Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 16

1. EtherCAT COMMUNICATION
(3) Synchronous mode (DC mode)
In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the
synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off.
(4) Asynchronous mode (Free-run mode)
In the asynchronous mode, when using the cyclic synchronous position mode, the cyclic synchronous
speed mode, and the cyclic synchronous torque mode, set as shown in the following table. Input the
command value for each communication cycle set in Cycle time (1C32h: 2). If the command is not
inputted on each communication cycle, the previously input command will be maintained.
(5) Compliance with standards
MR-J4-_TM_ servo amplifiers comply with the following standards. Refer to the following standards for
the description not written in this Instruction Manual.
ETG.1000.2 EtherCAT Specification – Part2
Physical Layer service definition and protocol specification
ETG.1000.3 EtherCAT Specification – Part3
Data Link Layer service definition
ETG.1000.4 EtherCAT Specification – Part4
Data Link Layer protocol specification
ETG.1000.5 EtherCAT Specification – Part5
Application Layer service definition
ETG.1000.6 EtherCAT Specification – Part6
Application Layer protocol specification
ETG.1020 EtherCAT Protocol Enhancements
ETG.1300 EtherCAT Indicator and Labeling Specification
ETG.2000 EtherCAT Slave Information (ESI) Specification
ETG.6010 Implementation Directive for CiA 402 Drive Profile
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
Cycle time
(1C32h: 2)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Shift time
(1C32h: 3)
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
Cycle time
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
(1C32h: 2)
1 ms (When the PDO communication cycle is set to 1 ms)
(Note)
2 ms (When the PDO communication cycle is set to 2 ms)
Note. If the value is not set for Cycle time, the PDO communication cycle is 0.25 ms (initial
value).
Standards
1 - 3
Synchronous mode setting
Sync0
0
Local Cycle time
Sync1
Unused
Version
V1.0.3
V1.0.3
V1.0.3
V1.0.3
V1.0.3
V1.1.0
V1.1.0
V1.0.7
V1.1.0
Edition 1.0
Edition 1.0