubishi Electric representative.
Page 8 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
Page 9 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 10 [Startup and Maintenance Precautions] CAUTION ● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a battery- less option cassette. Doing so may cause malfunction or failure of the module. ● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery.
Page 11 Cautions When Using Mitsubishi Programmable Controllers or GOTs Connected to a Personal Computer With the RS-232/USB Interface (FA-A-0298) When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific measures are not required to connect the AC-powered personal computer to the module. However, note that the signal ground (SG) is common for the module and its USB interface.
Page 12: Introduction
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly. When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.
Page 13: Table Of Contents
CONTENTS WHEN USING A SWITCHING HUB WITH CC-Link IE TSN ......... .1 SAFETY PRECAUTIONS .
Page 14 Setting Parameters ..............96 Required Settings .
Page 15 List of Error Codes ..............174 List of Parameter Nos.
Page 16: Relevant Manuals
MELSEC iQ-R Motion Module User's Manual (Startup) For programs, refer to the following. MELSEC iQ-R Programming Manual (Program Design) e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: •...
Page 17: Terms
A value that is assigned to devices or stations in a network to determine the grandmaster for time synchronization. The smaller the value, the higher the priority. RD78G Another term for the MELSEC iQ-R series Motion module (compatible with CC-Link IE TSN) RD78GH Relay station...
Page 18 Term Description Remote station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This station can perform transient transmission. Reserved address An IP address reserved for special purposes, defined by RFC 6890. This IP address cannot be used when the programmable controller is connected via the global IP network.
Page 19: Generic Terms And Abbreviations
• RJ71EN71 • CPU module A generic term for Mitsubishi Electric Graphic Operation Terminal GOT1000 and GOT2000 series An abbreviation for a link relay of a link device. Bit data sent from each station of the network. An abbreviation for a link register of a link device. Word data sent from each station of the network.
Page 20 *1 The name of this term has changed in accordance with terminology revised by CC-Link association. However, the term used in some engineering tool windows may remain unchanged and may be different from the term used in this manual. In case of inconsistency, refer to the following.
Page 21: Chapter 1 Functions
FUNCTIONS Cyclic Transmission This section describes periodic data communications among stations on the network using link devices. • The link devices can be assigned in "Network Configuration Settings" under "Basic Settings". (Page 112 "CC-Link IE TSN Configuration" Window) • The link refresh is assigned in "Refresh Settings" under "Basic Settings". (Page 100 Refresh Settings) The cyclic transmission operates as follows with the communication mode set by the module parameter of the master station.
Page 22: Communications Using Rx, Ry, Rwr, And Rww
Communications using RX, RY, RWr, and RWw This allows data to be exchanged in units of bits and in units of words between the master station and device station. • The remote station of the motion control station does not communicate data with the link device (RX, RY, RWw, RWr) of the master station, and the motion function of the Motion module controls output and acquires the input status.
Page 23 • Output from the master station  The device of the CPU module turns on.  The device status of the CPU module is stored in the link devices (RY, RWw) of the master station by link refresh.  The status of the link devices (RY, RWw) of the master station is stored in the link devices (RY, RWw) of each remote station by cyclic data transfer processing.
Page 24 • When using Simple Motion mode The Motion module performs cyclic data operations of the motion control area by the motion calculation. The feedback of the cyclic data sent by the motion control station takes at least 3 cycles. Class B Class B Class B No.0...
Page 25 Master station and local stations ■ Unicast mode 1:1 communications between the master station and each local station. Local stations do not communicate with each other. RCPU No.0 No.1 No.2 RCPU 0000H 0000H 0000H No.1 No.1 Ù 001FH 001FH 001FH Õ...
Page 26 ■ Multicast mode The master station and local station send data on the line in multicast mode in each send range. RCPU No.0 No.1 No.2 RCPU 0000H 0000H 0000H No.1 No.1 No.1 Ù 001FH 001FH 001FH Õ 0020H 0020H 0020H No.2 No.2 No.2...
Page 27 Coexistence of remote stations and local stations ■ Unicast mode • 1:1 communications between the master station and each remote station, and between the master station and each local station. • Communications are not performed between remote stations, between local stations, and between a remote station and a local station.
Page 28 ■ Multicast mode Each local station can obtain data of all device stations. Class B Class B Class B Class A RCPU No.0 No.1 No.2 No.3 No.4 No.5 RCPU motion control No.2 No.2 0000H 0000H 0000H 0000H No.1 ←No.1 No.1 No.1 001FH 001FH...
Page 29: Communications Using Lb And Lw
Communications using LB and LW This allows data to be communicated in units of bits and words between the master station and local stations. Master station and local stations, or between local stations ■ Unicast mode 1:1 communications between the master station and each local station. Local stations do not communicate with each other. RCPU No.0 No.1...
Page 30 ■ Multicast mode This allows link device data to be exchanged between local stations as well as between the master station and local stations. RCPU No.0 No.3 RCPU No.1 No.2 Õ Ó 0000H 0000H 0000H 0000H No.0o No.0 No.0 No.0 No.0 No.0 000FH...
Page 31: Communications Using Rx, Ry, Rwr, Rww, Lb, And Lw
Communications using RX, RY, RWr, RWw, LB, and LW This allows data to be exchanged in units of bits and in units of words between the master station and device station. Coexistence of the master station and device stations The module on CC-Link IE TSN performs communications using RX, RY, RWr, and RWw and communications using LB and LW simultaneously.
Page 32 ■ Multicast mode Class B Class B Class B Class A RCPU No.0 No.1 No.2 No.3 No.4 No.5 RCPU motion control No.2 No.2 0000H 0000H 0000H 0000H No.1 ←No.1 No.1 No.1 001FH 001FH 001FH 001FH 0020H 0020H 0020H No.3 No.3 No.3 003FH 003FH...
Page 33: Link Refresh
Link refresh This function automatically transfers data between the devices of the Motion module and CPU module. CPU module Motion module Link refresh Link refresh Link refresh Link refresh Link refresh Link refresh Link refresh Link refresh When the version of Add-on baseSystem is "1.18" or earlier, the link refresh is not supported. Link refresh will not be performed even if it is set.
Page 34 Setting method The link refresh is assigned in "Refresh Settings" under "Basic Settings". (Page 100 Refresh Settings) Precautions ■ Latched devices of the CPU module If data in latched devices of the CPU module are cleared to 0 on a program when the CPU module is powered off and on or reset, the data may be output without being cleared to 0, depending on the timing of the cyclic data transfer processing and link refresh.
Page 35: Direct Access To Link Devices
Direct access to link devices This function directly reads/writes data from/to the link devices of the Motion module from the program. Specify a link device as the link direct device (J\) for direct access. • When the version of Add-on baseSystem is "1.18" or earlier, the direct access to link devices is not supported.
Page 36 Readable/writable range Data can be read or written from/to the Motion module mounted on the same base unit as the CPU module. ■ Read All link devices of the Motion module can be specified. (Page 33 Specification method) ■ Write The range that satisfies all of the following conditions can be specified.
Page 37 Differences from link refresh Item Access method Link refresh Direct access Number of steps 1 step 2 steps Processing speed High speed Low speed Cyclic data assurance Available Not available *1 For the instruction processing time when using link direct devices (J\), refer to the following. MELSEC iQ-R Programming Manual (CPU Module Instructions, Standard Functions/Function Blocks) Shortening the transmission delay time The transmission delay time can be shortened by reducing the number of link refresh points and shortening a communication...
Page 38: Direct Access From Motion Built-In Program To Link Devices
Direct access from motion built-in program to link devices When using the PLCopen Motion control FB mode This function directly reads/writes link devices of the Motion module from the motion built-in program as variables. For the variables available in the motion built-in program, refer to "Motion module programs" in the following. MELSEC iQ-R Programming Manual (Motion Control Function Blocks) CPU module No.
Page 39 Precautions • If link direct access was performed from the CPU module and Motion module built-in program at the same time, the processing may not be performed correctly. When performing link direct access with the CPU module and Motion module built-in program, adjust the access timings to prevent overlap.
Page 40: Cyclic Data Assurance
Cyclic data assurance This function assures the cyclic data assurance in units of 32 bits or station-based units. : Assured, : Not assured Method Description Link refresh Direct access Direct access Access to to link devices to link devices buffer from motion memory built-in...
Page 41 ■ Data assurance at the time of access to buffer memory The 32-bit data can be assured by satisfying the following conditions: • Access using the DMOV instruction • The start address of the buffer memory is a multiple of 2. Motion module Buffer memory 2 words...
Page 42 Interlock program Data of more than 32 bits can be assured without using the station-based block data assurance setting. Use either of the following methods: • Data assurance by handshake of the remote I/O • Data assurance by handshake of the remote register •...
Page 43 Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: • Program flow  The master station checks that the send request bStartDirection (M0) is turned ON, and transfers contents of uTransferFrom [0] to [3] (D0 to D3) to the send data W0 to W3.
Page 44 ■ Data assurance by handshake of the remote register An example of sending data in W0 to W3 of the master station (station No.0) to W1000 to W1003 of the local station (station No.1) is shown below. (B0 and B1000 are used for a handshake to the CPU module.) No.0 No.1 RD78G...
Page 45 Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: • Program flow  The master station checks that the send request bStartDirection (M0) is turned on, and transfers contents of uTransferFrom [0] to [3] to the send data W0 to ...
Page 46 • Program Sending station: Master station (station No.0) Classification Setting details Label to be defined Define global labels as shown below: Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: •...
Page 47: Communication Cycles Coexistence
Communication cycles coexistence When device stations with different communication cycles are included in the network, multiple communication cycles according to each device station are used for communications. The time for each communication cycle is the total time of cyclic transmission, transient transmission, and system reservation time.
Page 48: Interlink Transmission
Interlink transmission This function transfers data in the link devices of the master station to another network module on a relay station. RJ71GN11-T2 Network module Interlink transmissions Relay station Network No.1 Network No.2 Data of network No.2 Data of network No.1 Setting method Set interlink transmission in "Interlink Transmission Settings"...
Page 49: I/O Maintenance Settings
I/O maintenance settings When using cyclic transmission, set whether to hold or clear output or input by using the following settings. (Page 109 Supplementary Cyclic Settings) • "Output Mode upon CPU Error" when a stop error occurs in the CPU module •...
Page 50 Devices where the hold/clear setting is enabled The following table and figure show devices for which the hold/clear settings are enabled. Setting items Hold/clear settings are enabled Hold regardless of setting Clear regardless of setting Output mode upon CPU error •...
