Mitsubishi Electric MR-EM441G User Manual
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Mitsubishi Electric MR-EM441G User Manual

Mitsubishi Electric MR-EM441G User Manual

Personal computer embedded type servo system controller motion control board
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Personal Computer Embedded Type
Servo System Controller
Motion Control Board
User's Manual (Network)
-MR-EM441G

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  • Page 1 Personal Computer Embedded Type Servo System Controller Motion Control Board User's Manual (Network) -MR-EM441G...
  • Page 3 SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. In this manual, the safety precautions are classified into two levels: "...
  • Page 4 [Design Precautions] WARNING ● For the operating status of each station after a communication failure, refer to manuals for the network used. For the manuals, please consult your local Mitsubishi representative. Incorrect output or malfunction due to a communication failure may result in an accident. ●...
  • Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ●...
  • Page 6 [Installation Precautions] CAUTION ● Use the Motion control board in an environment that meets the general specifications in the Motion Control Board User's Manual (Motion Control). Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG terminals, the controllers, servo amplifiers and servo motors embedded with a Motion control board with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. Do not use a common grounding with other equipment. ●...
  • Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● When using the absolute position system function, on starting up, and when the Motion control board or absolute position motor has been replaced, always perform a home position return. ● Before starting the operation, confirm the brake function. ●...
  • Page 10 [Transportation Precautions] CAUTION ● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product. Prevent the entry of fumigant residues into the product or consider other methods (such as heat treatment) instead of fumigation.
  • Page 11 When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. Please make sure that the end users read this manual. Relevant product MR-EM441G...
  • Page 12 CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
  • Page 13 IP address setting of other stations ............66 Cyclic Settings.
  • Page 14 Print book [IB-0300601ENG] computer e-Manual e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals. • Other manuals can be accessed from the links in the manual.
  • Page 15 A station that controls the entire network. This station can perform cyclic transmission and transient transmission with all stations. Only one master station can be used in a network. Motion control board Another term for MR-EM441G. Motion control station A device station that exchanges cyclic data by an I/O device and motion control.
  • Page 16 Term Description Reserved station A station which is not actually connected. It is included as a station in the network when its all number is counted. Return A process of restarting data link when a faulty station recovers from an error. SLMP A SeamLess Message Protocol.
  • Page 17 GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbreviations. Generic term/abbreviation Description CPU module An abbreviation for the MELSEC iQ-R series CPU module. Data link A generic term for cyclic transmission and transient transmission. Drive unit A generic term for motor drive devices such as a servo amplifier.
  • Page 18 FUNCTIONS Cyclic Transmission When the basic system software version is "03" or earlier, the standard station connection, the local station connection, the multicast mode, and communications using LB and LW are not supported. When "Standard station", "Multicast", "LB setting", and "LW setting" are set in "Setting Network Parameter", "Out of Parameter Range (Network) (error code: 3211H)"...
  • Page 19 Precautions • The Motion control board provides the following CPU operating status notifications for device stations. Master station status CPU operating status notification for device stations System start System error User watchdog Motion control stations Standard status (moderate/ detection status stations For the basic For the basic...

  • Page 20: User Program

    Communications using RX, RY, RWr, and RWw This allows data to be exchanged in units of bits and in units of words between the master station and device station. • The remote station of the motion control station does not communicate data with the link device (RX, RY, RWr, and RWw) of the master station, and the motion function of the Motion control board controls output and acquires the input status.
  • Page 21 • Input from the remote station  The status of the external device is stored in the link devices (RX, RWr) of the remote station.  The status of the link devices (RX, RWr) of the remote station is stored in the link devices (RX, RWr) of the master station by cyclic data transfer processing. ...

  • Page 22: 000Fh 0010H

    Master station and local stations ■Unicast mode 1:1 communications between the master station and each local station. Local stations do not communicate with each other. Host personal No.0 No.1 No.2 RCPU computer 0000H 0000H 0000H No.1 No.1 Ø 001FH 001FH 001FH Ô...

  • Page 23: Table Of Contents

    ■Multicast mode The master station and local station send data on the line in multicast mode in each send range. Host personal No.0 No.1 No.2 RCPU computer 0000H 0000H 0000H No.1 No.1 No.1 Ø 001FH 001FH 001FH Ô 0020H 0020H 0020H No.2 No.2...
