Chapter 4 Procedures Before Operations - Mitsubishi Electric MR-EM340GF User Manual

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PROCEDURES BEFORE OPERATIONS
Procedures before operation
This chapter describes the procedures before operation.
1.
Simple Motion board setting
Set board IDs by the board ID setting switches of the Simple Motion board.
For details, refer to the following.
Page 40 Simple Motion board setting
2.
Check of wiring and ambient environment
Check whether the Simple Motion board, servo amplifier, and slave station are wired correctly. Also, check the ambient
environment.
For details, refer to the following.
Page 40 Check of wiring and ambient environment
3.
Installation of EM Software Development Kit to the host personal computer
Select the MR-EM340GF from [New] of [Project] using EM Configurator.
4.
Network parameter setting
Set the inter-module synchronization in "Network Parameter" of EM Configurator.
The operation cycle is set by the inter-module synchronization setting of the Simple Motion board.
• Set any of 0.50 ms, 1.00 ms, 2.00 ms, or 4.00 ms as the inter-module synchronous cycle according to the number of
control axes and network device configuration.
For details, refer to the following.
Simple Motion Board User's Manual (Application)
A reference of the inter-module synchronization cycle that can be set is shown below. The cycle that can be
set depends on the control and number of link devices. If processing in the Simple Motion board is not
completed within the inter-module synchronization cycle, it may cause the warning "Inter-module
synchronization cycle over" (warning code: 0CC0H), the error "Inter-module synchronization processing error"
(error code: 2600H), or "Operation cycle over error" (error code: 193FH), etc.
The following number of setting stations is for the case that 1 to 16 stations are set to the MR-J4-GF (Motion
Mode), and 17 to 120 stations are set to 160 points (RX/RY) and 72 points (RWw/RWr) per station on
average.
• 1 to 4 stations: 0.50 ms (It is recommended to set "[Pr.152] Maximum number of control axes" based on the
number of axes.)
• 5 to 16 stations: 1.00 ms (It is recommended to set "[Pr.152] Maximum number of control axes" based on
the number of axes.)
• 17 to 48 stations: 2.00 ms
• 49 to 120 stations: 4.00 ms
Set network parameters in "Network Parameter" of EM Configurator.
• Set a slave station for Network Configuration Settings.
Devices of the station No.1 to 16 and slave stations which support the motion mode (stations selected to "Motion Mode" in
"Station-specific mode setting" when the MR-J4-GF is used) are used as the axis 1 to 16.
For details, refer to the following.
Simple Motion Board User's Manual (Network)
Simple Motion Board User's Manual (Application)
MR-J4-_GF_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL (MOTION MODE)
4 PROCEDURES BEFORE OPERATIONS
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