Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Controller
  5. MELSERVO MR-JET-G-N1
  6. User manual

Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual

Ac servo system
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Electric AC Servo System
MR-JET-G-N1
User's Manual
(Communication Function)
-MR-JET-_G-N1

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSERVO MR-JET-G-N1

Summary of Contents for Mitsubishi Electric MELSERVO MR-JET-G-N1

  • Page 1 Mitsubishi Electric AC Servo System MR-JET-G-N1 User's Manual (Communication Function) -MR-JET-_G-N1...

  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.

  • Page 5: About The Manual

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

  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS ..............1 ABOUT THE MANUAL .
  • Page 7 Controlword/Control DI..............25 Bit definition of Controlword.

  • Page 8: Chapter 1 Functions And Configuration

    FUNCTIONS AND CONFIGURATION Outline EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff Automation. ETG (EtherCAT Technology Group) manages EtherCAT. The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE). The device type corresponds to a power drive system, and supports the CiA 402 drive profile.

  • Page 9: Control Mode

    This is a control mode to drive servo motors according to commands such as travel distance and speed which are stored in the point table number specified via either synchronous or asynchronous communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original).

  • Page 10: Function List

    Function list This list explains the EtherCAT related functions for devices and the whole system. Category Subcategory Function Description Detailed explanation Network Open network EtherCAT protocol This protocol supports EtherCAT. Page 9 Communication specifications EtherCAT This setting specifies the control mode and network communication. Page 41 STARTUP communication setting...

  • Page 11: Chapter 2 Ethercat Communication

    EtherCAT COMMUNICATION Communication specifications The communication specifications are shown in the following table. Item Description Remark EtherCAT communication specifications IEC 61158 Type12  CAN application protocol over EtherCAT (CoE), IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3)  Communication connector Two RJ45 ports (IN port and OUT port) ...

  • Page 12: Ethercat State Machine (Esm)

    EtherCAT State Machine (ESM) The communication states of the MR-JET-_G-N1 servo amplifier are classified and managed by EtherCAT State Machine (ESM) which is defined in the EtherCAT standard. Communication state Communication states are classified as shown in the table below. There are two types of communication: PDO communication (process data object) in which command data and feedback data are transmitted and received cyclically, and SDO communication (service data object) in which object data is transmitted and received asynchronously.

  • Page 13: Ethercat State

    EtherCAT state The servo amplifier can be operated once the state transitions from the Init state through the Pre-Operational and Safe- Operational state to the Operational state. When the Operational state transitions to other states, initialization of the servo amplifier is executed to clear internal statuses. Power on Init (10)

  • Page 14: Chapter 3 Object Dictionary (Od)

    D4 or later. Index Description Reference 1000h to 1FFFh Communication profile MR-JET-G-N1 User's Manual (Object Dictionary) 2000h to 4FFFh Objects group defined by Mitsubishi Electric 6000h to 77FFh CiA 402 drive profile F000h to F0FFh Semiconductor device profile Index Description Reference...

  • Page 15: Saving Object Dictionary Data

    Saving object dictionary data Some of object dictionary data is stored in a non-volatile memory and some is not. Use [Store parameters (Obj. 1010h)] for storing the object dictionary data in the non-volatile memory. For details about objects that can be stored in the non-volatile memory, refer to the following manual. MR-JET-G-N1 User's Manual (Object Dictionary) Store parameters Writing "65766173h"...

  • Page 16: Chapter 4 Pdo (Process Data Object) Communication

    PDO (Process Data Object) COMMUNICATION In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs. An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave station transmits status data to the controller with TxPDOs.

  • Page 17: Pdo Default Mapping

    PDO default mapping The servo amplifier supports the variable PDO mapping function, which can select objects transmitted and received in PDO communication. For changing the PDO mapping, refer to the following. Page 17 Variable PDO mapping RxPDO default mapping With the RxPDO default mapping, a master station (controller) transmits command data to a slave station (servo amplifier) using an RxPDO in the array shown in the following table.

  • Page 18: Txpdo Default Mapping

    TxPDO default mapping With the TxPDO default mapping, status data is transmitted to a master station (controller) using a TxPDO in the array shown in the following table. Map No. Initial mapping settings Applications expected to be used for initial mapping 1st TxPDO map (1A00h) Modes of operation display (Obj.

  • Page 19: Variable Pdo Mapping

    Variable PDO mapping PDO mappings can be changed in the Pre-Operational state. The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data transmitted and received with RxPDO and TxPDO. Variable PDO mapping specifications are shown in the following table. Communication Maximum number of objects Maximum size [byte]...

  • Page 20: Objects That Require Mapping

    Objects that require mapping Objects required for each mode are shown in the following table. RxPDO : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode Controlword (6040h)      ...

