Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 User Manual
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Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-JET-G-N1
User's Manual
(Communication Function)
-MR-JET-_G-N1

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Summary of Contents for Mitsubishi Electric MELSERVO-JET MR-JET-G-N1

  • Page 1 Mitsubishi Electric AC Servo System MR-JET-G-N1 User's Manual (Communication Function) -MR-JET-_G-N1...

  • 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: U.s. Customary Units

    [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: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 U.S.
  • Page 6 Bit definition of Status DO ..............34 Control mode .

  • Page 7: Chapter 1 Functions And Configuration

    FUNCTIONS AND CONFIGURATION Outline EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff Automation GmbH. ETG (EtherCAT Technology Group) manages EtherCAT. The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE).

  • Page 8: Control Mode

    Control mode The servo amplifier supports the following control modes. Control mode Symbol Description Cyclic synchronous position mode This is a control mode to drive servo motors by receiving a position command cyclically via either synchronous or asynchronous communication with a controller. Use an absolute position address for the command.

  • Page 9: Function List

    Function list This list explains the EtherCAT related functions for devices and the whole system. Category Subcategory Function Description Details Detailed explanation Page 8 Network Open network EtherCAT protocol This protocol supports EtherCAT. Communication specifications Page 42 STARTUP EtherCAT communication The EtherCAT communication setting sets the control mode and setting network communication.

  • Page 10: Chapter 2 Ethercat Communication

    EtherCAT COMMUNICATION Communication specifications The communication specifications are shown in the following table. Item Description Remark  EtherCAT communication specifications IEC 61158 Type12 CAN application protocol over EtherCAT (CoE), IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3)  ...

  • Page 11: Ethercat State Machine (Esm)

    EtherCAT State Machine (ESM) The communication states of the MR-JET-_G-N1 servo amplifier are classified and managed by EtherCAT State Machine (ESM) which is defined in the EtherCAT standard. Communication state Communication states are classified as shown in the table below. There are two types of communication: PDO communication (process data object) in which command data and feedback data are transmitted and received cyclically, and SDO communication (service data object) in which object data is transmitted and received asynchronously.

  • Page 12: Ethercat State

    EtherCAT state The servo amplifier can be operated once the state transitions from the Init state through the Pre-Operational and Safe- Operational state to the Operational state. When the Operational state transitions to the other state, the servo amplifier executes initialization to clear the internal status. Power on Init (10)

  • Page 13: Chapter 3 Object Dictionary (Od)

    OBJECT DICTIONARY (OD) For details of the object dictionary, refer to the following manual. MR-JET-G-N1 User's Manual (Object Dictionary) The data that a CAN application protocol over EtherCAT (CoE) device holds, such as control parameters, command values, and feedback values, is handled as an object composed of an Index value, object name, object type, R/W attribute, and other elements.

  • Page 14: Saving Object Dictionary Data

    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 manual. MR-JET-G-N1 User's Manual (Object Dictionary) Store parameters Writing "65766173h"...

  • Page 15: Chapter 4 Pdo (Process Data Object) Communication

    PDO (Process Data Object) COMMUNICATION In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs. An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave station transmits status data to the controller with TxPDOs.

  • Page 16: Pdo Setting-Related Objects

    PDO setting-related objects Objects related to PDO settings are shown in the following table. Index Object Name Data Type Access Description MR-JET-G-N1 User's Manual 1C32h RECORD SM output parameter (Object Dictionary) Synchronization Type Cycle time Synchronization types supported Minimum cycle time Calc and copy time Delay time Cycle time too small...

  • Page 17: Pdo Default Mapping

    PDO default mapping The servo amplifier supports the variable PDO mapping function, which can select objects transmitted and received in PDO communication. For changing the PDO mapping, refer to the following. Page 17 Variable PDO mapping RxPDO default mapping With the RxPDO default mapping, a master station (controller) transmits command data to a slave station (servo amplifier) using an RxPDO in the array shown in the following table.

  • Page 18: Txpdo Default Mapping

    TxPDO default mapping With the TxPDO default mapping, status data is transmitted to a master station (controller) using a TxPDO in the array shown in the following table. Map No. Initial mapping settings Expected application for the initial mapping 1st TxPDO map (1A00h) Modes of operation display (Obj.

  • Page 19: Variable Pdo Mapping

    Variable PDO mapping PDO mappings can be changed in the Pre-Operational state. The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data transmitted and received with RxPDO and TxPDO. Variable PDO mapping specifications are shown in the following table. Communication Maximum number of objects Maximum size [byte]...

  • Page 20: Objects That Require Mapping

    Objects that require mapping Objects required for each mode is shown in the following table. RxPDO Object name (Index) Mode Controlword (6040h)         Control DI 1 (2D01h) Gain switching     Control DI 2 (2D02h) Proportional control ...

  • Page 21: Txpdo

    TxPDO Object name (Index) Mode Statusword (6041h)         Status DO 1 (2D11h) Status DO 2 (2D12h)         Status DO 3 (2D13h)     Position actual value (6064h) ...