  • Page 24 Coexistence of remote stations and local stations ■Unicast mode • 1:1 communications between the master station and each remote station, and between the master station and each local station. • Communications are not performed between remote stations, between local stations, and between a remote station and a local station.
  • Page 25 ■Multicast mode Each local station can obtain data of all device stations. Class B Class B Class B Class B Host personal No.0 No.1 No.2 No.3 No.4 No.5 RCPU computer Motion control No.2 No.2 0000H 0000H 0000H 0000H No.1 ←No.1 No.1 No.1 001FH...
  • Page 26 Communications using LB and LW This allows data to be exchanged in units of bits and words between the master station and local stations. Master station and local stations, or between local stations ■Unicast mode 1:1 communications between the master station and each local station. Local stations do not communicate with each other. Host personal No.0 No.1...
  • Page 27 ■Multicast mode This allows link device data to be exchanged between local stations as well as between the master station and local stations. Host personal No.0 No.1 No.2 No.3 RCPU computer Ò 0000H 0000H 0000H 0000H No.0o No.0 No.0 No.0 No.0 No.0 000FH...
  • Page 28 Communications using RX, RY, RWr, RWw, LB, and LW This allows data to be exchanged in units of bits and in units of words between the master station and device station. Coexistence of the master station and device stations ■Unicast mode The module on CC-Link IE TSN performs communications using RX, RY, RWr, and RWw and communications using LB and LW simultaneously.
  • Page 29 ■Multicast mode Class B Class B Class B Class B Host personal No.0 No.1 No.2 No.3 No.4 No.5 RCPU computer Motion control No.2 No.2 0000H 0000H 0000H 0000H No.1 ←No.1 No.1 No.1 001FH 001FH 001FH 001FH 0020H 0020H 0020H No.3 No.3 No.3 003FH...
  • Page 30 Direct access to link devices This function directly reads/writes data from/to the link devices of the Motion control board from the program. For the link devices to direct access, use the Motion API. Specification method The Motion API to be used differs depending on the link devices and the I/O device. ■Link device specification method Specify the link device to read/write by using the Motion API shown in the table below.
  • Page 31 Readable/writable range Data can be read or written from/to the Motion control board mounted on the host personal computer. ■Read All link devices of the Motion control board can be specified. (Page 28 Specification method) ■Write The range that satisfies all of the following conditions can be specified. •...
  • Page 32 Cyclic data assurance This function assures the cyclic data assurance in units of 32 bits. : Assured Method Description Direct access to link devices 32-bit data assurance Assures data in 32-bit units.  Data is automatically assured by satisfying assignment conditions of link devices. Interlock program Assures data that exceeds 32 bits.
  • Page 33 ■Data assurance by handshake of the remote I/O An example of sending data in "Data 1 to 4" of the master station (station No.0) to W1000 to W1003 of the local station (station No.1) is shown below. (X1000 and Y1000 are used for a handshake to the CPU module.) Master station (station No.0) Local station (station No.1) Sending...
  • Page 34 Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: • Program flow  The master station stores "Data 1 to 4" in RWw0 to RWw3.  After "Data 1 to 4" are stored, the master station turns ON RY1000. ...
  • Page 35 ■Data assurance by handshake of the remote register An example of sending data in "Data 1 to 4" of the master station (station No.0) to W1000 to W1003 of the local station (station No.1) is shown below. (RWw3F0 and RWr3F0 are used for a handshake to the CPU module.) Master station (station No.0) Local station (station No.1) Sending...
  • Page 36 Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: • Program flow  The master station stores "Data 1 to 4" in RWw0 to RWw3.  After "Data 1 to 4" are stored, the master station turns ON RWw3F0. ...
  • Page 37 ■Data assurance by handshake of the link relay In communications using LB and LW, the link relay (LB) is sent after the link register (LW). Therefore, data inconsistency of the link register (LW) can be prevented by handshake in the data of the link relay (LB). The following shows the program example when 'Cyclic data (station No.0)' (LW0 to LW3) of the master station is sent to 'Cyclic data (station No.1)' (W0 to W3) of the local station.
  • Page 38 Receiving station: Local station (station No.1) Classification Setting details Label to be defined Define global labels as shown below: • Program flow  The master station stores "Data 1 to 4" in LW0 to LW3.  After "Data 1 to 4" are stored, the master station turns ON LB0. ...