  • Page 21: Chapter 5 Sdo (Service Data Object) Communication

    SDO (Service Data Object) COMMUNICATION In SDO (Service Data Object) communication, object data can be transmitted and received asynchronously between a master station (controller) and a slave station (servo amplifier). Object data (SDO Download Expedited) (SDO Download Normal) (Download SDO Segment) Master station Slave station (controller)

  • Page 22: Sdo Abort Code

    SDO Abort Code When an error occurs in SDO communication, the Abort SDO Transfer service returns the following error messages. SDO Abort Code Meaning 0504 0005h Out of memory. 0601 0001h Attempt to read to a write only object 0601 0002h Attempt to write to a read only object 0601 0006h Object mapped to RxPDO, SDO download blocked.

  • Page 23: Chapter 6 Synchronization

    SYNCHRONIZATION Availability of synchronous mode in control mode Availability of synchronous mode (DC mode) and asynchronous mode (Free-run mode) in each mode is shown in the following table. Control mode Synchronous mode Asynchronous mode Cyclic synchronous position mode (csp)  ...

  • Page 24: Asynchronous Mode (Free-Run Mode)

    Asynchronous mode (Free-run mode) When using the cyclic synchronous position mode, cyclic synchronous velocity mode, or cyclic synchronous torque mode in the asynchronous mode (Free-run mode), set them as shown in the table in this section. Enter a command value for each communication cycle set in [Cycle Time (Obj.

  • Page 25: Chapter 7 Cia 402 Drive Profile

    CiA 402 DRIVE PROFILE PDS state transitions The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. After the PDO communication is established (after the AL state has reached "Operational"), the status is controlled by the master station transmitting commands (by setting Controlword) in accordance with the following table.
  • Page 26 Transition No. Event Description (12) (A) Transitions automatically after the completion of Quick Stop (when the value The operation is disabled after servo-off and of [Quick stop option code (Obj. 605Ah)] is any of "1", "2", "3", or "4") dynamic braking. (B) Transitions with the "Disable Voltage"...

  • Page 27: Controlword/Control Di

    The PDS states can be switched and control instructions for various driving-related functions can be given by rewriting the Controlword and Control DI x objects from the master station. [Obj. 6040h] is used for the control commands defined by CiA 402, and [Obj. 2D01h] and other objects are used for other control commands defined by Mitsubishi Electric. Index...

  • Page 28: Bit Definition Of Control Di

    Bit definition of Control DI With the communication function, reading the following objects enables reading of the on/off state of the input device. In addition, the input device can be set to on/off by writing to the following objects. • Control DI 1 Symbol Description Reference...
  • Page 29 • Control DI 3 Symbol Description Reference The value at reading is undefined. Set "0" when writing.                        ...
  • Page 30 • Control DI 5 Symbol Description Reference The value at reading is undefined. Set "0" when writing.         C_CDP2 Gain switching 2 Refer to "Signal (device) explanation" in the following manual. MR-JET User's Manual (Hardware) The value at reading is undefined.
  • Page 31 • Control DI 7 Symbol Description Reference The value at reading is undefined. Set "0" when writing.               C_OVR Override selection Refer to "Override function" in the following manual.
  • Page 32 • Control DI 9 Symbol Description Reference The value at reading is undefined. Set "0" when writing.                        ...

  • Page 33: Statusword/Status Do

    The Statusword objects and the Status DO x objects notify the master station of the PDS state and other drive states. States defined by CiA 402 are notified by using [Obj. 6041h], and states defined by Mitsubishi Electric are notified by using [Obj.

  • Page 34: Bit Definition Of Statusword

    Bit definition of Statusword Symbol Description RTSO Ready-to-switch-on Switch-on Operation-enabled Fault Voltage-enabled 0: The bus voltage is lower than the specified (RA) level. 1: The bus voltage is equal to or higher than the specified level. Quick stop 0: In a Quick stop 1: Not in a Quick stop (including in the test mode) Switch on disabled Warning...

  • Page 35: Bit Definition Of Status Do

    Bit definition of Status DO With the communication function, the on/off state of the output device can be checked by reading the following objects. • Status DO 1 Symbol Description Reference The value at reading is undefined.    ...
  • Page 36 • Status DO 3 Symbol Description Reference The value at reading is undefined.                       S_MTTR Tough drive in progress Refer to "Tough drive function"...
  • Page 37 • Status DO 5 Symbol Description Reference The value at reading is undefined.         S_CDPS2 Variable gain enabled 2 Refer to "GAIN SWITCHING FUNCTION" in the following manual. MR-JET User's Manual (Adjustment) S_CPO Rough match ...
  • Page 38 • Status DO 7 Symbol Description Reference The value at reading is undefined.     S_POT Position range  When the actual current position is within the range set in [Pr. PT19] and [Pr. PT21], S_POT is on. When homing is not complete or base circuit shut-off is in progress, S_POT is off. The value at reading is undefined.
  • Page 39 • Status DO 9 Symbol Description Reference The value at reading is undefined.                            ...