  • Page 22: Chapter 5 Sdo (Service Data Object) Communication

    SDO (Service Data Object) COMMUNICATION In SDO (Service Data Object) communication, object data can be transmitted and received asynchronously between a master station (controller) and a slave station (servo amplifier). Object data (SDO Download Expedited) (SDO Download Normal) (Download SDO Segment) Master station Slave station (controller)

  • Page 23: Sdo Abort Code

    SDO Abort Code When an error occurs in SDO communication, the Abort SDO Transfer service returns the following error messages. SDO Abort Code Meaning 0504 0005h Out of memory. 0601 0001h Attempt to read to a write only object 0601 0002h Attempt to write to a read only object 0601 0006h Object mapped to RxPDO, SDO download blocked.

  • Page 24: Chapter 6 Synchronization

    SYNCHRONIZATION Availability of synchronous mode in control mode Availability of synchronous mode (DC mode) and asynchronous mode (Free-run mode) in each mode is shown in the following table. Control mode Synchronous mode Asynchronous mode Cyclic synchronous position mode   Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode ...
  • Page 25 MEMO 6 SYNCHRONIZATION 6.2 Synchronous mode (DC mode)

  • Page 26: Chapter 7 Cia 402 Drive Profile

    CiA 402 DRIVE PROFILE PDS state transitions The internal state of the servo amplifier is managed by the PDS state defined in the CiA 402 drive profile specification. After the PDO communication is established (after the AL state has reached "Operational"), the status is controlled by the master station transmitting commands (by setting Controlword) in accordance with the following table.
  • Page 27 Power on Power off (A): Ready-off, Servo-off Not ready to switch on (15) Switch on Fault disabled Ready to (14) (12) (10) switch on (B): Ready-on, Servo-off Switched on Fault reaction active (16) (C): Ready-on, Servo-on Quick stop Operation (13) active enabled (11)
  • Page 28 The commands issued to the servo amplifier are shown in the table below. Turn on the bits relative to the command. 0: Off 1: On : Either on/off can be used Command Command bit setting of Controlword Transition No. Bit 7 Bit 3 Bit 2 Bit 1...

  • Page 29: Controlword/Control Di

    Rewriting the Controlword and Control DI x objects from the master station, the PDS state can be switched and control instructions for various drive-provided functions can be given. [Obj. 6040h] is used for the control commands defined by CiA 402, and [Obj. 2D01h] and other objects are used for other control commands defined by Mitsubishi Electric. Index...

  • Page 30: Bit Definition Of Control Di

    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 31 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 32 • 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 33 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 34 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...

  • Page 35: Statusword/Status Do

    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 [Obj. 6041h], and states defined by Mitsubishi Electric are notified by using [Obj.

  • Page 36: Bit Definition Of Status Do

    Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the PDO state (servo amplifier internal state). Refer to the following table for details. 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 37 • Status DO 2 Symbol Description Reference  S_ZPASS Z-phase already passed After the Z-phase passed, S_ZPASS turns on.  The value at reading is undefined.    S_ZSP Zero speed detection Refer to "SIGNALS AND WIRING" in the following manual. S_VLC Limiting speed MR-JET User's Manual...
  • Page 38 • Status DO 4 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 39 • Status DO 6 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 40 • Status DO 8 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 41 • Status DO 10 Symbol Description Reference   The value at reading is undefined.                          ...

  • Page 42: Control Mode

    Control mode Selecting control mode (Modes of operation) Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation] can be rewritten with a PDO or an SDO. Index Object Name Data Type Access Description  6060h Modes of operation 0: No mode change/No mode assigned 6: Homing mode (hm) 8: Cyclic sync position mode (csp)

  • Page 43: Engineering Tool

    Engineering tool The following explains the main purposes of the engineering tool used in communication. For specific usages, refer to the manuals of the engineering tool and controller. Engineering tool list This list shows an engineering tool used with MR-JET-G-N1. Engineering tool Description MR Configurator2...

  • Page 44: Chapter 8 Startup

    STARTUP This chapter describes settings and startup procedures of EtherCAT communication. For the startup procedures other than the network settings, refer to the following user's manual. MR-JET-G-N1 User's Manual (Introduction) Connection with controller Use the latest ESI file when setting up a controller. If the ESI file is old, newly added objects may not be usable.

  • Page 45: Node Address Setting

    Node address setting The node address of a servo amplifier is set according to Explicit Device Identification. Configure the settings complied with Explicit Device Identification to the controller. Do not connect several devices which have the same node address setting. Set the EtherCAT node address with ID setting switches (SW1/SW2) on the display, [Pr.

  • Page 46: Chapter 9 Manufacturer-Specific Function

    MANUFACTURER-SPECIFIC FUNCTION Torque limit selection The torque limit selection function is a function that switches a torque limit value by using bit 11 (CPTL) and bit 12 (CNTL) of [Controlword (Obj. 6040h)]. The settings of the torque limit selection ([Obj. 2D6Dh]) are as follows. [Max torque (Obj.
  • Page 47 MEMO 9 MANUFACTURER-SPECIFIC FUNCTION 9.1 Torque limit selection...

  • Page 48: Revisions

    First edition 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.  EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 52 IB(NA)-0300500ENG-A(1911)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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