Mitsubishi Electric MR-J5-G User Manual page 22

The controller and the servo amplifier perform the following procedure to establish communication (transition to
"Operational").
Transition No. Operation
(1) Power-on
(2) During the transition from the initialization phase to the control communication phase of CC-Link IE TSN, the servo amplifier transitions
from "Init" to "Pre-Operational".
(3) When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Pre-Operational" to "Init".
(4) When the master station issues NMT State Download (SLMP) for "Safe-Operational" to the servo amplifier, the servo amplifier
transitions to "Safe-Operational". The master station performs control mode setting and PDO mapping setting on the servo amplifier.
(5) When the master station issues NMT State Download (SLMP) for "Operational" to the servo amplifier, the servo amplifier transitions to
"Operational". When PDO mapping setting is not performed on the servo amplifier, the state transitions on this route.
(6) When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Safe-Operational" to "Init".
(7) When the master station issues NMT State Download (SLMP) for "Pre-Operational" to the servo amplifier, the servo amplifier transitions
to "Pre-Operational". The servo motor becomes operable.
(8) When the master station issues NMT State Download (SLMP) for "Operational" to the servo amplifier, the servo amplifier transitions to
"Operational".
(9) When the master station issues NMT State Download (SLMP) for "Init" to the servo amplifier, or when a communication time-out occurs,
the servo amplifier transitions from "Operational" to "Init".
(10) When the master station issues NMT State Download (SLMP) for "Pre-Operational" to the servo amplifier, the servo amplifier transitions
to "Pre-Operational".
(11) When the master station issues NMT State Download (SLMP) for "Safe-Operational" to the servo amplifier, the servo amplifier
transitions to "Safe-Operational".
■SLMP command
The SLMP commands used in communication state management are as follows.
No. Command name
1 NMT State Upload
2 NMT State Download
*1 The command is executed in the whole station (common to all axes), even if the command is issued to a specific axis of a multi-axis
servo amplifier.
1 CC-Link IE TSN
20
1.4 APPENDIX
Command
*1
4020h
*1
4020h
Sub command Description
0007h NMT State reading
0008h NMT State writing