Chapter 2 Appendix; Cc-Link Ie Tsn; Cc-Link Ie Tsn Communication Protocol - Mitsubishi Electric MR-J5W-G User Manual

2
APPENDIX
2.1

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.
For devices that support the CANopen profile, the communication state of CC-Link IE TSN is managed by the Network
Management (NMT) state machine.
• Communication state
The NMT state machine manages the four states shown below (Init, Pre-Operational, Safe-Operational, and Operational).
The communication state transitions in each slave station. For multi-axis servo amplifiers, the communication state transitions
in the whole station (common to all the axes).
State
Init
Pre-Operational
Safe-Operational
Operational
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.
(2)
Pre-Operational
(9) (5)
(10)
2 APPENDIX
16
2.1 CC-Link IE TSN
Main processing details
Operates in accordance with the procedures performed in "initialization phase" of CC-Link IE TSN, such as
management master mediation, connection structure detection, propagation delay measurement, communication
band setting. The servo motor cannot be operated.
The master station (the Motion module) and the slave station (the servo amplifier) send and receive SDOs with
transient transmission, and get ready to start or to resume operation by setting the control mode and PDO mappings
as well as performing other preparations. The servo motor cannot be operated. Refer to the following for transient
transmission.
Page 30 Transient transmission
The master station (the Motion module) and the slave station (the servo amplifier) send and receive PDOs with cyclic
transmission.
The servo motor cannot be operated. Refer to the following for cyclic transmission.
Page 18 Cyclic transmission
The master station (the Motion module) and the slave station (the servo amplifier) send and receive PDOs with cyclic
transmission.
The servo motor can be operated.
(1)
Init
(3)
(4) (7)
Safe-Operational
(8)
Operational
Initialization
phase
(6)
Under control
communication
phase
(11)