  • Page 39 I/O Maintenance Settings When using cyclic transmission, set whether to hold or clear output or input by using the following settings. (Page 64 Application Settings) • "Data Link Error Station Setting" when disconnected" "Application Settings"  "I/O Maintenance Settings"  "Data Link Error Station Setting" •...
  • Page 40 Input data hold/clear operation from the data link faulty station The following figure shows the devices where "Data Link Error Station Setting" is enabled when each station becomes faulty. ■Unicast mode No.0 No.1 No.2 No.3 No.1 No.1 No.2 No.2 No.3 No.3 No.1 No.1...
  • Page 41 ■Multicast mode No.0 No.1 No.2 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2 No.3 No.3 No.3 No.1 No.1 No.1 No.1 No.2 No.2 No.2...
  • Page 42 CANopen communication The CANopen communication is used for controlling a device that supports the CANopen profile. The CANopen communication can control a device that supports the CANopen profile with the SDO communication by transient transmission and the PDO communication by cyclic transmission. The SDO communication reads/writes objects non-periodically by using the Motion API to send a command for accessing the CAN application object to the target device station.
  • Page 43 PDO of the standard station and PDO of the motion control station can be controlled from the user program by the Motion API. Host personal computer Motion control board CANopen supported device station (Standard station) User program Link device RWr20 TPDO RWr2F Communication cycle...
  • Page 44 Transient Transmission The transient transmission is used for communications at any timing and has the following two types. • Communications using the Motion API • Communications using the engineering tool Communications using the Motion API Data is read/written from the master station to a remote station using the Motion API. [Motion API] •...
  • Page 45 Ethernet Connection This type of connection allows one Motion control board to be connected to an Ethernet device without interfering with CC- Link IE TSN. CAUTION When the Ethernet device (such as a personal computer) which is using antivirus/security software performs the Ethernet communication via the CC-Link IE TSN Class B device, "Watchdog Counter Error (error code: 1C41H)"...
  • Page 46 Connection via HUB ■Settings on the Motion control board side • For connection by specifying the IP address, set the IP address using "IP Address Settings". ( Page 66 IP Address Settings) • Settings by "Network Configuration Settings" are not required. ■Settings on the motion test tool side Set in the "Project Setting"...
  • Page 47 ■Connection with MR Configurator2 Set in the "New Project (Multi-axis)" window. [Project]  [New Project]  Click [Switch to Multi-axis Project] in the "New Project (Single Axis)" window. Select "CC-Link IE TSN" in "Connection Network". Select "None" in "Via". Set the "Protocol". (Fixed to "UDP") UDP: Since a connection is not established during communication and whether the communication destination has correctly received the data is not confirmed, the line load is lower.
  • Page 48 Security Security for the network environment is structured by restricting access by each communication path to the Motion control board. "IP filter" can be used for access restriction. IP filter Identifies the IP address of the access source, and prevents unauthorized access. By setting the IP address of the access source using the motion test tool, IP packets are allowed or blocked.
  • Page 49 Setting method Set the IP address to be allowed or blocked in the "IP Filter Settings" window under "Application Settings". (Page 65 IP Filter Settings) A warning is displayed in the following cases. • Blocking the IP address of the device station set in "Network Configuration Settings" •...
  • Page 50 This acronym stands for Reliability, Availability, and Serviceability. This function improves overall usability of automated equipment. Device station disconnection Data link of the station where the error occurred is stopped, and the data link continues only for stations that are operating normally.
  • Page 51 Master station duplication detection If one network has multiple master stations, an overlap is detected. • When multiple master stations are simultaneously powered ON, or when multiple master stations are simultaneously connected, "Master Station Duplication Detected (error code: 300FH)" is detected in all master stations and cyclic transmission cannot be performed in all stations.
  • Page 52 IP address duplication detection If one network has stations with the same IP address, an overlap is detected. • When adding a device station, if a station with the same IP address already exists, "IP Address Duplication Detected (error code: 2160H)" is detected in a station to be added and data link cannot be performed. (Other stations continue data link.) 192.163.3.1 192.163.3.2 192.163.3.1...
  • Page 53 Time synchronization This synchronizes the time of device stations with the time synchronization source (the master station). No.0 No.1 No.2 Setting method The time synchronization is set automatically by using the time of starting the host personal computer and rebooting the software of the Motion control board.