Page 51 Output data hold/clear operation during CPU STOP The following figure shows the devices where the setting of "Output Hold/Clear Setting during CPU STOP" is enabled when the CPU module changes from RUN to STOP. Even if the Motion module is changed from RUN to STOP, it is not affected by this setting, and the output data does not change even if the Motion module is stopped.
Page 52 ■ Multicast mode No.0 No.1 No.2 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2...
Page 53 Input data hold/clear operation from the data link faulty station The following figure shows the devices where "Data Link Faulty Station Setting" is enabled when each station becomes faulty. ■ Unicast mode No.0 No.1 No.2 No.3 No.1 No.1 No.2 No.2 No.3 No.3 No.1...
Page 54 ■ Multicast mode No.0 No.1 No.2 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2...
Page 55: Remote Device Test
Remote device test The output of the standard remote station can be turned on or off when the CPU module is in STOP state. Ordinarily, the output of the remote station with the output HOLD/CLEAR setting function cannot be turned on or off. In that case, use the remote device test function.
Page 56 Setting method Execute the remote device test according to the following procedure. Set the RUN/STOP/RESET switch of the CPU module to the STOP position. Turn off and on the 'Remote device forced output request' (SB0016) to start the remote device test. Check that the 'Remote device forced output request accept' (SB0086) and 'Remote device forced output status' (SB0087) are on.
Page 57: Canopen Communication
CANopen communication The CANopen communication is used for controlling a device that supports the CANopen profile. The CANopen communication can control a device that supports the CANopen profile with the SDO communication by transient transmission and the PDO communication by cyclic transmission. The SDO communication reads/writes objects non-periodically by using the SLMPSND instruction to send a command for accessing the CAN application object to the target device station.
Page 58 The PDO (RPDO) output from the master station and PDO (TPDO) input from the device stations are assigned as follows. • Motion control station: Motion control area • Standard station: RWr/RWw in common area The PDO of the standard station can be controlled from link refresh (label/device) and direct access. PDO of the motion control station can be controlled from the CPU module or program in the Motion module by slave label.
Page 59 <When using the Simple Motion Mode> For details on the SLMPSND instruction, refer to the following. MELSEC iQ-R Programming Manual (Module Dedicated Instructions) The PDO communication reads/writes objects defined with the PDO mapping by using the cyclic transmission. The PDO mapping of the Motion control station is automatically set according to the device connected with the Motion module.
Page 60 The PDO (RPDO) output from the master station and PDO (TPDO) input from the device stations are assigned as follows. • Motion control station: Motion control area • Standard station: RWr/RWw in common area The PDO of the standard station can be controlled from link refresh (label/device) and direct access. The Motion control station PDO is controlled by the Motion section, and cannot be controlled from the CPU module.
Page 61: Transient Transmission
Transient Transmission The transient transmission is used for communications at any timing and has the following three types. Page 59 Communications using a dedicated instruction Page 60 Communications using the SLMP Page 61 Communications using the engineering tool Communications using a dedicated instruction Data is read/written from the master station or local station to devices in a CPU module of the local station or the buffer memory areas of a remote station using the dedicated instructions.
Page 62: Communications Using The Slmp
Communications using the SLMP By SLMP, data is read/written from the Motion module, the external device such as a personal computer or HMI (Human Machine Interface) to devices in the CPU module of the master station and local station, the buffer memory areas of the remote station.
Page 63: Communications Using The Engineering Tool
MELSEC iQ-R Motion Module User's Manual (Startup) When the networks consist of only MELSEC iQ-R series Communication paths are automatically set for communications with the following networks of MELSEC iQ-R series. • Ethernet • CC-Link IE TSN •...
Page 64: Ethernet Connection
Ethernet Connection This type of connection allows one module to be connected to an Ethernet device without interfering with CC-Link IE TSN. Connection with MELSOFT products and a GOT Programming and monitoring of the programmable controller with the engineering tool, and monitoring and testing of the programmable controller from the GOT is performed via Ethernet.
Page 65 ■ Settings on the engineering tool side Set in the "Specify Connection Destination Connection" window. [Online]  [Current Connection Destination] Set "PC side I/F" to "Ethernet Board". Double-click "Ethernet Board", and open the "PC side I/F Detailed Setting of Ethernet Board" window. Set the network No., station No., and protocol of the personal computer.
Page 66 ■ Searching modules on the network For a connection using a switching hub, a list of modules that can be searched for will appear by clicking the [Find] button on the detailed setting window. Search target modules are as follows. •...
Page 67: Connecting Slmp-Compatible Devices
Connecting SLMP-compatible devices This type of connection allows SLMP-compatible devices (such as a personal computer or a vision sensor) to be connected to the Motion module. For details on an SLMP, refer to the following.  SLMP Reference Manual • For SLMP communication in the structure where communication speeds of 1 Gbps and 100 Mbps exist, set the same communication speed for the connected station and access destination.
Page 68: Security
Security Security for the network environment is structured by restricting access by each communication path to the CPU module. The following two access restriction methods can be used. Page 66 IP filter Page 68 Remote password IP filter Identifies the IP address of the access source, and prevents unauthorized access. By setting the IP address of the access source using the engineering tool, IP packets are allowed or blocked.
Page 69 Setting method Set the IP address to be allowed or blocked in the "IP Filter Settings" window of "Security" under "Application Settings". (Page 111 Security) A warning is displayed in the following cases. • When blocking the IP address of the device station set in "Network Configuration Settings" under "Basic Settings" was attempted •...
Page 70: Remote Password
Remote password Permits or prohibits access from the external device to the CPU module via Motion module. This function can prevent unauthorized access of the CPU module from a remote location. The remote password is one method of preventing unauthorized access (such as program or data destruction) from an external device.
Page 71 Setting method Set on the "Remote Password Setting" window. [Navigation window]  [Parameter]  [Remote Password] Click the [Password] button, and register the remote password on the "Register Password" window. [Password] button Select the module for which the remote password is to be applied, and set the start I/O No..
Page 72 Access permitted/prohibited processing operation This section describes the processing for permitting or prohibiting access of the CPU module with remote password by the external device. ■ Access permit processing (Unlock processing) The external device trying to communicate unlocks the remote password set for the connected Motion module. If the password is not unlocked, the Motion module to which the external device is connected prohibits access, so an error occurs in the external device.
Page 73 Precautions The following section describes the precautions for using remote password. ■ Set connection Set the remote password for the connection used for data communication with an external device that can execute the unlock/ lock processing. ■ When remote password is set for UDP/IP connection •...
Page 74: Ras
This acronym stands for Reliability, Availability, and Serviceability. This function improves overall usability of automated equipment. Device station disconnection Data link of the station where the error occurred is stopped, and the data link continues only for stations that are operating normally.
Page 75: Master Station Duplication Detection
Master station duplication detection If one network has multiple master stations, an overlap is detected. • When multiple master stations are simultaneously powered on, or when multiple master stations are simultaneously connected, "Master station duplication detection (error code: 300FH)" is detected in all master stations and cyclic transmission cannot be performed in all stations.
Page 76: Ip Address Duplication Detection
IP address duplication detection If one network has stations with the same IP address, an overlap is detected. • When adding a device station, if a station with the same IP address already exists, "IP address duplication detection (error code: 2160H)" is detected in a station to be added and data link cannot be performed. (Other stations continue data link.) 192.163.3.0 192.163.3.1 192.163.3.2...
Page 77: Time Synchronization
Time synchronization This synchronizes the time of device stations with the time synchronization source (CPU module of the master station). No.0 No.1 No.2 Setting method The time synchronization is set with the buffer memory. ( Page 219 Time synchronization) Set the same time zone and daylight savings time to the CPU modules of the master and local stations. When setting the Motion module as the master station, do not connect time synchronization devices with time synchronization priority of 0 to 15.
Page 78: Cc-Link Ie Tsn Network Synchronous Communication Function
CC-Link IE TSN Network Synchronous Communication Function This section describes the CC-Link IE TSN Network synchronous communication function. For the inter-module synchronization function, refer to "Inter-Module Synchronization Function" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application) • For the firmware versions of the CPU module compatible with the CC-Link IE TSN Network synchronous communication function of standard stations, refer to the following.
Page 79 Overview ■ Standard station This function synchronizes the control cycle of device stations of standard stations according to the inter-module synchronization cycle specified in the master station via CC-Link IE TSN. This adjusts the operation timing with those of the other device stations connected to the same network.
Page 80 ■ Motion control station This function synchronizes the control cycle of a device station according to the communication cycle of the master station. This adjusts the operation timing of the motion calculation of the Motion module with a device station set as the motion control station.
Page 81 Setting method In "Network Configuration Settings" under "Basic Settings" of the module parameter, set "Network Synchronous Communication" of the device station to enable the network synchronous communication to "Synchronous". In addition, when the network synchronous communication of a standard station is enabled, the inter-module synchronization function needs to be enabled as well.
Page 82 Synchronizable range of the inter-module synchronization To use this function, set the master station as the inter-module synchronous master. The communication cycles match based on time synchronization between the master station and device stations. This allows a device supporting the CC-Link IE TSN network synchronous communication function to operate in synchronization with the inter-module synchronization cycle of the programmable controllers of the master station.
Page 83 Applicable device The following table shows the devices that can be synchronized by the CC-Link IE TSN Network synchronous communication function. : Synchronizable, : Not synchronizable CC-Link IE TSN Network CC-Link IE TSN Class Communication speed Communication cycle Synchronization synchronous setting communication function Not supported...
Page 84 Available range of network synchronous communication ■ Structure with CC-Link IE TSN Class B only Ò Ò No.2 No.5 Class B (1Gbps) Class B (1Gbps) Basic cycle Basic cycle No.1 No.6 Class B (1Gbps) No.7 No.0 Class B (1Gbps) No.8 Basic cycle Class B (1Gbps) Class B (1Gbps)
Page 85 Network synchronous communication with multiple cycles When device stations with different communication cycles are included in the network, cyclic transmission between stations is performed according to the communication cycle. For the cyclic transmission of the master station and a general station remote station, data can be transmitted to other stations after two cycles.
