Startup - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series 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 axis selection rotary switch (SW2/SW3) on the display, [Pr.
PN01 Node address setting] or SII Configured Station Alias as necessary. You can set a node address
as follows. After the node address setting is changed, cycle the power.
Axis selection rotary
switch (SW2/SW3)
00h
00h
01h to FFh
Note. If the value in SII Configured Station Alias is set to other than 0000h, the ERROR LED of the network module blinks. Cycling the
power resets the set value in SII Configured Station Alias to 0000h and this enables the servo amplifier to start normally.
POINT
Use the latest ESI file when setting up the controller. If the ESI file is old, newly
added objects may not be usable. For ESI files available with the servo
amplifiers you use, contact your local sales office.
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.
Node address setting via network and Configured Station Alias (0012h) are
available with the combination of servo amplifiers with software version B2 or
later and network modules with software version 2.00.03 or later.
If the value in SII Configured Station Alias is set to other than 0000h when the
node address is set with the axis selection rotary switch (SW2/SW3) or [Pr.
PN01 Node address setting], the ERROR LED of the network module blinks.
Cycling the power resets the set value in SII Configured Station Alias to 0000h
and this enables the servo amplifier to start normally.
SII Configured Station
Pr. PN01
0000h 0001h to FFFFh
0001h to FFFFh 0000h (Note)
0000h to FFFFh 0000h (Note)
Alias
The value set in SII Configured Station Alias via network
is the node address.
The value of [Pr. PN01] is set as the node address.
The set value of the rotary switch (SW2/SW3) is set as
the node address.
1 - 10
Node address setting value