  • Page 54 CC-Link IE TSN Network Synchronous Communication Function This section describes the CC-Link IE TSN Network synchronous communication function. When the basic system software version is "03" or earlier, standard stations do not support the CC-Link IE TSN Network synchronous communication function. If "Standard station" is set in "Network Configuration Settings", an error "Network parameter error (error code: 2221H)"...
  • Page 55 ■Motion control station This function synchronizes the control cycle of a device station according to the communication cycle of the master station. This adjusts the operation timing of the motion calculation of the Motion control board with a device station set as the motion control station.
  • Page 56 Applicable device The following table shows the devices that can be synchronized by the CC-Link IE TSN Network synchronous communication function. : Synchronizable, : Not synchronizable CC-Link IE TSN Network synchronous CC-Link IE TSN Class Communication Communication Synchronization communication function speed cycle setting Not supported...
  • Page 57 Cyclic transmission assurance by watchdog counter The watchdog counter is a function used to assure normal cyclic transmission between stations on CC-Link IE TSN. Using the watchdog counter, the master station and a device station mutually monitor the data to be updated every communication cycle;...
  • Page 58 Others Device station parameter automatic setting Parameters of the device station are saved in the master station, and the parameters will be automatically set when the device station is returned/connected. When the basic system software version is "03" or earlier, standard stations do not support the device station parameter automatic setting.
  • Page 59 • The master station automatically sets the parameters of the device station and then starts data link with the device station. • If an error occurred by the device station parameter automatic setting, disconnect the device station and try to connect again. If the error is not eliminated, disconnection and connection are repeated. The cause of the error can be confirmed with 'Detailed execution result of device station parameter automatic setting' (SW0194).
  • Page 60 Setting method Set in the "Network Configuration Setting" window. ( Page 71 Network Configuration Settings) Precautions • A device station whose device station parameter automatic setting abnormally ended does not start data link, and 'Execution result of device station parameter automatic setting function' (SW0160 to SW0167) turns ON. Confirm with 'Detailed execution result of device station parameter automatic setting' (SW0194) and the event history and perform corrective actions according to Action of the error codes list.
  • Page 61 Data collection using the CC-Link IE TSN Communication Software The cyclic data of each CC-Link IE TSN station is received using the CC-Link IE TSN Communication Software. For details on the CC-Link IE TSN Communication Software, refer to the following. ...
  • Page 62 PARAMETER SETTINGS This chapter describes the parameter settings required for communication between the Motion control board and other stations. Setting Parameters Create a new project using the motion test tool. Open "Network Parameter" window. Project Tree  "Network Parameter"  "CC-Link IE TSN" Select [Edit] in the "Network Parameter"...
  • Page 63 Required Settings Set the time synchronization method of the Motion control board. Time synchronization setting Item Description Setting range Initial value CC-Link IE TSN Class Setting Set the time synchronization method of the Fixed to [CC-Link IE TSN Class B CC-Link IE TSN Class B Only CC-Link IE TSN Network.
  • Page 64 Basic Settings Set the communication cycle and other parameters for the Motion control board. Transmission Path Method Setting Item Description Setting range Initial value Transmission Path Method Setting Set the connection method with the Fixed to [Line/Star] Line/Star connection module. 2 PARAMETER SETTINGS 2.3 Basic Settings...
  • Page 65 Communication Period Setting Set the basic cycle setting. Basic Period Setting Item Description Setting range Initial value Communication Period Interval Setting Set the communication cycle interval. • 62.50μs 1000.00μs When the version of basic system software is "02" or earlier, it •...
  • Page 66 Application Settings Set the IP filter and other settings for the Motion control board. Supplementary Cyclic Settings Item Description Setting range Initial value Block Data Assurance per Station Set whether to assure the data. Regardless of the setting, the Fixed to [Disable] Disable motion control station is operated with "Disable".
  • Page 67 IP Filter Settings Item Description Setting range Initial value IP Filter Select whether to use the IP filter function. • Not Use Not Use • Use IP Filter Settings Set the IP addresses to be allowed or denied. Page 65 IP Filter Settings IP Filter Settings Up to 32 IP addresses can be set as an IP address to be allowed or denied by the IP filter.
  • Page 68 IP Address Settings Set IP addresses of the Motion control board and the device station. IP address setting of the own station Item Description Setting range Initial value IP Address Set the IP address of the own station (Motion control board). 1.0.0.1 to 223.255.255.254 192.168.3.253 Subnet Mask...