Page 86 Cyclic transmission assurance by watchdog counter The watchdog counter is a function used to assure normal cyclic transmission between stations on CC-Link IE TSN. Using the watchdog counter, the master station and a device station mutually monitor the data to be updated every communication cycle;...
Page 87 Precautions • CC-Link IE TSN Class A devices cannot synchronize using network synchronous communication. (Page 81 Applicable device) • For the number of connectable stations of CC-Link IE TSN-compatible devices and their connection order, refer to "Specifications of Interfaces with External Devices" and "SYSTEM CONFIGURATION" (in the chapter of the control mode used) of the following manual.
Page 88: Safety Communications
Safety Communications This section describes the safety communication function. • The following modules are required to use the safety communications. (1) Safety CPU and safety function module with a firmware version of "20" or later (2) When using the PLCopen Motion control FB mode,the Motion module with the add-on baseSystem version of "1.8"...
Page 89 Safety communications flow ■ Master station (safety station) and local station (safety station) The safety device status of the sending station is stored in the safety device of the receiving station. No.0 No.1 Safety CPU Safety CPU Master station Local station (safety station) (safety station) Safety device...
Page 90 ■ Master station (safety station) and remote station (safety station) The safety device status of the Safety CPU on the master station (safety station) is reflected to the safety output of the remote station (safety station). The safety input status of the remote station (safety station) is stored in the Safety CPU on the master station (safety station).
Page 91 Safety station interlock function If a communication error has occurred between safety stations, communication is automatically disconnected to prevent incorrect input or output from the faulty station. Safety communications between the stations become safety station interlock state at this time, and the safety communications do not resume until the safety interlock is released. Create a program which releases the interlock by using Interlock release request for each safety connection to release the safety station interlock state.
Page 92: Others
Others Reserved station setting A reserved station is a device station that is set in the parameters and included in the number of stations in the network for future expansion. This station is not actually connected to the network and not detected as a faulty station even though it is not connected.
Page 93: Device Station Parameter Automatic Setting
Device station parameter automatic setting Parameters of the device station are saved in the master station, and the parameters will be automatically set when the device station is connected/returned. If parameters are changed on the device station side, saved parameters on the master station side are automatically updated. When the version of Add-on baseSystem is "1.18"...
Page 94 Setting method Set in the "Parameter of Device Station" window. (Page 120 Parameter processing of a device station) Precautions • A device station whose device station parameter automatic setting abnormally ended does not start data link, and 'Execution result of device station parameter automatic setting function' (SW0160 to SW0167) turns on. Check 'Detailed execution result of device station parameter automatic setting' (SW0194) and the event history and perform corrective actions according to Action of the error codes list.
Page 95: Data Collection Using The Cc-Link Ie Tsn Communication Software
Data collection using the CC-Link IE TSN Communication Software The cyclic data of each CC-Link IE TSN station is received using the CC-Link IE TSN Communication Software. For details on the CC-Link IE TSN Communication Software, refer to the following. ...
Page 96: Co-Recording Function
Co-recording function The co-recording function synchronizes data-saving trigger generation between devices supporting the co-recording function. The Motion module synchronizes the recording devices on the network system by relaying co-recording triggers between its own servo system recorder, recording devices on the base unit that its station is mounted, and recording devices of other stations.
Page 97 Co-recording sending/receiving pause period The Motion module does not have a sending/receiving pause period. CPU module and Motion module combinations The differences in operation depending on the CPU module and Motion module combinations are as follows. : Sends/receives co-recording triggers : Does not send/receive co-recording triggers : No combination CPU module...
Page 98: Chapter 2 Parameter Settings
PARAMETER SETTINGS This chapter describes the parameter settings required for communications between the Motion module and other stations. Setting Parameters Add the Motion module in the engineering tool. [Navigation window]  [Parameter]  [Module Information]  Right-click  [Add New Module] The required settings, basic settings, and application settings are included in the parameter settings.
Page 99: Required Settings
Required Settings Set the station type or IP address of the Motion module. Item Description Reference Station Type Set the station type of the Motion module. Page 97 Station Type Network No. Set the network No. of the Motion module. Page 97 Network No.
Page 100: Station No./Ip Address Settings
Station No./IP Address Settings Set the station No. and IP address of the own station of the Motion module. Item Description Setting range Station No. The station No. of the master station is fixed to 0.  IP Address Set the IP address of the own station. 0.0.0.1 to 223.255.255.254 Set an IP address different from those used in other stations.
Page 101: Basic Settings
Basic Settings Set the network configurations, network topology, or other parameters for the Motion module. Item Description Reference Network Configuration Set the CC-Link IE TSN network configuration. Page 112 "CC-Link IE TSN Settings Configuration" Window Refresh Settings Assign link refresh ranges between the devices described below. Page 100 Refresh Settings •...
Page 102: Refresh Settings
Refresh Settings Assign link refresh ranges between the devices described below. • SB, SW, link devices (RX, RY, RWr, RWw, LB, LW) of the Motion module  Devices of the CPU module Setting method The procedure for the refresh settings is shown below. Set the required items.
Page 103 Item Description Setting range 1 to 256 Link Side Set the link refresh ranges of link devices (RX, RY, RWr, RWw, LB, ■Device Name LW). Up to 256 ranges can be set. (Page 100 Refresh Settings) • RX, RY, RWr, RWw, LB, LW (Default: empty) ■Points •...
Page 104: Network Topology
Network Topology In the network topology settings, select the network topology type according to the actual network configuration. Item Description Setting range Network Select the network topology type according to the actual • Line topology, star topology, or coexistence of star and line topologies topology network configuration.
Page 105: Connection Device Information
*2 When using the CC-Link IE TSN Network synchronous communication function, set the same value as "Fixed Scan Interval Setting" of "Fixed Scan Interval Setting of Inter-module Synchronization" under "Inter-module Synchronization Setting" on the "Inter-module Synchronization Setting" tab in "System Parameter". *3 For the version of Add-on baseSystem, "1.4"...
Page 106: Device Station Setting
Device Station Setting Set items related to the device station. Item Description Setting range Disconnection Detection Setting Set the number of consecutive communication failures until a device station is • 2 times considered disconnected. • 4 times • 8 times (Default: 4 times) Safety Communication Setting Set whether to use the safety communication or not and set safety connections.
Page 107 Set the required items. Click the [OK] button to finish the safety communication setting. Setting items Item Description Setting range Cyclic Transmission Time (Minimum value) The cyclic transmission time that are calculated by the number of  device stations and the number of points of link devices, or the values set for standard communications and safety communications is displayed.
Page 108 Item Description Setting range Setting Method Right-click in the "Safety Communication Setting" window and • Start/End select an assignment method in "Safety Data Transfer Device • Points/Start Setting". (Default: Start/End) • Start/End: Enter the start and end numbers of safety devices. •...
Page 109 Item Description Setting range Safety Data Transfer Receive Data Set a safety device of the Safety CPU where safety data are ■Device name Device Setting Storage Device received. • SA\X • SA\M • SA\B • SA\D • SA\W (Default: empty) ■Points •...
Page 110: Application Settings
Application Settings Set the event reception from other stations, module operation mode, and other settings for the Motion module. Item Description Reference Communication Speed Set the communication speed. Page 109 Communication Speed Setting Supplementary Cyclic Settings Set the station-based block data assurance and I/O maintenance settings. Page 109 Supplementary Cyclic Settings Transient Transmission Group Set the transient transmission group No..
Page 111: Communication Speed Setting
Communication Speed Setting Set the communication speed of the modules. Item Description Setting range Communication Speed Select the communication speed of the modules. • 1 Gbps • 100 Mbps (Default: 1 Gbps) *1 This communication speed can be used for the version of Add-on baseSystem "1.8" or later. For details of the connection of a module or device in the communication speed setting, refer to "SYSTEM CONFIGURATION"...
Page 112: Parameter Name
Parameter Name Set a name for the module parameter if desired. Item Description Setting range Parameter Name Set a name for the module parameter if desired. Up to 8 one-byte or two-byte characters (Default: empty) Dynamic Routing Select whether to enable the dynamic routing function. (Page 61 Communications using the engineering tool) Item Description Setting range...
Page 113: Security
Security Set the security measures for access to the Ethernet device. Item Description Setting range IP Filter IP Filter Set whether to use the IP filter. • Not Use Settings • Use (Default: Not Use) IP Filter Settings Set the IP addresses to be allowed or denied. ...
Page 114: Cc-Link Ie Tsn Configuration" Window
"CC-Link IE TSN Configuration" Window Perform the parameter setting of device stations, the detection of connected/disconnected devices, or others. Navigation window  "Parameter"  "Module Information"  Target module  Module Parameter (Network)  "Basic Settings"  "Network Configuration Settings"  <Detailed Setting> Parameter setting of a device station Set parameters of device stations (the number of points and assignment of link devices) in the master station.
Page 115 Simple Detailed Description Setting range display display Cyclic Transmission Time The cyclic transmission time that are calculated by the number of device stations  (Min.) and the number of link device points is displayed. Use the displayed value as a *1*13 guide.
Page 116 Simple Detailed Description Setting range display display RWr Setting Assign RWr/RWw points in increments of 4. ( Page 20 Communications • Number of points: No point,4 to 8192 using RX, RY, RWr, and RWw) • Start: 0000H to 1FFCH RWw Setting Modules with settings provided by the device profile are automatically set from •...
Page 117 Simple Detailed Description Setting range display display CC-Link IE TSN Class For each device station, select which CC-Link IE TSN Class the device is. • CC-Link IE TSN Class B Setting • CC-Link IE TSN Class A (Default: Automatically determined by the profile) *1 If the setting cannot be confirmed in the module parameters and "Network Configuration Settings", a hyphen may be displayed or the displayed calculation result may not be correct.
Page 118 • Because a portion of the setting items are not displayed in simple display, when there are deficiencies in setting items that are not displayed, the "Output" window may display a warning or error by selecting [Close with Reflecting the Setting]. If a warning is displayed, switch to detailed display and correct the items.
Page 119: Connected/Disconnected Module Detection
