Mitsubishi Electric MR-J5-G User Manual
Mitsubishi Electric MR-J5-G User Manual

Mitsubishi Electric MR-J5-G User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-G/MR-J5W-G
User's Manual
(Communication Function)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_

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Summary of Contents for Mitsubishi Electric MR-J5-G

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Communication Function) -MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_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 (20 minutes or more for the converter unit/drive unit) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...
  • 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 APPENDIX ................65 Cyclic transmission .
  • Page 8: 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. The positioning function built-in servo amplifier can be used for positioning operation.
  • Page 9: Function List

    Function list Communication-related function list (Application) Category Subcategory Function Description Detailed explanation Page 8 Network Open network CC-Link IE TSN This servo amplifier supports CC-Link IE TSN. communication protocol Communication specifications Page 12 Startup CC-Link IE TSN Network configuration settings and station-specific mode selection communication setting are performed by using GX Works3.
  • Page 10: Communication Specifications

    *2 There are restrictions on the communication cycle depending on the function used. For details, refer to "CC-Link IE TSN restrictions" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) *3 The communication speed can be set to 1 Gbps or 100 Mbps. 100 Mbps can be used with servo amplifiers with firmware version B6 or later.
  • Page 11: Establishing And Disconnecting The Communication

    Communication profile Dictionary) 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-J5-G/MR-J5W-G User's Manual (Object 2000h to 27FFh...
  • Page 12 For details about objects that can be stored in the non-volatile memory, refer to the following. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) ■Store parameters Writing "65766173h" (= reverse order of the ASCII code "save") to [Store parameters (Obj. 1010h: 01h)] enables the setting value of an object to be stored in the non-volatile memory of the servo amplifier.
  • Page 13: Engineering Tool

    Engineering tool The following explains the main purposes of the engineering tools used in communication. For specific usages, refer to the manuals of the engineering tool and controller. Engineering tool list This list shows engineering tools used in CC-Link IE TSN. Engineering tool Description MR Configurator2...
  • Page 14: Startup

    Startup Outline This chapter describes the setting procedure for CC-Link IE TSN. Refer to the following for startup of the servo amplifier. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) Precautions To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.
  • Page 15 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 Limit switch enabled status selection PD41.3...
  • Page 16: Application Function

    The items displayed on the selected station communication status monitor are shown below. Setting item Description Reference Status display The status of the servo amplifier is displayed via LED. MR-J5-G/MR- J5W-G User's Manual CC-Link IE TSN status display The CC-Link IE TSN status (CN1A/CN1B connector LED) is displayed. (Introduction) MR-J5D-G...
  • Page 17: 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 18: 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 19: 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 20: Motion Mode (High-Speed) Setting

    Motion mode (high-speed) setting The following explains the setting method of the motion mode (high-speed) that enables a communication cycle of 31.25 μs between a master station (Motion module) and a slave station (servo amplifier). • The communication cycles of 31.25 μs and 62.5 μs can be used by servo amplifiers with firmware version A6 or later.
  • Page 21: Appendix