  • Page 69 Cyclic Settings Set the cyclic transmission of the Motion control board. Link device Item Description Setting range Initial value RX Setting Points Set the points of the remote input to receive. No Setting, 16 to 16384 Follows the profile RX Setting Start/End Set the start and end offset of the remote input to receive.
  • Page 70 TPDO/RPDO setting Set the PDO mapping of TPDO and RPDO. 2 PARAMETER SETTINGS 2.6 Cyclic Settings...
  • Page 71 The procedure for mapping the TPDO object [Status DO 6 (Obj. 2D16)] is described as follows. Click [TPDO Setting]. "Cyclic Settings"  [TPDO Setting] Click the line to assign [Status DO 6 (Obj. 2D16)]. (The clicked line is displayed in blue.) Select [Status DO 6 (Obj.
  • Page 72 NetworkSync Setting Item Description Setting range Initial value NetworkSync Set whether to synchronize the connection module by using • Do not Do not the network synchronous communication function. • Do Item Description Cyclic Transmission Time (Min.) The cyclic transmission time that are calculated by the number of device stations and the number of link device points is displayed.
  • Page 73 Network Configuration Settings Set the device station to connect to the Motion control board. Item Description Setting range Initial value StaNo. Set the number of stations (serial No. in order of addition) of the (Automatic setting) connection module. The StaNo. is the same value as the station No. described in the buffer memory and the link special register (SW).
  • Page 74 TROUBLESHOOTING Confirmation with LED This section describes troubleshooting with the LEDs of the Motion control board. When the RUN LED turns off When the RUN LED turns off after powering on the Motion control board, confirm the following. Confirmation item Action Is the Motion control board mounted correctly? Securely mount the Motion control board on the PCI Express system if it is not mounted correctly.
  • Page 75 Confirmation item Action Are other stations turned OFF? Power on other stations. Are other stations connected to the Motion control • Confirm if the modules on the other stations are performing data link using "Network Diagnosis (CC- board operating normally? Link IE TSN Diagnosis)".
  • Page 76 Confirmation item Action Are other stations connected to the Motion control Confirm the manual of the module used for the other stations and take action accordingly. ( User's board operating normally? manual for the module used) Is the communication speed of connected devices Connect devices which support a communication speed of 1Gbps.
  • Page 77 Confirming the Motion Control Board Status This section describes how to confirm the status of the Motion control board by using the motion system monitor or the motion test tool. • Motion system monitor: It can be confirmed only with bus connection. •...
  • Page 78 Item Description DIP Switch Switch1 Displays the DIP Switch 1 to 4 of the Motion control board. For details about the DIP Switch, refer to "NAME OF EACH SECTION" in the following manual. Switch2 Motion Control Board User's Manual (Motion Control) Switch3 Switch4 Mode...
  • Page 79 Motion Test Tool The following items can be confirmed in the "System Information" window of the motion test tool. [Monitor]  [System Information] Item Description Board ID Displays the board ID of the Motion control board. CH Number Displays the channel No. of the Motion control board. IP Address Info Displays the IP address of the Motion control board.
  • Page 80 Item Description DIP Switch Switch1 Displays the DIP Switch 1 to 4 of the Motion control board. For details about the DIP Switch, refer to "NAME OF EACH SECTION" in the following manual. Switch2 Motion Control Board User's Manual (Motion Control) Switch3 Switch4 Mode...
  • Page 81 Confirming the Network Status This section describes troubleshooting to confirm the status of the network by Network Diagnosis (CC-Link IE TSN Diagnosis) of the motion test tool. The Motion control board does not support the CC-Link IE TSN/CC-Link IE Field Diagnostics of GX Works3. Use the Network Diagnosis (CC-Link IE TSN Diagnosis) of the motion test tool.
  • Page 82 Click the [...] button or right-click the Detailed Information list  [Detail window for a selected station] Function Overview Network Diagnosis function Network status monitor Function to monitor the network status such as the communication cycle and the number of connectable stations. Detailed information monitor Function to monitor the detailed information of the devices that configure the network.