Connected/Disconnected Module Detection Connected device stations are detected and displayed on the "CC-Link IE TSN Configuration" window. When the network system is started , it becomes easy to create parameters when changing the network system configuration already running. If this function is executed immediately after a device station is connected, the information of the connected device may not be correctly read.
Page 120 Connection/Disconnection/Replacement When the [Connected/Disconnected Module Detection] button is clicked while the saved CC-Link IE TSN configuration is displayed, IP addresses of detected device stations are compared with the saved IP addresses of device stations and displayed as follows by connection/disconnection/replacement. IP address verification Operation Display...
Page 121 Register the profile of the target device to detect in advance. If the profile is not registered, the following may be displayed. • "Model Name" is "General Remote Station", "General Local Station", or "General Extension Module". • "Station Type" is "Remote Station", "Local Station", or "Extension Module". For how to register a profile, refer to the following.
Page 122: Parameter Processing Of A Device Station
Parameter processing of a device station The processing is to read and save the parameters from the device station, and to write the saved parameters to the device station. Also, it automatically sets parameters of the device station from the master station. (Page 91 Device station parameter automatic setting) When performing the parameter processing to the main module to which the extended module is connected, use the following module.
Page 123 The following operations can be performed in addition to the device station parameter setting. For the details of the window, click [Help]. • Reading and writing parameters from/to MR-J5(W)-G during data link (online) • Saving parameters of MR-J5(W)-G in a separate file/reading them from the saved file Once the setting is complete, click [Project] ...
Page 124 Item Description Target Module Information Information for the selected device stations is displayed. Method selection Select processing to be executed for selected device stations. • Parameter auto-setting: Automatically set contents of "Write Value/Setting Value" to the device station. ( Page 91 Device station parameter automatic setting) •...
Page 125: Command Execution To Device Stations
Command execution to device stations Commands to a device station (Error clear request, Error history clear request) are executed. When performing the command execution to the main module to which the extended module is connected, use the following module. • Motion module whose Add-on baseSystem version is "1.16" or later Navigation window ...
Page 126 Item Description Target Module Information Information for the selected device stations is displayed. Method selection Select processing to be executed for selected device stations. • Error clear request • Error history clear request Command setting When there are command settings for processing selected by "Method selection", setting items are displayed.
Page 127: Pdo Mapping Setting
PDO mapping setting Set the PDO mapping to the station that supports CANopen communications. When connecting extended modules such as a multi-axis servo amplifier that has the PDO mapping information, the maximum number of connectable stations changes depending on the number of axes. When connecting a multi-axis servo amplifier with 3 axes, up to 40 stations with 120 (maximum number of connectable stations) /3 (number of axes) can be connected.
Page 128 Check the selected PDO mapping pattern. Click the [OK] button to close "PDO Mapping Setting". ■ Conditions under which the PDO mapping is not set In the following cases, the PDO mapping is not set for the device station. • The number of points of "RWr Setting" is 1 or larger and no entry is assigned to TPDO. •...
Page 129: Module Change
Module change The following shows how to replace the general-purpose CC-Link IE TSN module with a device station and how to change a device station to the general-purpose CC-Link IE TSN module. Replacement of the general-purpose CC-Link IE TSN module Replace the general-purpose CC-Link IE TSN module with a device station.
Page 130: Device No. Reassignment
Device No. reassignment Assign the device Nos. continuously to the link devices of the specified target station. Use the points assigned in the station list on the "CC-Link IE TSN Configuration" window for the number of link device points. Open the "Device No. Reassignment" window. [CC-Link IE TSN Configuration] ...
Page 131: Object Name Display
Object name display The object names of the modules displayed in the station list on the "CC-Link IE TSN Configuration" window are displayed. [View]  [Object Name Display] Changing the object name Change the object name. By changing the object name to an arbitrary one, it becomes easier to distinguish each module on the "CC-Link IE TSN Configuration"...
Page 132: Chapter 3 Programming
PROGRAMMING Precautions for Programming This section describes precautions to create CC-Link IE TSN programs. Program using safety communications For a program using safety communications, interlock with the safety special register described below. (For the 1st module) • 'Safety refresh communication status of each safety connection (1st module)' (SA\SD1008 to SA\SD1015) For program examples of the safety communications, refer to the following.
Page 133: Communication Example Of Safety Communication
Communication Example of Safety Communication This section describes the communication example of the system using the Safety CPU. System configuration example The following system configuration is used to explain communications using the Safety CPU. System configuration • Power supply module: R61P •...
Page 134: Setting In The Master Station
Setting in the master station Connect the engineering tool to the Safety CPU of the master station and set parameters. Set the Safety CPU as follows. [Project]  [New] In the following window, enter a password and re-enter password, and click the [OK] button. 3 PROGRAMMING 3.2 Communication Example of Safety Communication...
Page 135 In the following window, enter a file name, and click the [Save] button. Click the [Setting Change] button to use the module labels of the CPU module. 3 PROGRAMMING 3.2 Communication Example of Safety Communication...
Page 136 Add the safety program in the following. Navigation window  "Program"  "Fixed Scan"  Right-click  [New Data] Add the safety global label in the following. Navigation window  "Label"  "Global Label"  Right-click  [New Data] 3 PROGRAMMING 3.2 Communication Example of Safety Communication...
Page 137 Set "Link Direct Device Setting" in "CPU Parameter" to "Extended Mode (iQ-R Series Mode)". "Navigation window"  "CPU Parameter"  "Memory/Device Setting"  "Link Direct Device Setting"  "Link Direct Device Setting" To write module parameters of the Motion module to a Safety CPU using an engineering tool, set "Link Direct Device Setting"...
Page 138 Set the Motion module for slot No.1. Click the [OK] button to use the module labels of the safety function module. Click the [OK] button with the setting not to use the module labels of the Motion module. 3 PROGRAMMING 3.2 Communication Example of Safety Communication...
Page 139 Set the items in "Required Settings" as follows. "Navigation window"  "Parameter"  "Module Information"  "RD78G16 "  "Module Parameter (Network)"  "Required Settings" *1 RD78G16(S) when using Simple Motion mode. Set the network configuration as follows. "Navigation window"  "Parameter"  "Module Information"  "RD78G16 "...
Page 140 Log on to the programmable controller. [Online]  [User Authentication]  [Log on to PLC] If logon fails, writing user information or initializing all information of the programmable controller is required. ( GX Works3 Operating Manual) Set "To Use or Not to Use the Safety Communication Setting" to "Use". "Navigation window"...
Page 141: Checking The Network Status
Checking the network status After starting up the system, check whether a data link can be normally performed. Use the CC-Link IE TSN/CC-Link IE Field diagnostics of the engineering tool to check the status. Connect the engineering tool to the Safety CPU on the master station. Start the CC-Link IE TSN/CC-Link IE Field diagnostics.
Page 142: Chapter 4 Troubleshooting
TROUBLESHOOTING This chapter describes troubleshooting of CC-Link IE TSN. Checking with LED This section describes troubleshooting with the LEDs of the Motion module. When the RUN LED turns off When the RUN LED turns off after powering on the Motion module, check the following. Check item Action Is the Motion module mounted correctly?
Page 143 When the D LINK LED turns off or is flashing When the D LINK LED turns off or is flashing, check the following. Check item Action Is the master station operating normally? • If an error has occurred in the CPU module on the master station, eliminate the cause of the CPU module error.
Page 144 Check item Action Is the IP address overlapped with another station? Change the IP address of the overlapped station. Are more than the total number of device stations Change the connection of the device stations to the total number or less. connected? Are Ethernet devices properly connected to a Correct the mixed structure of the Ethernet device.
Page 145 When the LINK LED turns off When the LINK LED turns off, check the following. Check item Action Do the used Ethernet cables conform to the Use an Ethernet cable that conforms to the standard. For details, refer to "Wiring" (in the chapter of the Ethernet standard? control mode used) of the following manual.
Page 146: Checking The Module Status
Checking the Module Status This section describes troubleshooting to check the status of the module by executing diagnostics and operation tests using the engineering tool. Module Diagnostics The following items can be checked in the "Module Diagnostics" window for the Motion module. Item Description [Error Information] tab...
Page 147 Module Information List The LED information and individual information of the Motion module are displayed in the [Module Information List] tab. Item Description LED information Displays the LED status of the Motion module. Individual Station Type Displays the station type set for the selected module. information Network No.
Page 148: Checking The Network Status
Checking the Network Status This section describes troubleshooting to check the status of the network by executing diagnostics and operation tests using the engineering tool. CC-Link IE TSN/CC-Link IE Field Diagnostics For CC-Link IE TSN, perform status monitoring, operation tests, or others. Precautions In the following cases, the CC-Link IE TSN/CC-Link IE Field diagnostics cannot start.
Page 149 The following restrictions are applied when starting the CC-Link IE TSN/CC-Link IE Field diagnostics with "Other Station (Single Network)" or "Other Station (Co-existence Network)" specified in "Other Station Setting" on the "Specify Connection Destination Connection" window. • The communication test cannot be used. •...
Page 150 • An icon indicating an error is displayed on the module icon of the station where an error occurs. • A disconnected station that has performed data link is indicated with the "Disconnected Station" icon in the network map. However, a disconnected station in following case is displayed on the right end of the area. Stations displayed on the right end of the area.
Page 151 "CC-Link IE TSN/CC-Link IE Field Diagnostics" window Network map In this manual, "Authentication Class" is written as "CC-Link IE TSN Class". Item Description Select Module The Motion module under diagnostics is displayed. Diagnostics [Change Module] Allows to change the target Motion module when multiple Motion module are mounted. Destination button Select Station...
Page 152 Item Description Network Total Device Stations Displays the total number of device stations set in "Network Configuration Settings" under "Basic Settings". Status (Parameter) Total Device Stations Displays the total number of device stations (number of device stations) that are actually connected by data link in CC- (Connected) Link IE TSN.
Page 153 Network map ■ Icon The module type and station No. are displayed with an icon. • Click: Selection • Right-click: Executes tests or debugging. •     keys on the keyboard: Move the focus to the module to be diagnosed, and determine it with the  key.
Page 154 In the following cases, the network map is displayed differently from the actual connection status. Connection status Display of the network map Two stations are connected through a switching hub. Branches are not displayed in the network map. TSN HUB No.0 No.2 Switching hubs are in the cascade connection.
