Summary - Mitsubishi Electric MELSERVO-J4 Instruction Manual

1. EtherCAT COMMUNICATION
1. EtherCAT COMMUNICATION

1.1 Summary

EtherCAT is the abbreviation of Ethernet for Control Automation Technology. It is open network
communication between a master and slaves developed by Beckhoff Automation that uses real-time
Ethernet. ETG (EtherCAT Technology Group) owns EtherCAT.
The EtherCAT communication is available when the EtherCAT network module (ABCC-M40-ECT
manufactured by HMS Industrial Networks) is connected to the MR-J4-_TM_ servo amplifier. The MR-J4-
_TM_ servo amplifier to which the EtherCAT network module is connected operates as a slave station
compliant with CAN application protocol over EtherCAT (CoE) standards. The device type is a power drive
system and is compatible with the CiA 402 drive profile.
(1) CiA 402 drive profile compatible
The MR-J4-_TM_ servo amplifier operates as a slave station compliant with CAN application protocol
over EtherCAT (CoE) standards. The device type is a power drive system and is compatible with the CiA
402 drive profile.
(2) Various control modes supported
The MR-J4-_TM_ servo amplifier supports the following control modes. In the table below, whether the
synchronous mode and asynchronous mode can be used in each control mode. For the synchronous
mode and asynchronous mode, refer to (3) of this section.
Control mode
Cyclic synchronous
position mode
Cyclic synchronous
velocity mode
Cyclic synchronous
torque mode
Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
Note. When the controller sends an operation command in the asynchronous mode, the error code that indicates the state
transition is not allowed is notified and the ERR LED of the EtherCAT network module (ABCC-M40-ECT) may blink. To
operate the servo amplifier in the asynchronous mode, set the servo parameter [Pr. PA01] to Profile mode (_ _ _ 2).
Symbol
This is a position control mode where a position command
is received at a constant period to drive the servo motor in
csp
the synchronous communication with a controller.
Use an absolute position address for a command.
This is a speed control mode where a speed command is
csv received at a constant period to drive the servo motor in the
synchronous communication with a controller.
This is a torque control mode where a torque command is
cst received at a constant period to drive the servo motor in the
synchronous communication with a controller.
This is a positioning operation mode where an end position
command is received to drive the servo motor in the
synchronous or asynchronous communication with a
pp
controller.
Use an absolute position address for a command.
This is a mode where a target speed command is received
pv to drive the servo motor in the synchronous or
asynchronous communication with a controller.
This is a mode where a target torque command is received
tq to drive the servo motor in the synchronous or
asynchronous communication with a controller.
This is a mode where the servo amplifier performs a home
hm position return operation using the method directed by the
controller.
Description
1 - 1
Synchronous Asynchronous
mode mode
Unavailable
(Note)
Available
Available