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

Ac servo system
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Mitsubishi Electric AC Servo System
MR-JET-G
User's Manual
(Communication Function)
-MR-JET-_G

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

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

  • 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: Chapter 1 Cc-Link Ie Tsn

    Outline Motion mode Motion mode is used with a controller supported by a CANopen profile. Combining with Mitsubishi Electric manufactured Motion modules enables advanced motion control such as positioning of multiple axes, synchronous control by sequential command or interpolation control. Motion mode supports CiA 402 drive profile.

  • Page 8: Function List

    Function list Communication-related function list (Application) Category Subcategory Function Description Details Detailed explanation Page 8 Establishing Network Open network CC-Link IE TSN This servo amplifier supports CC-Link IE TSN. communication protocol and disconnecting the communication Page 10 Startup CC-Link IE TSN Network configuration settings and station-specific mode selection communication setting are performed by using GX Works3.

  • Page 9: Communication Specifications

    Communication specifications Communication specifications of CC-Link IE TSN Item Description Remark  Physical layer 1000BASE-T (1 Gbps) Twisted pair Communication connector RJ-45 × 2   Communication Cable type Category 5e or higher, (double shielded/STP) straight cable cable Standard One of the following standards must be met. •...

  • Page 10: Establishing And Disconnecting The Communication

    Communication profile 2000h to 5FFFh Objects group defined by Mitsubishi Electric 6000h to 9FFFh CiA 402 drive profile The classification of the objects defined by Mitsubishi Electric is as follows. Index Description Reference MR-JET-G User's Manual (Object Dictionary) 2000h to 27FFh...

  • Page 11: Engineering Tool

    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. MR-JET-G User's Manual (Object Dictionary) ■Store parameters Writing "65766173h"...

  • Page 12: Startup

    Network connection procedure Page 11 Network connection procedure Settings when connecting to Mitsubishi Electric Motion Unit To control the stroke limit on the controller side, set [Pr. PD41]. For details, refer to the manual for the controller being used. Servo parameter Name PD41.2...
  • Page 13 Network connection procedure Follow the procedures below to set up the network. Connect the master station and the servo amplifier with a network cable. There is no difference between CN1A and CN1B. Turn on the power of the master station and the servo amplifier. Open the diagnostic screen of GX Works3 and make sure that there is no error in the network.

  • Page 14: Application Function

    Application function CC-Link IE TSN Network diagnostics The servo amplifier supports the following CC-Link IE TSN Network diagnostic functions. Check the reference destination in the reference column for precautions specific to the servo amplifier. Refer to the GX Works3 manual for details of other functions.

  • Page 15: Ip Address Setting Function

    IP address setting function IP addresses are delivered from the controller to servo amplifiers via CC-Link IE TSN. Set the IP address required for CC-Link IE TSN communication from the following items. The IP address range is between 0.0.0.1 and 223.255.255.254. Set the IP address within the range. [Pr.

  • Page 16: Parameter Automatic Setting

    Parameter automatic setting The parameters of the servo amplifier are held by the master station, and are compared with those of the replaced servo amplifier. When there is a difference in those parameters, the parameters held by the CPU module are automatically written to the replaced servo amplifier.

  • Page 17: Hold/Clear Of Output At Cpu Stop And At Cpu Stop Error

    Hold/Clear of output at CPU STOP and at CPU stop error This function sets Hold/Clear of the auto refresh device output when CPU module operation of the cyclic master is at STOP or at CPU stop error. The following shows the servo amplifier status at CPU STOP and at stop error. Motion mode ■Motion control axis The servo amplifier stops the servo motor in the manner commanded by the controller.

  • Page 18: Chapter 2 Appendix

    APPENDIX CC-Link IE TSN CC-Link IE TSN communication protocol Communication management The communication state of the slave unit in CC-Link IE TSN is broadly classified as being either an "initialization phase" or an "under control communication phase" and then managed. ■Communication state management of the motion mode The motion mode of the servo amplifier support CANopen profile.
  • Page 19 The state transition diagram of the NMT state machine is as follows. The servo amplifier transitions the communication state by receiving the SLMP command (NMT State Download) from the master station or by other means. Initialization phase Init Pre-Operational Under control communication phase Safe-Operational...