Page 155 Selected Station Communication Status Monitor Displays status of the station selected in "Network Status". ■Normal ■Error Description Indicates the station No. and operating status. ■Normal • Station No. No error (light blue): Normal operation ■Error • Station No. Error (yellow): Error (Data link is continued) •...
Page 156: Communication Test
Communication Test This function checks if transient transmission data can be properly routed from the own station to the communication target. Depending on selection for "Communication Method" ("Network No./Station No." or "IP Address"), the range that can be checked may vary. Selection of "Communication Method"...
Page 157: Station Information List
Station Information List The station information list displays the information of the stations which are performing data link in a list. device Item Description Number of Stations Displays the number of device stations to be displayed in the station information list. Change IP Address Display Select an IP address display format.
Page 158: Remote Operation
Remote Operation This function executes remote operations (such as RUN, STOP, and RESET operations) to the station selected on the "CC- Link IE TSN/CC-Link IE Field Diagnostics" window, from the engineering tool. (Remote operation for device stations is available only for RESET) The displayed window varies depending on the station selected.
Page 159: Troubleshooting By Symptom
Troubleshooting by Symptom This section describes troubleshooting when a data link cannot be performed with the target station regardless of no error occurring in the Motion module. If an error has occurred in the Motion module, identify the error cause using the engineering tool. ( Page 146 Checking the Network Status) •...
Page 160 Cyclic transmission failed The following lists the actions to be taken if cyclic transmission cannot be performed. Check item Action Is the D LINK LED of the Motion module turned on? Perform troubleshooting for when the D LINK LED turns off or is flashing. (...
Page 161 Check item Action When "Connected Device ■When the version of Add-on baseSystem is Change "CC-Link IE TSN Class Setting" under "Network Configuration Information" under "Basic "1.20" or later Settings" or "CC-Link IE TSN Class" on the device station side so that Settings"...
Page 162 Check item Action When "Connected Device ■When connected devices are protocol version Select the actual device to be used from "Module List" in the "CC-Link IE Information" under "Basic TSN Configuration" window and add it to the list of stations, or refer to Settings"...
Page 163 ■ When the Motion module with the baseSystem version of "1.7" or earlier is used When the Motion module with the baseSystem version of "1.7" or earlier is used, check the following. Check item Action Are 32 stations or more in total connected? Check the connected device and reduce the maximum number of connectable When "Connected Device...
Page 164 Transient transmission failed The following lists the actions to be taken if transient transmission cannot be performed with the target station, and the engineering tool cannot perform monitoring. Check item Action Is the D LINK LED of the Motion module turned off? If turned off, perform troubleshooting for when the D LINK LED turns off or is flashing.
Page 165 Check item Action When "Connected Device If the device stations being used support Update the master station to a firmware version that supports protocol Information" under "Basic protocol version 2.0, is an master station that version 2.0. Alternatively, replace with a master station that supports Settings"...
Page 166 Check item Action When "Connected Device Is the event code 00C72 registered in the event • Update the engineering tool to the latest version. Information" under "Basic history? • Update the device station firmware with IP address displayed in the Settings"...
Page 167 Station is disconnected from the network The following is the action to be taken when a station in data link is disconnected. Check item Action Is the ambient temperature for the module outside the specified range? Keep the ambient temperature within the specified range by taking action such as removing heat source.
Page 168 Check item Action When the communication speed setting of the master station is set to 1 Gbps, • Restrict the number of stations to be connected so that the total cyclic data is the total cyclic data size of all device stations on the 100 Mbps device side size of 100 Mbps devices does not exceed 2K bytes.
Page 169 SLMP communications failed When communications using the SLMP cannot be performed, check the following items. Check item Action Has the connection with the external device been opened? • If the connection with the external device is not opened, perform the open processing.
Page 170 Communications with Ethernet devices failed When communications with Ethernet devices cannot be performed, check the following items. Check item Action Is the firewall or proxy server setting enabled on the Ethernet device? Check and correct the settings on the Ethernet device. Is a response to the PING command (ICMP echo request) disabled? Is the antivirus software on the Ethernet device blocking the communication? Check and correct the antivirus software settings on the Ethernet device.
Page 171 Synchronization cannot be performed with the CC-Link IE TSN Network synchronous communication function When the synchronization cannot be performed with the CC-Link IE TSN Network synchronous communication function, check the following items. Check item Action Is an inter-module synchronization target module selected? Set "Select Inter-module Synchronization Target Module"...
Page 172 Cannot be monitored using the CC-Link IE TSN Communication Software The following lists the actions to be taken if information cannot be monitored using the CC-Link IE TSN Communication Software. Check item Action Are three or more modules connected to CC-Link IE TSN Communication Connect two or fewer modules.
Page 173 Motion control setting and Motion module cannot communicate When the motion control setting and Motion module cannot communicate in the PLCopen Motion control FB mode, check the following. Check item Action Is a value less than Is the number of device stations in the network •...
Page 174 CC-Link IE TSN Class A device does not perform data link ■ When set to "Not to Use TSN HUB" If "TSN HUB Setting" in "Connection Device Information" under "Basic Settings" is set to "Not to Use TSN HUB", check the following items.
Page 175 ■ When set to "Use TSN HUB" If "TSN HUB Setting" in "Connection Device Information" under "Basic Settings" is set to "Use TSN HUB", check the following items. Check item Action Are the CC-Link IE TSN Class B device and CC-Link IE TSN Class A device Set "TSN HUB Setting"...
Page 176: List Of Error Codes
List of Error Codes This section lists the error codes, error definitions and causes, and actions for the errors that occur in the processing for data communication between the Motion module and external devices or occur by processing requests from the CPU module on the own station.
Page 177 Error Error definition and causes Action Detailed code information 1 Detailed information 2 1803H The number of connectable stations is ■When the version of Add-on baseSystem is "1.8" or later  exceeded. • Reduce the number of the CC-Link IE TSN Class B devices and TSN hubs to eight or less in total for each port of the master station on the transmission path from the master station to the CC-Link IE TSN Class B device of the end.
Page 178 Error Error definition and causes Action Detailed code information 1 Detailed information 2 1805H • The cyclic data size exceeds 2K bytes Check the connection and setting on the end side of the station shown in ■Own station in total for all device stations on the CC- detailed information 2 based on the error definition and cause and take the information Link IE TSN Class A device side at the...
Page 179 Error Error definition and causes Action Detailed code information 1 Detailed information 2 1D20H The module cannot normally communicate • To use the inter-module synchronization function, set the setting value for ■ with the device station on CC-Link IE TSN. the inter-module synchronization cycle longer than the current setting in ■Target station "Fixed Scan Interval Setting of Inter-module Synchronization"...
Page 180 Error Error definition and causes Action Detailed code information 1 Detailed information 2 24C1H An error was detected on the system bus. • Take measures to reduce noise. ■System configuration • Reset the CPU module, and run it again. If the same error occurs again information even after taking the above, the possible cause is a hardware failure of the •...
Page 181 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3000H [PLCopen Motion control FB mode] • Correct the parameters shown in the cause. ■Parameter Any of the items in the module which is set • Check that the control CPU is CPU No.1. Update the firmware version of information as a synchronization target in "Inter- the CPU to a version supporting the inter-module synchronization function...
Page 182 Error Error definition and causes Action Detailed code information 1 Detailed information 2 300BH The Announce frame send cycle • Check the Announce frame send cycle parameter setting value of the  parameter error was detected. device operating as the grandmaster. When the Motion module is operating as the grandmaster, reset the CPU module, and run it again.
Page 183 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3013H The value set in "Transient Transmission Set "Communication Period Interval Setting" and "Cyclic Transmission Time" ■ Time" in "Communication Period Setting" so that the value of "Transient Transmission Time" in "Communication ■Communication under "Basic Settings"...
Page 184 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3021H At startup of data link, an overlapping IP Correct the IP addresses of the device stations. ■Operation source address among device stations has been information detected. •...
Page 185 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3160H The number of points of link devices of the In "Network Configuration Settings" under "Basic Settings", review the ■Parameter device stations set to "CC-Link IE TSN device assignment settings so that the number of points of link devices of the information Class A"...
Page 186 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3605H A module to operate as an inter-module • Check the master station condition. ■ synchronous master could not output an • Check the error of the master station and take action using the module ■Synchronous master inter-module synchronization signal.
Page 187 Error Error definition and causes Action Detailed code information 1 Detailed information 2 3C03H A hardware failure has been detected. • Take measures to reduce noise.  • Reset the Motion module. If the same error occurs again even after taking the above, the possible cause is a hardware failure of the Motion module.
Page 188 Error Error definition and causes Action Detailed code information 1 Detailed information 2 C032H The external device does not send an • Since there may be congestion of packets on the line, send data after a  ACK response in the TCP/IP certain period of time.
Page 189 Error Error definition and causes Action Detailed code information 1 Detailed information 2 C056H The read/write request exceeds the • Correct the start address or the number of read/write points so that the  largest address. request does not exceed the largest address and send the data to the CC- Link IE TSN-equipped module again.
Page 190 Error Error definition and causes Action Detailed code information 1 Detailed information 2 C071H The number of device points for data read/ Correct the number of read/write points and send the SLMP message to the  write set for modules other than a CC-Link IE TSN-equipped module again.
Page 191 Error Error definition and causes Action Detailed code information 1 Detailed information 2 C202H When another station was accessed, the When accessing another station, do not set the remote password on the  remote password could not be unlocked. relay station or access station, or do not execute the remote password check on them.
Page 192 Error Error definition and causes Action Detailed code information 1 Detailed information 2 CF40H Incorrect frame was received. • Check the operating status and connection status of the target device.  • Check the connection of the Ethernet cable and switching hub. •...