  • Page 83 Troubleshooting by Symptom This section describes troubleshooting when a data link cannot be performed with the target station regardless of no error occurring in the Motion control board. If an error has occurred in the Motion control board, identify the error cause using the engineering tool. ( Page 79 Confirming the Network Status) Cyclic transmission failed The following lists the actions to be taken if cyclic transmission cannot be performed.
  • Page 84 Confirmation item Action When the data link does not start When the device station parameter automatic Disconnect the motion test tool and the Motion control board. after executing the device station setting is executed, have the motion test tool parameter automatic setting and the Motion control board been connected by "Ethernet Connection via HUB"? When the device station parameter automatic...
  • Page 85 Station is disconnected from the network The following lists the action to be taken when a station in data link is disconnected. Confirmation item Action Is the ambient temperature for the Motion control board and the device station Keep the ambient temperature within the specified range by taking action outside the specified range? such as removing heat source.
  • Page 86 Confirmation item Action In multicast mode, are a local station and an Ethernet device mixedly • Configure settings with the switching hub so that the multicast frame (with connected on the end side via a switching hub? multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the port of the standard Ethernet device.
  • Page 87 Data link is normal but link device communications fail When the data link is normal (D LINK LED: On) but the link device communications fail, confirm the following items. Confirmation item Action Is the input/output bit setting or input/output word setting of the device station Set a link device used in the device station correctly.
  • Page 88 Motion test tool and Motion control board cannot communicate When the motion test tool and Motion control board cannot communicate. Confirmation item Action Is a value less than 62.50μs set in the Is the number of device stations in • Reduce the number of device stations set in the network configuration. communication cycle interval setting? the network configuration settings •...
  • Page 89 List of Error Codes This section describes error codes, error definitions and causes and actions for the errors that occur as follows. • Each processing for data communication between the Motion control board and external devices • Processing requests from the host personal computer on the own station The error codes are displayed in the motion system monitor or the motion test tool.
  • Page 90 Error Content Cause of occurrence Action code 300AH Network Parameter Error • The firmware version of the local station and Write the network parameter again. If the same error the software version of the master station are occurs again even after taking the above measure, the in an unusable combination.
  • Page 91 Major Error Content Cause of occurrence Action code 3E01H Own Station Network Type Error Network type of the own station is unexpected Write the network parameter again. If the same error setting. occurs again even after taking the above, the possible cause is a hardware failure.
  • Page 92 APPENDICES Appendix 1 Buffer Memory The buffer memory is used to exchange data between the Motion control board and the host personal computer. Buffer memory values are reset to default (initial value) by powering OFF and ON the Motion control board or rebooting the software. List of buffer memory addresses •...
  • Page 93 Name Initial Read, Refere value write Address Address Address Address (decimal) (hexadecimal) (decimal) (hexadecimal) 1252096 131B00H Own station Manufacturer code Read Page 94  (network card) 1252097 131B01H  Model type information station 1252098 131B02H Model code (lower 2 bytes) ...
  • Page 94 Name Initial Read, Refere value write Address Address Address Address (decimal) (hexadecimal) (decimal) (hexadecimal) 1277480 137E28H  CC-Link IE Manufacturer code Read Page 96 CC-Link 1277481 137E29H  Model type Communication IE TSN 1277482 137E2AH Model code (lower 2 bytes) ...
  • Page 95 Details of buffer memory addresses Link device area The RX, RY, RWw, RWr, LB, LW, SB, and SW values are stored. ■Remote input (RX) (G57344 to G58367) The RX value is stored. Address G57344  G58367 3FFF 3FFE 3FFD 3FFC 3FFB 3FFA 3FF9...
  • Page 96 ■Link register (LB) (G92160 to G94207) The LB value is stored. Address G92160 G92161 LB1F LB1E LB1D LB1C LB1B LB1A LB19 LB18 LB17 LB16 LB15 LB14 LB13 LB12 LB11 LB10  G94207 7FFF 7FFE 7FFD 7FFB 7FFA 7FF9 7FF8 7FF7 7FF6 7FF5 7FF4...
  • Page 97 Grandmaster information The grandmaster status of the own station and MAC address are stored. ■Grandmaster (G1275904) When the own station is the grandmaster, "1" is stored. • 1: Own station is the grandmaster • 0: Another station is the grandmaster ■Grandmaster MAC address (G1275907 to G1275909) The grandmaster MAC address is stored.