  • Page 20: Cyclic Transmission

    Cyclic transmission Cyclic transmission is a function that cyclically exchanges data between stations. Cyclic transmission of motion mode Cyclic transmission of the motion mode is a function that uses PDOs to cyclically exchange data between stations. A PDO is an aggregate of objects such as [Modes of operation (Obj. 6060h)] and [Modes of operation display (Obj. 6061h)]. The placement of objects in a PDO is called PDO mapping, and the initial placement (default PDO mapping) is defined.
  • Page 21 ■Default PDO mapping Default PDO mapping is the initial placement of objects included in a PDO. When there is no request from the controller or the engineering tool to change PDO mapping objects, the servo amplifier operates using default PDO mapping. •...
  • Page 22 ■PDO mapping objects The placement of objects in a PDO can be changed with PDO mapping objects ([1st Receive PDO Mapping (Obj. 1600h)], [1st Transmit PDO Mapping (Obj. 1A00h)], [2nd Receive PDO Mapping (Obj. 1601h)], and [2nd Transmit PDO Mapping (Obj. 1A01h)]).
  • Page 23 • PDO mapping setting procedure When a motion module is used as the motion control axis, the mapping is automatically changed on the motion module side. Using [1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] as examples, the following shows the procedure for setting objects one at a time.
  • Page 24 ■Objects that require PDO mapping • Objects that require RPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode [Watch dog counter DL (Obj. 1D01h)] ...
  • Page 25 ■Watchdog counter The watchdog counter can be used to detect application stop of the cyclic transmission station. When a watchdog counter object is mapped to the RPDO of the servo amplifier, [AL. 086.2 Network communication error 2] is detected on the servo amplifier side.
  • Page 26 ■PDO Enable The PDO can be set to enabled/disabled by using [PDO Enable (Obj. 1C00h: 02h or Obj. 1C01h: 02h)]. When the PDO is disabled, the PDO will be discarded on the receiving station side. The following shows the PDO Enable setting value and the operation of the PDO receiving station. PDO Enable (Sub Index 2) Cyclic communication enabled Operation of PDO receiving station...

  • Page 27: Transient Transmission

    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.
  • Page 28 PDS state transitions The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. The servo motor can be operated immediately after turning on the power supply by shifting from the "Not ready to switch on" state to the "Operation enabled"...
  • Page 29 Events and PDS state transitions Setting Controlword enables control of the state transitions. After the PDO communication is established (after the NMT state has reached "Operational"), the status is controlled by the master station transmitting commands (by setting Controlword) in accordance with the following table. The following shows the PDS state transition events and operations.
  • Page 30 The following shows the related correspondence between the command bit setting and the PDS state. In order to avoid missing the command at the time of communication error, maintain the state of Bit 7 = 1 on the Fault Reset command for at least 10 ms when the communication cycle is 4 ms or less, or at least 20 ms when the communication cycle is 8 ms.
  • Page 31 4 and Bit 5, "0030h" is displayed. 2D00h ARRAY Supported Control DI 10 Correspondence information for Control DI 10  2D01h Control DI 1 Objects defined by Mitsubishi Electric  2D0Ah Control DI 10 Objects defined by Mitsubishi Electric ■Bit definition of Controlword Symbol Description Reference Page 27 Events and PDS...
  • Page 32 ■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 33 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 34 • Control DI 5 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.       C_CDP2 Gain switching 2 Refer to "SIGNALS AND WIRING" in the following manual. MR-JET User's Manual (Hardware) ...
  • Page 35 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 36 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 37 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 [Statusword (Obj. 6041h)], and other states defined by Mitsubishi Electric are notified by using [Status DO 1 (Obj.
  • Page 38 • State coding Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the PDS state (servo amplifier internal state). Details are as follows: Statusword (bin) PDS state x0xx xxx0 x0xx 0000 Not ready to switch on x0xx xxx0 x1xx 0000 Switch on disabled x0xx xxx0 x01x 0001...
  • Page 39 ■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 40 • Status DO 3 Symbol Description Reference   The value at reading is undefined.                  S_RSTP During forced stop deceleration During forced stop deceleration, S_RSTP is on. ...
  • Page 41 • 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 42 • 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 When homing is not complete or base circuit shut-off is in progress, S_POT is off. ...
  • Page 43 • Status DO 9 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 44 Control mode ■Motion mode For the list of control modes, refer to the "Function List" in the following manual. MR-JET User's Manual (Function) ■Selecting control mode (Modes of operation) Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation (Obj. 6060h)] can be rewritten with a PDO or an SDO.
  • Page 45 • 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 46 • Control switching for continuous operation to torque control mode (ct) To switch to continuous operation to the torque control mode (ct), the switching must be performed from the cyclic synchronous position mode (csp) or cyclic synchronous velocity mode (csv). Only the "csp" and "csv" control modes switch to "ct".
  • Page 47 Setting [Pr. PC76.1_ZSP disabled selection at control switching] to "1" (disabled (control switching is performed regardless of the range of ZSP)) enables switching of the control mode without checking for switching condition "Servo motor being stopped" on the servo amplifier. Set [Pr. PC76.1] to "1" only if switching the control mode without waiting for the servo motor to stop.

  • Page 48: Revisions

    Section 1.3, Section 1.3, Section 2.1 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 49: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 50: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300463ENG-B...
  • Page 52 IB(NA)-0300463ENG-B(2007)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , 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.

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