Page 193 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D20FH In transient transmission, the command Execute the instruction again after checking that the command can be  which cannot be requested to all or a requested to all or a group of stations at the transient request source. group of stations was executed with all stations specification or group specification.
Page 194 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D24BH The number of resends specified in the • Execute the instruction again after correcting the number of resends at  dedicated instruction is incorrect. the request source of the dedicated instruction. •...
Page 195 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D253H A response timeout has occurred when <When using the Simple Motion mode>  the dedicated instruction was executed. • Check the network status using the CC-Link IE TSN/CC-Link IE Field diagnostics of the engineering tool, and take action.
Page 196 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D269H The station type of the REMFR/REMTO/ • Set the station type of the REMFR/REMTO/REMFRD/REMTOD/  REMFRD/REMTOD/REMFRIP/ REMFRIP/REMFRDIP/REMTOIP/REMTODIP instruction target station to REMFRDIP/REMTOIP/REMTODIP a remote station. instruction target station is not a remote •...
Page 197 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D644H Parameter error (cyclic transmission time • Write the network parameter to the CPU module again.  setting) • Execute the instruction again after correcting the cyclic transmission time in the setting data.
Page 198 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D840H Number of transient requests exceeded • Execute the instruction again after pausing the transient transmission  the upper limit of simultaneously temporarily. processable requests. • Execute the instruction again after lower the transient transmission usage frequency.
Page 199 Error Error definition and causes Action Detailed code information 1 Detailed information 2 D912H Transient transmission sending failed. • Execute the instruction again after lower the transient transmission usage  frequency. • Check if the switching hub and the Ethernet cables are connected properly.
Page 200: List Of Parameter Nos
List of Parameter Nos. If there is an error in the parameter settings and the parameter No. is displayed, the corresponding parameter can be identified. It is displayed in "Detailed information" in the [Error Information] tab in the "Module Diagnostics" window of the Motion module. (...
Page 201 Item Parameter No. Basic Settings Network Configuration Total number of stations A100H Settings Simple Display, STA# A104H Detailed Display Station Type A104H RX Setting A101H A10BH RY Setting A101H A10BH RWr Setting A101H A10BH RWw Setting A101H A10BH LB Setting A101H A10BH LW Setting...
Page 202 Item Parameter No. Application Settings Communication Speed Communication Speed 7100H Supplementary Cyclic Station-based Block Data Assurance A100H Settings I/O Maintenance Output Hold/Clear Setting during CPU STOP A110H Settings Data Link Error Station Setting A110H Output Mode upon CPU Error 7101H Transient Transmission Group No.
Page 203: Event List
Event List This section lists the events which occur in CC-Link IE TSN. The three event types are system, security, and operation. The event type is displayed when the [Event History] button in the [Error Information] tab in the "Module Diagnostics" window of the Motion module is clicked.
Page 204 Event Overview Cause code 00C10 Own station: Data link stop (cyclic transmission stop) Own station data link was stopped. 00C11 Another station: Data link stop (cyclic transmission Data link of another station was stopped. stop) 00C21 Another station: Error occurrence An error has occurred in another station.
Page 205 Event Overview Cause code 00C60 IP address of the external device acquisition error Target IP address could not be acquired from the network No. and station No.. 00C61 Time synchronization loss The time difference between the time notified from the grandmaster and the time of the own station exceeded the allowable value.
Page 206: Response Code (Sdo Abort Code)
Response Code (SDO Abort Code) The following shows the response code when the send/receive error occurred in the object data using the PDO mapping and transient transmission function. SDO Abort Code Description Remedy 0601 0000h An unsupported object was accessed. Revise the Index and subIndex.
Page 207: Appendices
APPENDICES Appendix 1 Buffer Memory (When Using the PLCopen Motion Control FB Mode) The buffer memory is used to exchange data between the Motion module and the CPU module. Buffer memory values are reset to default when the CPU module is reset or the system is powered off. List of buffer memory addresses : Same as the address of P1 Name...
Page 208 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 1246720 to 1246721 130600H to 130601H  RY offset/size Station No. 0 RY Read information offset 1246722 to 1246723 130602H to 130603H Station No. 0 RY Read ...
Page 209 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 1252096 131B00H Own station Manufacturer Read  (network card) code information 1252097 131B01H  Model type 1252098 131B02H Model code  (lower 2 bytes) 1252099 131B03H  Model code (upper 2 bytes) 1252100...
Page 210 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 1277442 137E02H  Cyclic data Multiple cycle Read send/receive setting (low assurance speed) information 1277443 137E03H  Communication Read cycle intervals (calculation value) 1277444 137E04H Communication Communication Read ...
Page 211 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 1277648 to 1277649 137ED0H to 137ED1H Start offset of link Read  information device used by (Multidrop RPDO number 0 of 1277650 to 1277651 137ED2H to 137ED3H ...
Page 212 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 2097156 to 2097157 200004H to 200005H 4194308 to 4194309 400004H to 400005H P1: Own node Own node IP Read setting status address storage area 2097158 to 2097165 200006H to 20000DH 4194310 to 4194317 400006H to 40000DH...
Page 213 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 2098152 to 2098153 2003E8H to 2003E9H 4195304 to 4195305 4003E8H to 4003E9H P1: System port System area latest error code 2098154 2003EAH 4195306 4003EAH Auto-open UDP Read storage area port latest error P2: System area...
Page 214 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 2102232 to 2102233 2013D8H to 2013D9H 4199384 to 4199385 4013D8H to 4013D9H Status for each Received packet Read protocol (TCP total count packet) 2102234 to 2102235 2013DAH to 2013DBH 4199386 to 4199387 4013DAH to Received packet...
Page 215 Name Initial Read, value write Address (decimal) Address Address Address (hexadecimal) (decimal) (hexadecimal) 2108736 to 2108799 202D40H to 202D7FH 4205888 to 4205951 402D40H to Remote System area 402D7FH password function 2108800 202D80H 4205952 402D80H Auto-open UDP Read monitoring area port continuous unlock failure count 2108801...
Page 216: Details Of Buffer Memory Addresses
Details of buffer memory addresses Link device area The RX, RY, RWw, RWr, LB, LW, SB, and SW values are stored. ■ Remote input (RX) (Un\G57344 to Un\G58367) The RX value is stored. The start number and number of points of RX for each station number can be checked in the RX offset/size information (Un\G1245696 to Un\G1246179).
Page 217 ■ Link register (LB) (Un\G92160 to Un\G94207) The LB value is stored. The LB start number and number of points for each station number can be checked by the LB offset/ size information (Un\G1249792 to Un\G1250275). (Page 217 LB offset/size information) Address Un\G92160 Un\G92161...
Page 218 RX offset/size information ■ RX offset/size information (Un\G1245696 to Un\G1246179) The start number and number of points of RX for each station number are stored. Address Description Un\G1245696 to Un\G1245697 Station No. 0 offset Un\G1245698 to Un\G1245699 Station No. 0 size (word unit) Un\G1245700 to Un\G1245701 Station No.
Page 219 RWr offset/size information ■ RWr offset/size information (Un\G1248768 to Un\G1249251) The start number and number of points of RWr for each station number are stored. Address Description Un\G1248768 to Un\G1248769 Station No. 0 offset Un\G1248770 to Un\G1248771 Station No. 0 size (word unit) Un\G1248772 to Un\G1248773 Station No.
Page 220 Own station information The information of the own station on the network is stored. ■ Own station (network card) information (Un\G1252096 to Un\G1252103) Address Name Description Un\G1252096 Manufacturer code The information of the own station is stored. (Also used in the CLPA conformance test.) Un\G1252097 Model type (Updated even if set as an error invalid station.)
Page 221 Time synchronization ■ Time distribution interval setting of the CPU module (Un\G1275136) The time distribution interval of the CPU module on the master station to device stations is set (CPU No.1 when the multiple CPU system is used). This setting is set to the buffer memory of the master station. When the setting is changed, the new setting value is enabled after the interval of the distribution operating with the old setting value has elapsed.
Page 222 Communication cycle timing The timing of the communication cycle is stored. This area can be used in the inter-module synchronous interruption program (I44). ■ Normal speed (Un\G1277440) "1" is stored at the timing of the start (first cycle in N cycles)/end (Nth cycle in N cycles) of the basic cycle interval during normal speed cycle.
Page 223 Communication period setting value (protocol version 2.0) ■ Communication cycle interval (calculation value) (Un\G1277444) Stores the communication cycle interval of "CC-Link IE TSN protocol version 2.0" that are calculated by the number of device stations and the number of link device points set in "Network Configuration Settings" under "Basic Settings". •...
Page 224 PDO information ■ PDO information (Un\G1277648 to Un\G1293967) Address Name Description Un\G1277648 to Un\G1277649 Multidrop number 0 Start offset of link device The start offset of link device used by RPDO is stored. of station No. 1 used by RPDO (Master station: RWw) Un\G1277650 to Un\G1277651 RPDO size...
Page 225 Device station cyclic transmission information ■ CC-Link IE TSN Class A (low speed) multiple (Un\G1294304) Stores the multiple n used to calculate the transmission delay time of a CC-Link IE TSN Class A device station for which "Communication Period Setting" is set to "Low-Speed". •...
Page 226 ■ SLMP transmission port (UDP/IP) port number (Un\G2097194) The port number used for the SLMP transmission port (UDP/IP) is stored. Connection status storage area ■ Latest error code after the 2nd connection of MELSOFT transmission port (TCP/IP) (Un\G2097380 to Un\G2097386) The latest error code of the 2nd to 8th connection of the MELSOFT transmission port (TCP/IP) is stored.
Page 227 Status for each protocol (ICMP packet) ■ Received packet total count (Un\G2102192 to Un\G2102193, Un\G4199344 to Un\G4199345) The status is counted from 0 to 4294967295 (FFFFFFFFH). ■ Received packet checksum error discard count (Un\G2102194 to Un\G2102195, Un\G4199346 to Un\G4199347) The status is counted from 0 to 4294967295 (FFFFFFFFH). ■...
Page 228 Own node operating status storage area (switching hub connection information area) ■ Communication mode (Un\G2102343, Un\G4199495) • 0: Half-duplex • 1: Full-duplex ■ Connection status (Un\G2102344, Un\G4199496) • 0: Switching hub not connected/disconnected • 1: Switching hub connected ■ Communication speed (Un\G2102345, Un\G4199497) •...
Page 229 Remote password function monitoring area ■ Auto-open UDP port continuous unlock failure count (Un\G2108800, Un\G4205952) The mismatch count of remote password at unlock of the auto-open UDP port is stored. The count is cleared when the password matches. Range: 0 to 65535 (Values of 65535 or more are not changed) ■...
Page 230 Receive buffer status storage area (Receive buffer status) ■ Receive buffer status storage area (Receive buffer status) (Un\G6291486) The receive buffer status is stored. • 1: Receive buffer full User setting area ■ User setting area (Un\G1147800 to Un\G11997999) This area can be used for data transmission between the CPU module and Motion module. PLCopen Motion control FB mode/Simple Motion mode ■...
Page 231: Appendix 2 Buffer Memory (When Using The Simple Motion Mode)
Appendix 2 Buffer Memory (When Using the Simple Motion Mode) The buffer memory is used to exchange data between the Motion module and the CPU module. Buffer memory values are reset to default when the CPU module is reset or the system is powered off. List of buffer memory addresses Name Initial...