    APPENDIX 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 22 The controller and the servo amplifier perform the following procedure to establish communication (transition to "Operational"). Transition No. Operation Power-on During the transition from the initialization phase to the control communication phase of CC-Link IE TSN, the servo amplifier transitions from "Init"...
  • Page 23: 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 24 ■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 25 • RPDO, TPDO 2nd mapping ([2nd Receive PDO Mapping (Obj. 1601h)] and [2nd Transmit PDO Mapping (Obj. 1A01h)]) PDO mapping for the motion mode (high-speed). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 1D01h Watch dog counter DL 0002h...
  • Page 26 • RPDO, TPDO 3rd mapping ([3rd Receive PDO Mapping (Obj. 1602h)] and [3rd Transmit PDO Mapping (Obj. 1A02h)]) PDO mapping for profile mode operation (pp/pv/tq/hm). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 6060h Modes of operation 0001h...
  • Page 27 • RPDO, TPDO 4th mapping ([4th Receive PDO Mapping (Obj. 1603h)] and [4th Transmit PDO Mapping (Obj. 1A03h)]) PDO mapping for positioning mode (pt/jg/hm). RPDO (from the master station to the servo amplifier) Offset Address Index Device name 0000h 6060h Modes of operation 0001h 0000h...
  • Page 28 ■PDO mapping objects The placement of objects in a PDO can be changed with PDO mapping objects ([1st Receive PDO Mapping (Obj. 1600h)] to [4th Receive PDO Mapping (Obj. 1603h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] to [4th Transmit PDO Mapping (Obj. 1A03h)]).
  • Page 29 • PDO mapping objects between the master station and the servo amplifier When changing the PDO mapping between the master station and the servo amplifier, use [1st Receive PDO Mapping] to [4th Receive PDO Mapping] for the RPDO and [1st Transmit PDO Mapping] to [4th Transmit PDO Mapping] for the TPDO. Index Object Name...
  • Page 30 • 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 31 ■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       ...
  • Page 32 • Objects that require TPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode [Watch dog counter UL (Obj. 1D02h)]      ...
  • Page 33 ■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 34 • Initial value of PDO configuration object The initial values of PDO configuration objects ([1st PDO Config (Obj. 1C00h)] and [2nd PDO Config (Obj. 1C01h)]) are different for Motion mode and Motion mode (high-speed) as shown in the following table. Index Name Default...
  • Page 35: 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 36 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 37 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. Each axis of the multi-axis servo amplifier supports the PDS state.
  • Page 38 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 39 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 35 Events and PDS...
  • Page 40 ■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 41 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 42 • Control DI 5 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.       C_CDP2 Gain switching 2 Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware)
  • Page 43 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 44 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 45 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 46 • 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 47 • Status DO 2 Symbol Description Reference  S_ZPASS Z-phase already passed After the Z-phase is passed, S_ZPASS turns on.  The value at reading is undefined.    S_ZSP Zero speed detection Refer to "Signal (device) explanations" in the following S_VLC Limiting speed manual.
  • Page 48 • Status DO 4 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 49 • Status DO 6 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 50 • Status DO 8 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 51 • Status DO 10 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 52 *6 Setting "0" and "1" on [Pr. PT01.2] triggers [AL. 037 Parameter error]. • Related objects Index Object Name Data Access Default Description Index Type value MR-J5-G/MR-J5W-G User's Manual 6060h Modes of operation (Object Dictionary)  6061h Modes of operation display 6502h Supported drive mode 000003A0h 1 CC-Link IE TSN 1.4 APPENDIX...
  • Page 53 • Control switching between position/speed/torque modes Changes to the OMS Bit of [Controlword (Obj. 6040h)] are not accepted until control switching finishes. Before inputting commands, check that the control mode has been switched by referring to [Modes of operation display (Obj. 6061h)]. In addition, switch the control modes when the start command is turned off. (For example, when "Homing operation start"...
  • Page 54 • 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 55: Setting Of Positioning Data

    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 56: Chapter 2 Cc-Link Ie Field Network Basic

    This manual describes communication with the MR-JET-_G servo amplifiers using CC-Link IE Field Network Basic communication protocol. Refer to the following manual when using CC-Link IE Field Network Basic. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) Outline CC-Link IE Field Network Basic is a protocol that utilizes 100 Mbps for general-purpose Ethernet communications. By taking advantage of using general-purpose Ethernet, TCP/IP communications (HTTP, FTP, and the like) can also be used together, allowing for a high flexibility system configuration.
  • Page 57: Function List

    Function list Communication-related function list (Application) Category Subcategory Functions Description Detailed explanation Page 65 Cyclic Network Open network CC-Link IE Field This function supports CC-Link IE Field Network Basic. Network Basic protocol transmission CC-Link IE Field Network configuration settings are performed by using GX Works2, Page 60 Startup Network Basic GX Works3, and MR Configurator2.
  • Page 58: Communication Specifications

    Communication specifications CC-Link IE Field Network Basic communication Item Description Communication protocol Physical layer 100BASE-TX (100 Mbps/100 m) Communication connector RJ-45 × 2 Communication cable CAT5e, shielded twisted pair, shield twisted 4 pair, straight cable Network topology Line, tree, star, or hybrid of these three topology types Communication speed 100 Mbps Transmission distance between stations...
  • Page 59: Establishing And Disconnecting The Communication

    MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) 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 2000h to 27FFh Servo parameter MR-J5-G/MR-J5W-G User's Manual (Object...
  • Page 60 For details about objects that can be stored in the non-volatile memory, refer to the following. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) ■Store parameters Writing "65766173h" (= reverse order of the ASCII code "save") to [Store parameters (Obj. 1010h: 01h)] enables the setting value of an object to be stored in the non-volatile memory of the servo amplifier.
  • Page 61: Engineering Tool

    Engineering tool The following explains the main purposes of the engineering tools used in CC-Link IE Field Network Basic communication. For specific usages, refer to the manuals of the engineering tool and controller. Engineering tool list This list shows engineering tools used in CC-Link IE Field Network Basic. Engineering tool Description MR Configurator2...
  • Page 62: Startup

    Outline This chapter describes the setting procedure for CC-Link IE Field Network Basic. Refer to the following for startup of the servo amplifier. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) Precautions • To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.
  • Page 63 To connect the master station and servo amplifier correctly, a profile (CSP+ file) must be set in GX Works2 or GX Works3. The CSP+ file can be downloaded from the Mitsubishi Electric FA site or the CC-Link Partner Association website.
  • Page 64 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 Works2 or GX Works3 and make sure that there is no error in the network.
  • Page 65: Application Function

    Application function CC-Link IE Field Network Basic Diagnostics The servo amplifier supports the following CC-Link IE Field Network Basic diagnostic functions CC-Link IE Field Network Basic diagnostics is a function that uses an engineering tool to check the status of the master station and each slave station. This function can be used to check detailed information such as master station parameter settings and network connection status.
  • Page 66: 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. •...
  • Page 67: Appendix

    APPENDIX Cyclic transmission Outline In CC-Link IE Field Network Basic, the command sent from the master station (controller) to the slave station (servo amplifier) is called a request message, and the command sent from the slave station (servo amplifier) to the master station (controller) is called a response message.
  • Page 68 PDO mapping The placement of RPDO and TPDO objects is called PDO mapping. This placement has an initial placement defined and can be changed with variable PDO mapping. The following table shows values for items such as the number of objects that can be mapped to the PDO and the initial size of the PDO.
  • Page 69 Link device (RWwn/RWrn) The sent and received data of the request message and response message of cyclic communication is used as the object data (RWwn, RWrn) of the servo amplifier. The setting value of the response message can be changed. To change the initial setting value, change the PDO mapping. The initial setting values for RWw and RWr devices are switched by the values of [Pr.
  • Page 70 ■Network standard mode This is the PDO mapping when [Pr. PA01.0] is "0" (network standard mode). • RWwn mapping (mode 1) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1...
  • Page 71 • RWrn mapping (mode 1) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 2D11 Status DO 1 RWrn03 2D12 Status DO 2 RWrn04 2D13 Status DO 3 ...
  • Page 72 • RWwn mapping (mode 2) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1 RWwn03 2D02 Control DI 2 RWwn04 2D03 Control DI 3 RWwn05 607A Target position RWwn06...
  • Page 73 • RWrn mapping (mode 2) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01   RWrn02 6041 Statusword RWrn03 6064 Position actual value RWrn04 RWrn05 606C Velocity actual value RWrn06 RWrn07 60F4 Following error actual value...
  • Page 74 ■Positioning mode (point table method) This is the PDO mapping when [Pr. PA01.0] is "6" (positioning mode (point table method)). • RWwn mapping (mode 1) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword...
  • Page 75 • RWrn mapping (mode 1) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 2D11 Status DO 1 RWrn03 2D12 Status DO 2 RWrn04 2D13 Status DO 3 RWrn05 2D15 Status DO 5...
  • Page 76 • RWwn mapping (mode 2) Master station  Servo amplifier (RWwn) Device number Index Device name RWwn00 6060 Modes of operation RWwn01 6040 Controlword RWwn02 2D01 Control DI 1 RWwn03 2D02 Control DI 2 RWwn04 2D03 Control DI 3 RWwn05 2D60 Target point table RWwn06...
  • Page 77 • RWrn mapping (mode 2) Servo amplifier  Master station (RWrn) Device number Index Device name RWrn00 6061 Modes of operation display RWrn01 6041 Statusword RWrn02 6064 Position actual value RWrn03 RWrn04 606C Velocity actual value RWrn05 RWrn06 60F4 Following error actual value RWrn07 RWrn08 6077...
  • Page 78 Variable PDO mapping function for PDO communication data The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data sent and received with RPDO and TPDO. For the SDO end code, refer to "End code" below. Page 86 End code The variable PDO mapping is as follows.
  • Page 79 • Positioning mode (point table method) (mode 1) Index Object Name Data Access Default Description Type 1600h ARRAY 1st Receive PDO Mapping Number of entries  1 to 32 Mapped Object 1 to Mapped Refer to the following for default Object 32 mappings.
  • Page 80 ■PDO mapping setting procedure The PDO mapping can be changed by using the PDO mapping object. • How to use PDO mapping objects The usage is shown using [1st Receive PDO Mapping (Obj. 1600h)] and [1st Transmit PDO Mapping (Obj. 1A00h)] as examples.
  • Page 81 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       [Controlword (Obj.
  • Page 82 • Objects that require TPDO mapping, categorized by control mode and function : PDO mapping required : PDO mapping recommended : PDO mapping not required Object name (Index) Mode [Statusword (Obj. 6041h)]         ...
  • Page 83: Slmp