  • Page 40: Control Mode

    Control mode • The control mode is set to the cyclic synchronous position mode as a default. When using the cyclic synchronous position mode, perform alignment with the upper controller at servo-on. • When using the profile mode, switch to the mode in the servo-off state. After the control mode is switched, turn on the servo-on.

  • Page 41: Control Switching

    *1 Available on servo amplifiers with firmware version B2 or later. *2 Available on servo amplifiers with firmware version B8 or later. Control switching • Changes to the OMS Bit of [Controlword (Obj. 6040h)] are not accepted until control switching finishes. Before inputting commands, check that the control mode has been switched by referring to [Modes of operation display (Obj.
  • Page 42 Control switching between cyclic mode (csp, csv, and cst) and profile mode (pp, pv, and tq) The control mode is switched between the cyclic mode (csp, csv, and cst) and the profile mode (pp, pv, and tq) only if the condition for control switching is met, following which [Modes of operation display (Obj.

  • Page 43: Chapter 8 Startup

    STARTUP For the startup procedures other than the network settings, refer to the following user's manual. MR-JET-G-N1 User's Manual (Introduction) For servo amplifiers with firmware version D4 or later, the PDO Mapping attribute of the objects has been changed. To use the PDO Mapping attribute before the change, set "1" in [Pr. PN03.3 Object attribute selection].

  • Page 44: Startup Procedure

    Startup procedure Battery installation If using a servo motor that requires installation of a battery in order to configure the absolute position detection system, install the battery as necessary. Parameter setting ■Absolute position detection system selection To enable the absolute position detection system, set [Pr. PA03.0] to "1" (enabled (absolute position detection system)). ■[AL.

  • Page 45: Connecting Ethernet Cables

    Connecting Ethernet cables • Use a twisted pair cable (double shielded) compliant with Ethernet Category 5e (100BASE-TX) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. • When connecting Ethernet cables to servo amplifiers, be aware that CN1A is the IN port and CN1B is the OUT port.

  • Page 46: Example Set-Up Procedure

    Example set-up procedure Set up the controller by following its manual. An example set-up procedure is shown below. Controller settings ESI file installation Use the latest ESI file when setting up a controller. If the ESI file is old, newly added objects may not be usable.
  • Page 47 ■Identifying slave stations with node addresses The controller can identify slave stations by the node address using AL Status Code (ESC register: 0134h) or Configured Station Alias (ESC register: 0012h). Identify the slave stations by using either code. Device ID setting switches (SW1/SW2) Microcontroller Configured Station Alias AL Control...

  • Page 48: Establishing The Communication

    Establishing the communication Start communication with the controller, then confirm that "r" appears on the 7-segment LED display. Follow the manual for the controller being used when starting communication. If [AL. 086.1 Network receive data error (Network communication error 1)] occurs, set a threshold in [Pr. PN18 Counter level for communication error detection] or [Sync Error Counter Limit (Obj.

  • Page 49: Chapter 9 Manufacturer-Specific Function

    MANUFACTURER-SPECIFIC FUNCTION Torque limit selection The torque limit selection function is a function that switches the torque limit value by using Bit 11 (CPTL) and Bit 12 (CNTL) of [Controlword (Obj. 6040h)]. The settings of the torque limit selection ([Obj. 2D6Dh]) are as follows. [Max torque (Obj.

  • Page 50: Infinite Feed Function

    Infinite feed function Outline When this function is used in an absolute position detection system, even if the servo motor rotates 32768 rev or more in the same direction, [AL. 0E3.1 Multi-revolution counter travel distance exceeded warning] will not occur and the home position will not be erased.

  • Page 51: Restrictions

    Restrictions The following shows restrictions on when [Pr. PT85.0] is set to "1". • This function cannot be used in the linear servo motor control mode, or fully closed loop control mode. Setting [Pr. PT85.0] to"1" in these modes triggers [AL. 037 Parameter error]. •...

  • Page 52: Revisions

    Section 1.1, Section 3.1, Section 4.2, Section 7.2, Chapter 8, Section 9.2 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 53: Warranty

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

  • Page 54: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. ® EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 56 IB(NA)-0300500ENG-G(2301)MEE MODEL: MODEL CODE: 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 are subject to change without notice.

Table of Contents