Page 232 Name Initial Read, write value Address (decimal) Address (hexadecimal) 2848768 to 2848769 2B7800H to 2B7801H RWr offset/size Station No. 0 RWr offset Read information 2848770 to 2848771 2B7802H to 2B7803H Station No. 0 RWr size Read   2849248 to 2849249 2B79E0H to 2B79E1H Station No.
Page 233 Name Initial Read, write value Address (decimal) Address (hexadecimal) 2877440 2BE800H Communication cycle Normal speed (first cycle/Nth cycle in N Read timing cycles) 2877441 2BE801H Low speed (first cycle/Nth cycle in N cycles) Read 2877442 2BE802H Cyclic data send/receive Multiple cycle setting (low speed) Read assurance information 2877443...
Page 234 Name Initial Read, write value Address (decimal) Address (hexadecimal) 2885328 to 2894015 2C06D0H to 2C06BFH System area 2894016 2C06C0H Protocol information Protocol operating status Read 2894017 to 2894031 2C06C6H to 2C06CFH System area 2894032 to 1294047 2C06D0H to 2C06DFH System area 2894048 2C06E0H Timeslot information for...
Page 235 Name Initial Read, write value Address (decimal) Address (hexadecimal) 3698160 to 3702151 386DF0H to 387D87H System area 3702152 to 3702153 387D88H to 387D89H Status for each protocol Received packet total count Read (IP packet) 3702154 to 3702155 387D8AH to 387D8BH Received packet checksum error discard count 3702156 to 3702157...
Page 236 Name Initial Read, write value Address (decimal) Address (hexadecimal) 3708736 to 3708799 389740H to 38977FH Remote password function System area monitoring area 3708800 389780H Auto-open UDP port continuous unlock Read failure count 3708801 389781H MELSOFT transmission port (UDP/IP) continuous unlock failure count 3708802 389782H MELSOFT transmission port (TCP/IP)
Page 237: Details Of Buffer Memory Addresses
Details of buffer memory addresses Link device area The RX, RY, RWw, RWr, LB, LW, SB, and SW values are stored. ■ Remote input (RX) (Un\G1657344 to Un\G1658367) The RX value is stored. The start number and number of points of RX for each station number can be checked in the RX offset/size information (Un\G2845696 to Un\G2846179).
Page 238 ■ Link register (LB) (Un\1692160 to Un\1694207) The LB value is stored. The LB start number and number of points for each station number can be checked by the LB offset/ size information (Un\G2850272 to Un\G2850275). (Page 238 LB offset/size information) Address Un\G1692160 Un\G1692161...
Page 239 RX offset/size information ■ RX offset/size information (Un\G2845696 to Un\G2846179) The start number and number of points of RX for each station number are stored. Address Description Un\G2845696 to Un\G2845697 Station No. 0 offset Un\G2845698 to Un\G2845699 Station No. 0 size (word unit) Un\G2845700 to Un\G2845701 Station No.
Page 240 RWr offset/size information ■ RWr offset/size information (Un\G2848768 to Un\G2849251) The start number and number of points of RWr for each station number are stored. Address Description Un\G2848768 to Un\G2848769 Station No. 0 offset Un\G2848770 to Un\G2848771 Station No. 0 size (word unit) Un\G2848772 to Un\G2848773 Station No.
Page 241 Own station information The information of the own station on the network is stored. ■ Own station (network card) information (Un\G2852096 to Un\G2852103) Address Name Description Un\G2852096 Manufacturer code The information of the own station is stored. (Also used in the CLPA conformance test.) Un\G2852097 Model type (Updated even when the station is set to the error invalid station.)
Page 242 Grandmaster information The grandmaster status of the own station and MAC address are stored. ■ Grandmaster (Un\G2875904) When the own station is the grandmaster, "1" is stored. • 1: Own station is the grandmaster • 0: Another station is the grandmaster ■...
Page 243 Cyclic data send/receive assurance information ■ Multiple cycle setting (low speed) (Un\G2877442) The setting value of the multiple cycle setting (low speed) that ensures the cyclic data communications (send/receive) is stored. This value is stored when a device station exists for which, under "Basic Settings", "CC-Link IE TSN Class Setting" in "Connection Device Information"...
Page 244 CC-Link IE TSN Communication Software information Information related to the CC-Link IE TSN Communication Software is stored. ■ CC-Link IE TSN Communication Software information (1st module) (Un\G2877456 to Un\G2877479) Address Name Description Un\G2877456 Manufacturer code Information of the CC-Link IE TSN Communication Software in the 1st module is stored.
Page 245 Protocol information ■ Protocol information (Un\G2894016 to Un\G2894031) Address Name Description Un\G2894016 Protocol operating status Stores the operating status of the protocol. 0: Operating protocol not determined or CC-Link IE TSN Class settings set to CC-Link IE TSN Class B only 1: Operating with the protocol version 1.0 2: Operating with the protocol version 2.0 Un\G2894017 to Un\G2894031...
Page 246 Own node setting status storage area ■ Own node IP address (Un\G3697156 to Un\G3697157) The setting values of the IP address are stored. Range: 1H to DFFFFFFEH ■ Subnet mask (Un\G3697166 to Un\G3697167) The setting values of the subnet mask are stored. Range: 1H to FFFFFFFFH 0: No setting ■...
Page 247 Connection status storage area ■ Latest error code after the 2nd connection of MELSOFT transmission port (TCP/IP) (Un\G3697380 to Un\G3697386) The latest error code of the 2nd to 8th connection of the MELSOFT transmission port (TCP/IP) is stored. ■ Latest error code after the 2nd connection of SLMP transmission port (TCP/IP) (Un\G3697508 to Un\G3697514) The latest error code of the 2nd to 8th connection of the SLMP transmission port (TCP/IP) is stored.
Page 248 Status for each protocol (ICMP packet) ■ Received packet total count (Un\G3702192 to Un\G3702193) The status is counted from 0 to 4294967295 (FFFFFFFFH). ■ Received packet checksum error discard count (Un\G3702194 to Un\G3702195) The status is counted from 0 to 4294967295 (FFFFFFFFH). ■...
Page 249 Own node operating status storage area (switching hub connection information area) ■ Communication mode (Un\G3702343) • 0: Half-duplex • 1: Full-duplex ■ Connection status (Un\G3702344) • 0: Switching hub not connected/disconnected • 1: Switching hub connected ■ Communication speed (Un\G3702345) •...
Page 250 ■ MELSOFT transmission port (TCP/IP) continuous unlock failure count (Un\G3708802) The mismatch count of remote password at unlock of the MELSOFT transmission port (TCP/IP) is stored. The count is cleared when the password matches. Range: 0 to 65535 (Values of 65535 or more are not changed) ■...
Page 251: Appendix 3 List Of Link Special Relay (Sb)
Appendix 3 List of Link Special Relay (SB) The link special relay (SB) is turned on/off depending on various factors during data link. Any error status of the data link can be checked by using or monitoring it in the program. Application of link special relay (SB) By using link special relay (SB), the status of CC-Link IE TSN can be checked from HMI (Human Machine Interfaces) as well as the engineering tool.
Page 252 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SB0037 RECV execution Stores the data reception status of own station channel 8.   request flag CH8 OFF: No data received ON: Data received SB0040 Network type of own Stores the network type of the own station.
Page 253 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SB006B PORT2 link-down Stores the link-down status of the own station P2 side.   status of own station OFF:Link-up ON:Link-down The time until link-up starts after power-on or Ethernet cable connection may vary. Normally link-up takes several seconds.
Page 254 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SB00C0 Reserved station Stores whether a reserved station is set.   setting status OFF: No setting ON: Set When this relay is turned on, the status of each station can be checked with 'Reserved station setting status' (SW00C0 to SW00C7).
Page 255 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SB0110 CPU minor error Stores the minor error occurrence status of each station.   status of each station For local stations, the minor error occurrence status in the CPU module of each station are stored.
Page 256: Appendix 4 List Of Link Special Register (Sw)
Appendix 4 List of Link Special Register (SW) The link special register (SW) stores the information during data link as a numerical value. Faulty areas and causes can be checked by using or monitoring the link special register (SW) in programs. Application of link special register (SW) By using link special register (SW), the status of CC-Link IE TSN can be checked from HMI (Human Machine Interfaces) as well as the engineering tool.
Page 257 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW0045 Module type Stores the hardware status of the own station.   b2 b1 b0 SW0045 Model type 00: Module 01: Board 10: HMI (Human Machine Interface) SW0046 to IPv4 address Indicates the IP address (IPv4) set in the own station.
Page 258 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW0060 Communication Stores the setting value of the communication cycle intervals set with the module   cycle intervals parameter of the master station. (Unit: s) SW0061 System reserved Stores the setting value of the system reserved time set with the module parameter of the ...
Page 259 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW007D PORT2 receive error Stores the cumulative count of error data receptions at the PORT2 side.   detection count The count stores only error data that is not transmitted to all stations. When 'Clear communication error count' (SB0006) is turned on, the stored count is cleared.
Page 260 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW00C8 Parameter setting Stores the status of parameter settings.   status 0: Station not set in the parameter SW00CF 1: Station set in the parameter b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW00C8 16 15 14 13 12 11 10 SW00C9...
Page 261 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW00F0 CPU operating Stores the CPU operating status of each station.   status of each station 0: RUN, PAUSE SW00F7 1: STOP or moderate/major error b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW00F0 16 15 14 13 12 11 10 SW00F1...
Page 262 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW0110 to CPU minor error Stores the minor error occurrence status of each station.   SW0117 status of each station 0: Normal, or a moderate or major error occurring 1: Minor error occurring b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW0110...
Page 263 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW019B Link dedicated Stores the processing results of the link dedicated instruction that used channel 6 of the   instructions own station. processing result 0: Completed successfully 1 or greater: Completed with an error (Error code is stored.) SW019C Link dedicated Stores the processing results of the link dedicated instruction that used channel 7 of the...
Page 264 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW01C8 Synchronous/non- Stores the operating status of the CC-Link IE TSN Network synchronous communication   synchronous function of each station. SW01CF operating status 0: Non-synchronous information of each 1: Synchronous station b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0...
Page 265 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW0470 to NMT state machine Stores the communication status of the device station that supports CANopen   SW047F communications. 0: In the CANopen function initialization sequence, the NMT state machine is not yet in the Operational state or the device station is disconnected.
Page 266 Name Description Availability PLCopen Simple Motion Motion control FB mode mode SW0500 Co-recording each Stores the supporting information of each station. (Station number 1 to 120)   station supporting 0: Not supported SW0507 information 1: Supported b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW0500 16 15 14 13 12 11 10 SW0501...
Page 267: Appendix 5 Dedicated Instruction
Appendix 5 Dedicated Instruction This section describes dedicated instructions that can be used in the Motion module. For details on dedicated instructions, refer to the following.  MELSEC iQ-R Programming Manual (Module Dedicated Instructions) Precautions ■ Data change Do not change any data specified (such as control data) until execution of the dedicated instruction is completed. Link dedicated instructions The following table lists the instructions used for transient transmission to or from programmable controllers on other stations.
Page 268: Remote Instructions
Remote instructions The following table lists the instructions used for transient transmission to the remote station. When the version of Add-on baseSystem is "1.22" or earlier remote instructions are not supported. Instruction Description REMFR Reads data in units of words from the buffer memory in the remote station. (16-bit address specification) REMFRD Reads data in units of words from the buffer memory in the remote station.