  • Page 98 CC-Link IE TSN Communication Software information Information related to the CC-Link IE TSN Communication Software is stored. ■CC-Link IE TSN Communication Software information (1st module) (G1277456 to G1277479) Address Name Description G1277456 Manufacturer code Information of the CC-Link IE TSN Communication Software in the 1st module is stored.
  • Page 99 Appendix 2 List of Link Special Relay (SB) The link special relay (SB) is turned ON/OFF depending on various factors during data link. Any error status of the data link can be confirmed by using or monitoring it in the program. [Motion API] •...
  • Page 100 Name Description SB0064 Cyclic data receive status Shows the receive status in the communication cycle in which the cyclic data from the device station is set using "Disconnection Detection Setting" in the master station. OFF: Cyclic data received ON: Cyclic data not received consecutively ■Conditions •...
  • Page 101 Name Description SB0110 CPU minor error status of each Stores the minor error occurrence status of each station. station For local stations, the minor error occurrence status in the CPU module of each station are stored. OFF: All stations normal or station with a moderate/major error exists ON: Station with a minor error exists When this relay is turned ON, the status of each station can be checked with 'CPU minor error status of each station' (SW0110 to SW0117).
  • Page 102 Appendix 3 List of Link Special Register (SW) The link special register (SW) stores the information during data link as a numerical value. Faulty areas and causes can be confirmed by using or monitoring the link special register (SW) in programs. [Motion API] To read the link special register (SW), use the sscGetWordLinkDevice function.
  • Page 103 Name Description SW004C Parameter setting status Stores the status of parameter settings. 0: Normal 1 or greater: Error definition (Error code is stored.) ■Conditions • This register is enabled when 'Received parameter error' (SB004D) is ON. SW0058 Total number of device stations Stores the total number of device stations that are set by the parameters.
  • Page 104 Name Description SW00B0 Data link status of each station Stores the data link status of each station. 0: Data link normally operating station SW00B7 1: Data link faulty station • If multiple stations change from faulty to normal, because they are returned to the network one by one per communication cycle, the time until the status changes to "0: Data link normally operating station"...
  • Page 105 Name Description SW00F0 CPU operating status of each Stores the CPU operating status of each station. station 0: RUN, PAUSE SW00F7 1: STOP or moderate/major error occurring b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW00F0 16 15 14 13 12 11 10 SW00F1...
  • Page 106 Name Description SW0160 Execution result of device station When the device station parameter automatic setting is completed with an error, the bit of the target station parameter automatic setting is turned ON. SW0167 function OFF: Completed successfully ON: Completed with an error When completed with an error, the error code is stored in the 'Detailed execution result of device station parameter automatic setting' (SW0194).
  • Page 107 Name Description SW01C8 Synchronous/non-synchronous Stores the operating status of the CC-Link IE TSN Network synchronous communication function of each operating status information of station. SW01CF each station 0: Non-synchronous 1: Synchronous b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW01C8 16 15 14 13 12 11 10 SW01C9...
  • Page 108 Name Description SW04B0 Time synchronization status of Stores the time synchronization status of each station. (Station No.: 1 to 120) each station 0: Station that does not perform time synchronization SW04B7 1: Station that performs time synchronization The time synchronization method can be checked in 'Time synchronization method' (SW04A0). b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SW04B0 16 15 14 13 12 11 10...
  • Page 109 Appendix 4 Processing Time This section describes the cyclic transmission delay time of CC-Link IE TSN. User program (1) Bus communication (2) Communication cycle interval (cyclic data transfer processing time): Page 110 Communication cycle interval (3) Processing time of the device station: Manual for the device station used The cyclic transmission delay time in the Motion control board consists of the following.
  • Page 110 Cyclic transmission delay time Standard station This section shows the formulas to calculate the following cyclic transmission delay time. • The time between when the Motion control board turns ON or OFF and when the transmission destination CPU module device turns ON or OFF •...
  • Page 111 ■Master station  local station When data is transmitted from the master station to a local station as follows: • Master station (RX)  local station (RY) • Master station (RWr)  local station (RWw) • Master station (LB)  local station (LB) •...
  • Page 112 The following table lists the numbers of connectable device stations when 62.50μs is set. Communication cycle interval MR-EM441G 62.50μs • For the number of connectable axes with the communication cycle interval of 62.50μs, refer to "Performance Specifications"...