    SLMP Outline • When sending commands from multiple master stations to one servo amplifier, some commands may not be received if the command transmission interval is too short. If there is no command response, increase the command transmission interval. SLMP (SeamLess Message Protocol) is a common protocol for seamless inter-application communication that does not consider network hierarchies and boundaries.
  • Page 84 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 85 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 86 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. Reserved 1 byte ...
  • Page 87 The response message stores the value specified in the request message. Sub Index 1 byte Little Specify Sub Index of the object. ( MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)) The response message stores the value specified in the request message. ...
  • Page 88 End code The following shows the error codes stored in the end code at abnormal termination in SLMP. Error code Cause 0000h The request was processed normally. C059h • There is an error in the command or subcommand specification. • A command that is not prescribed is received. C05Ch There is an error in the request message.
  • Page 89: Drive Profile

    Drive profile This section explains the CiA 402 drive profile specification as well as the unique functions of servo amplifiers. Each function can be controlled by using the object dictionary via the network. Network Controller Servo amplifier Network protocol Network protocol (cyclic communication, transient communication) (cyclic communication, transient communication) Object dictionary...
  • Page 90 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 91 Events and PDS state transitions Setting Controlword enables control of the state transitions. 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. The following shows the PDS state transition events and operations.
  • Page 92 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 93 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 89 Events and PDS...
  • Page 94 ■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 95 • Control DI 3 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                C_ABS2 Homing completion (for scale measurement) ...
  • Page 96 • Control DI 5 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.       C_CDP2 Gain switching 2 Refer to "Signal (device) explanations" in the following manual. MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware)
  • Page 97 • Control DI 7 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 98 • Control DI 9 Symbol Description Reference   The value at reading is undefined. Set "0" when writing.                      ...
  • Page 99 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 100 • 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 101 • Status DO 2 Symbol Description Reference  S_ZPASS Z-phase already passed After the Z-phase is passed, S_ZPASS turns on.  The value at reading is undefined.    S_ZSP Zero speed detection Refer to "Signal (device) explanations" in the following S_VLC Limiting speed manual.
  • Page 102 • Status DO 4 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 103 • Status DO 6 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 104 • Status DO 8 Symbol Description Reference   The value at reading is undefined.                          ...
  • Page 105 • Related objects Index Object Name Data Access Default Description Index Type value MR-J5-G/MR-J5W-G User's Manual 6060h Modes of operation (Object Dictionary)  6061h Modes of operation display 6502h Supported drive mode 000003A0h 2 CC-Link IE Field Network Basic 2.4 APPENDIX...
  • Page 106: Revisions

    Section 1.1, Section 1.2, Section 1.3, Section 1.4, Chapter 2 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 107: 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 108: 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. SH(NA)-030302ENG-F...
  • Page 110 SH(NA)-030302ENG-F(2106)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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