Page 269: Appendix 6 Processing Time
Appendix 6 Processing Time This section describes the cyclic transmission delay time of CC-Link IE TSN. (1) Sequence scan time of the master station: MELSEC iQ-R CPU Module User's Manual (Application) (2) Communication cycle interval (cyclic data transfer processing time): Page 275 Communication cycle interval (3) Processing time of the device station: Manual of the device station used PLCopen Motion control FB mode The cyclic transmission delay time in the PLCopen Motion control FB mode consists of the following.
Page 270: Cyclic Transmission Delay Time
Cyclic transmission delay time This section describes how to calculate the following cyclic transmission delay times. • The time between the transmission source CPU module device turning ON or OFF and the transmission destination CPU module device turning ON or OFF •...
Page 271 The algorithm for determining n is shown below. Processing Branch Loop 1 Loop 2 Detailed description Start Check the stations in "Network Configuration Settings" for the     master station in the order of the station No. column to assign stations with "CC-Link IE TSN Class A"...
Page 272 The following shows the variable names used by the algorithm. Name of Description variable Round up the calculated value to the nearest integer of (ndmi + (16  n2i))  1484 When the calculation result of n1i is 2 or greater, add 1 to n2i. ■Other than ...
Page 273 Standard station This section shows the formulas to calculate the following cyclic transmission delay time. • The time between when the transmission source CPU module device turns on or off and when the transmission destination CPU module device turns on or off •...
Page 274 ■ Master station  local station When data is transmitted from a local station to the master station as follows: • Master station (RX)  local station (RY) • Master station (RWr)  local station (RWw) • Master station (LB)  local station (LB) •...
Page 275 Motion control station (When using the PLCopen Motion control FB mode) This section shows the formulas to calculate the following cyclic transmission delay time. • Time between when a device of the Motion module turns ON or OFF and when a transmission destination device turns ON or OFF •...
Page 276 Motion control station (When using the Simple Motion mode) This section shows the formulas to calculate the following cyclic transmission delay time. • Time between when a device of the Motion module turns ON or OFF and when a transmission destination device turns ON or OFF •...
Page 277: Communication Cycle Interval
Communication cycle interval The minimum value of the communication cycle interval (cyclic data transfer processing time) is calculated by the following calculation formulas. The parts enclosed in double quotation marks (" ") in the table of variables are the values set for "Network Configuration Settings"...
Page 278 ■ When using the PLCopen Motion control FB mode • In addition to the communication cycle intervals, the operation cycle requires consideration as well. For each operation cycle and number of controllable axes, refer to "Operation Cycle" of the following manual. MELSEC iQ-R Motion Module User's Manual (Application) •...
Page 279 Unicast mode (1 Gbps) ■ Calculation formula The communication cycle interval [ns] is calculated as follows. Round up less than 1 s in  ,  ,  , and  When using the PLCopen Motion control FB mode:  + ...
Page 280 Name of variable Description ((Total number of points of "RY Setting" of main modules) / 8) + ((Total number of points of "RWw Setting" of main modules)  2) + ((Number of points of "LB setting" set in the master station) / 8)  ((Number of points of "LW setting" set in the master station)  2)  Ln sndm Number of connections in "Safety Communication Setting"...
Page 281 Name of variable Description i = 1 = ((ends + en4  20) / 1488) However, if ends is 0, en3 becomes 0. = 1 if sf > 20, k = 0 if sf  20 = 1488 - mod mod: Remainder of {((mRx + (mRx / 1468)
Page 282 Name of variable Description kuu: Inter-module 1800  (Number of device stations) + 10000 synchronization However, if the inter-module synchronization is not performed in the master station , kuu = 0. processing time (unicast) *1 The switching hub delay time changes depending on the switching hub model and settings. *2 This is the device station with the largest calculation value when ("RX Setting"...
Page 283 Unicast mode (100 Mbps) ■ Calculation formula The communication cycle interval [ns] is calculated as follows:  +  +  +  . Round up less than 1 s in  ,  ,  , and  Cyclic transmission time [ns] =  + ...
Page 284 Name of variable Description Switching hub delay time  Number of switching hubs connected to the network Switching hub delay time: 160000 When "Network Topology" under " Basic Settings" is set to " Line/Star": 0 Sn  nhs nhs: Value of (nds + (20  n4)) / (1488  Sn) rounded up to the nearest integer Sn ...
Page 285 Name of variable Description i = 1 =((ends + en4  20) / 1488) However, if ends is 0, en3 becomes 0. = 1 if sf > 20, k = 0 if sf  20 = 1488 - mod mod: Remainder of {((mRx + (mRx / 1468) ...
Page 286 Name of variable Description kuu: Inter-module 1800  (Number of device stations) + 10000 synchronization However, if the inter-module synchronization is not performed in the master station , kuu = 0. processing time (unicast) *1 The switching hub delay time changes depending on the switching hub model and settings. *2 This is the device station with the largest calculation value when ("RX Setting"...
Page 287 Multicast mode (1Gbps) ■ Calculation formula The communication cycle interval [ns] is as follows. Round up values of α , α , α , and α that are less than 1s. When using Motion control FB mode: The larger value of α + α...
Page 288 Name of variable Description RYlb+RWwlb+LBmb+LWmb+1 RYlb: Value of (Total number of points of "RY setting" )/11776 rounded up to the nearest integer RWwlb: Value of (Total number of points of "RWw setting" )/736 rounded up to the nearest integer LBmb: Value of (Number of points of "LB setting" set in the master station)/11776 rounded up to the nearest integer LWmb: Value of (Number of points of "LW setting"...
Page 289 Name of variable Description en2r i = 1  en2r = eRyrn + eRWwrn + ((endmr + (eRyrn + eRWwrn 16) / 1488) When station No.i represents a station other than a remote station, en2r is 0. When endmr is 0, en2r is 0.
Page 290 Name of variable Description p1: RX/RY/RWr/ {((Total number of points of "RX setting") + (Total number of points of "RY setting" ))/8 + ((Total number of points of "RWr setting") +    RWw processing (Total number of points of "RWw setting" 5 + (Sn 3300) time...
Page 291 Multicast mode (100Mbps) ■ Calculation formula Communication cycle interval [ns] =  +  +  +  . Round up values of  ,  ,  , and  that are less than 1s. Cyclic transmission time [ns] =  + ...
Page 292 Name of variable Description sn2r SRn  SRYrb SRYrb: The number of connections in the remote stations of "Safety Communication Setting" in "Basic Settings" set in the master station/(18.4  SRn) rounded up to the nearest integer sn2l The number of connections of "Safety Communication Setting" in "Basic Settings" set in the master station/18.4 rounded up to the nearest integer ndmr ((Total number of points of "RY setting"...
Page 293 Name of variable Description endmr endm i = 1 endmr =eRyrAll /8+eRWwrAll 2 When station No.i represents a station other than a remote station, endmr is 0. i: Station number eRyrAll : 0 (fixed) eRWwrAll : Total number of points of "RWw setting" of extension modules with station No.i i = 1 =((ends +en4...
Page 294 Name of variable Description p3: Diagnostic p3 = Sn  40 information processing time p4: Safety input/ 7000  (The number of connections of "Safety Communication Setting" in "Basic Settings" set in the master station) + 20000 output processing However, if the number of connections of "Safety Communication Setting" in "Basic Settings" set in the master station + 0, then p4=0. time Number of motion control stations 35000...
Page 295: Interlink Transmission Time
Interlink transmission time The following is the formula to calculate the time required for interlink transmission. Interlink transmission does not affect the sequence scan time. Interlink transmission time to completely transmit all set points = KM4  ((RX + RY)  16 + RWr + RWw) [ms] ...
Page 296: Transmission Delay Time Of Safety Communications
Transmission delay time of safety communications The following are the formulas to calculate transmission delay time of safety communications. • When "Communication Period Setting" of the communication destination sets to the setting other than "Basic Period" in "Network Configuration Settings" under "Basic Settings" of the master station, multiply the multiplication specified in "Multiple Period Setting"...
Page 297: Safety Response Time
(safety station) turning off (including an error detection time). For calculation method of the safety response time, refer to the following.  Mitsubishi Safety Programmable Controller MELSEC iQ-R Series Machinery Directive (2006/42/EC) Compliance Monitoring time for safety communications The following shows the monitoring time for safety communications.
Page 298 Transmission interval monitoring time The value of transmission interval monitoring time set in the Motion module must satisfy all of the following conditions. Communication destination Condition Master station (safety station) or local station (safety station) • TM  SCown  3 •...
Page 299 Calculation example of b when the transmission interval monitoring time (TMact) is 24 ms and the safety remote station refresh response processing time is 2 ms. 24  2 = 12 The value is the multiple of safety remote station refresh response processing time (2 ms) so the safety refresh monitoring time is 12.
Page 300: Appendix 7 Port No
Appendix 7 Port No. A port No. for the system cannot be specified. Use the port No. according to the communication details and communication method with the communication destination. Port No. Applications Decimal Hexadecimal 20 to 21 14H to 15H For system 161 to 162 A1H to A2H...
Page 301: Appendix 8 Slmp Command For Accessing The Can Application Object
Appendix 8 SLMP Command for Accessing the CAN Application Object The following table lists the SLMP commands for accessing the CAN application object. Operation Command Description command ReadObject 4020h 0001h Reads the values of the objects specified in Index and Sub Index. WriteObject 4020h 0002h...
Page 302 ObjectSubIDReadBlock ■ Request data Data Command Sub Command Index Index read size (*1) *1 Only 0 or 1 can be specified in Sub Index. ■ Response data (normal response) Read Index data size Read data Index (in 1-byte units) ObjectSubIDWriteBlock ■...
Page 303: Appendix 9 Added And Enhanced Functions
Appendix 9 Added and Enhanced Functions The following table lists the added and enhanced functions in the Motion module. Added and enhanced functions Add-on baseSystem version PLCopen Motion control Simple Motion mode FB mode Standard Motion Standard Motion station control station control station...
Page 304: Index
INDEX 0 to 9 ....38 ....149 32-bit data assurance Select diagnostics destination .
Page 305 MEMO...
Page 306: Revisions
Japanese manual number: IB-0300425-J This manual confers no industrial property 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 307: Warranty
WARRANTY 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 308: Trademarks
TRADEMARKS  CANopen is registered Community Trademarks of CAN in Automation e.V. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.  PLCopen is a registered trademark owned by PLCopen The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
Page 310 IB(NA)-0300426ENG-G(2305)MEE MODEL: RD78-U-NET-E HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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Mitsubishi Electric MELSEC iQ-R Series User Manual

Chapter 1 Functions

Chapter 2 Parameter Settings

Chapter 3 Programming

Chapter 4 Troubleshooting

Appendix 1 Buffer Memory (When Using the Plcopen Motion Control FB Mode)

Appendix 2 Buffer Memory (When Using the Simple Motion Mode)

Appendix 3 List of Link Special Relay (SB)

Appendix 4 List of Link Special Register (SW)

Appendix 5 Dedicated Instruction

Appendix 6 Processing Time

Appendix 7 Port no

Appendix 8 SLMP Command for Accessing the CAN Application Object

Appendix 9 Added and Enhanced Functions

Quick Links

Troubleshooting

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