Transient Transmission; Drive Profile - Mitsubishi Electric MR-J5W-G User Manual

Transient transmission

The transient transmission is a function that communicates data only when there is a communication request. Data
communication is performed between stations by using SLMP and other protocols, regardless of the communication cycles.
For CC-Link IE TSN, transient transmission and cyclic transmission are performed using different communication bands in
order to ensure the stability of the cyclic transmission.
Transient transmission in the motion mode
With SLMP, actions such as reading the servo amplifier model code and accessing each object can be performed. For reading
and writing each object, the SDO Download command, SDO Upload command, and other commands are used.
On multi-axis servo amplifiers, SLMP is sent and received by each axis. When sending SLMP to a specific axis of a multi-axis
servo amplifier, specify the axis No. (0 = A-axis, 1 = B-axis, and 2 = C-axis) for the request destination multi-drop station No.
of the SLMP frame.
■SLMP command
The following is a list of SLMP commands.
Command
0101h
4020h
4020h
4020h
4020h

Drive profile

This section explains the CiA 402 drive profile specification as well as the unique functions of servo amplifiers. Each function
can be controlled by using the object dictionary via the network.
Network
Controller
Network protocol
(cyclic communication,
transient communication)
Drive control application
A list of drive profile specifications is as follows.
Function name
Control mode
PDS state transitions
Controlword/Control DI
Statusword/Status DO
2 APPENDIX
30
2.1 CC-Link IE TSN
Sub command
0000h
0001h
0002h
0005h
0006h
Servo amplifier
Network protocol (cyclic communication, transient communication)
PDS state transitions
Description
Control such as the position mode, speed mode, and torque mode
Control method until the servo motor starts to operate
Control of each function
Monitor of each function
Remark
Model code reading
ReadObject
WriteObject
ObjectSubIDReadBlock
ObjectSubIDWriteBlock
Object dictionary
Control mode
Servo amplifier
(such as csp or hm)
Motor
functions
Reference
Page 46 Control mode
Page 31 PDS state transitions
Page 34 Controlword/Control DI
Page 40 Statusword/Status DO