Startup; Network Disconnection Procedure - Mitsubishi Electric MELSERVO-J4 Instruction Manual

1. EtherCAT COMMUNICATION

1.4.3 Startup

The following describes the setting and startup of the EtherCAT communication. Refer to section 4.1 of "MR-
J4-_TM_ Servo Amplifier Instruction Manual" for the startup procedure other than the network setting.
(1) Connection with the controller
Set up the controller following the manual of the controller used. For the setup, the EtherCAT Slave
Information (ESI) file listing the information about the communication setting of devices is available.
Store the ESI file in the controller to use it. The controller configures the setting for the slave connected
to the master according to the contents of the ESI file corresponding to the slave connected.
(2) Parameter setting
Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 of "MR-J4-_TM_ Servo
Amplifier Instruction Manual" for the parameter setting.
(3) Node address setting
Set the node address of EtherCAT with the rotary switch on the display or [Pr. PN01 Node address
setting] as necessary. The node address is set with the setting value of the rotary switch and a
parameter as shown in the following table. After the node address setting is changed, cycle the power.
Rotary switch
00h
00h
01h to FFh

1.4.4 Network disconnection procedure

To disconnect the network by stopping device operation or other means, follow the procedure shown below.
If the network is disconnected without following the procedure, [AL. 86.1 Network communication error 1]
may occur.
(1) Stop the servo motor.
(2) Set the shutdown command for Controlword (6040h) to establish the servo-off status.
(3) Shift the state to the Pre-Operational state.
(4) Shut off the power of the servo amplifier and controller.
POINT
The node address of MR-J4-_TM_ servo amplifiers complies with the
specifications of Explicit Device Identification. Configure the setting of Set
Explicit Device Identification for the controller.
Do not connect multiple devices with the same node address setting.
Pr. PN01
0000h
0001h to FFFFh
0000h to FFFFh
Node address setting value
The node address is not used.
The value of [Pr. PN01] is set as the node address.
The setting value of the rotary switch is set as the node address.
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