  • Page 113 Condition This section shows the calculation formulas for the communication cycle interval in the following conditions (If the main modules and extension modules are not specified in the descriptions of the variables in the calculation formulas for the communication cycle interval, the number of points to be set is the sum of main modules and extension modules). Item Module No.
  • Page 114 Name of variable Description Number of device stations Number of local stations Switching hub delay time  Number of switching hubs connected to the network Switching hub delay time: 50000 If "Network Topology" in "Basic Settings" is "Line/Star": 0 Sn  nhs nhs: (nds + (20 ...
  • Page 115 Name of variable Description Σ i = 1 = ((ends + en4  20) / 1488) However, if ends is 0, en3 becomes 0. = 1 if sf > 20, k = 0 if sf  20 = 1488 - mod mod: Remainder of {((mRx + (mRx / 1468)
  • Page 116 Multicast mode (1Gbps) ■Calculation formula The communication cycle interval [ns] is calculated as follows. Round up less than 1s in α and α α + α or 125000, whichever the larger. Cyclic transmission time [ns] = α • α : The larger of No.1 or No.2 + No.5 in the following. Calculation formula A1 + A2 + (the value obtained by the A1: {(50 ...
  • Page 117 Name of variable Description ((Total number of points of "RX setting" of main modules) / 8) + ((Total number of points of "RWr setting" of main modules)  2) + ((Total number of points of "LB setting" excluding the master station) / 8) + ((Total number of points of "LW setting" excluding the master station) ...
  • Page 118 Name of variable Description ends Σ ends i = 1 ends = eRxAll / 8 + eRWrAll  2 i: Station No. eRxAll : 0 (fixed) eRWrAll : Total number of points of "RWr setting" of extension modules with station No.i ((endl + 20 ...
  • Page 119 Appendix 5 Connectable device to CC-Link IE TSN This section describes how to set and use the motion system when a connectable device to CC-Link IE TSN is connected with the Motion control board. For details on the wiring and the parameters, refer to the manual of each device. MR-J5(W)-G (Cyclic synchronous mode) connection method For details about wiring and parameters of MR-J5(W)-G, refer to MR-J5(W)-G manuals.
  • Page 120 Connection method with remote station other than MR-J5(W)-G This section describes how to set and use the remote station other than MR-J5(W)-G when connected as the remote I/O. For details about wiring and parameters of the remote I/O, refer to the remote I/O manuals. An example for how to set and use the remote I/O when connecting the remote I/O module manufactured by Mitsubishi Electric Corporation (NZ2GN2B-60AD4) as the remote I/O is shown below.
  • Page 121 • Cyclic Settings Set link devices depending on the use appropriately. Describe an example for when allocating link devices as follows. RX Setting RY Setting RWr Setting RWw Setting Points Start Points Start Points Start Points Start 0x0010 0x002F 0x0020 0x003F 0x0030 0x003F...
  • Page 122 ■Device parameter setting [Motion test tool] "CC-Link IE TSN Network Parameter"  [Edit] Set parameters of NZ2GN2B-60AD4. • Auto parameter setting Parameters of NZ2GN2B-60AD4 are saved in the Motion control board, and the parameters will be automatically set when NZ2GN2B-60AD4 is returned/connected. For details of parameter automatic setting function, refer to the following. Page 56 Device station parameter automatic setting Check "Parameter Automatic Setting"...
  • Page 123 • Parameter read Read parameters from NZ2GN2B-60AD4 during link-up. The network parameter of the Motion control board must be set and written to the Motion control board when reading parameters. Select "Parameter read" from "Method selection", and read parameters. Select "Parameter read". Output read values upon successful parameter read.
  • Page 124 How to use The control method of the remote I/O differs depending on whether the station is a motion control station and a standard station. The remote I/O is controlled by a motion control station in the I/O device area. For details about the I/O device, refer to "I/O Device"...
  • Page 125 MEMO APPX Appendix 5 Connectable device to CC-Link IE TSN...
  • Page 126 INDEX 0 to 9 ....30 32-bit data assurance ... . 64 Block Data Assurance per Station .
  • Page 127 MEMO...
  • Page 128 Japanese manual number: IB-0300593-B 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 129 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 130 INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS  CANopen is registered Community Trademarks of CAN in Automation e.V.
  • Page 132 IB(NA)-0300600ENG-B(2406)MEE MODEL: EM441-U-NET-E MODEL CODE: 1XB058 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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