Mitsubishi Electric MELSERVO-J4 MR-J4-TM Manuals

Table of Contents

• • 2

    Safety Instructions
  • 10

    Table of Contents

• 12

  1 Profinet Communication

  • 12

    Description
  • 14

    Communication Specifications
  • 15

    Startup
  • 16

    Network Disconnection Procedure
  • 16

    Object Dictionary (OD)
    • 16

      Section Definition of Object Dictionary

• 18

  2 Profinet Network Module (Abcc-M40-Pir)

  • 18

    Specifications
  • 18

    Parts Identification
  • 19

    LED Display
    • 19

      Network Status LED
    • 19

      Module Status LED
    • 19

      Link/Activity LED
  • 20

    Ethernet Cable Connection

• 22

  3 Process Data (Cyclic Data Exchange)

• 24

  4 Acyclic Data Exchange

  • 24

    Acyclic Data Exchange Communication Format
  • 25

    Error Number
  • 25

    Profidrive Parameters (Profidrive-Specific)
    • 25

      Telegram Selection (P922)
    • 25

      Operating Mode (P930)
    • 25

      Fault Message Counter (P944)
    • 25

      Fault Number (P947)
    • 27

      Profile Identification Number (P965)
    • 28

      DO Identification (P975)
    • 28

      Parameter Database Handling and Identification (P980)
  • 29

    Identification & Maintenance (I&M)

• 30

  5 State Transition

  • 30

    Basic State Machine
  • 33

    FSA State
  • 35

    Controlword/Statusword
    • 35

      Controlword
    • 38

      Statusword

• 44

  6 Control Mode

  • 44

    Selection of Control Mode
  • 45

    Control Switching
  • 45

    Profile Position Mode (Pp)
  • 50

    Profile Velocity Mode (Pv)
  • 56

    Profile Torque Mode (Tq)
  • 59

    Homing Mode (Hm)

• 86

  7 Web Server

• 88

  8 Manufacturer Functions

  • 88

    Profidrive Parameters for Status Monitor
  • 89

    Stroke End
  • 90

    Software Limit
  • 91

    Torque Limit
  • 92

    Polarity
  • 93

    Touch Probe
  • 97

    One-Touch Tuning
  • 98

    Servo Amplifier Life Diagnosis Function
  • 99

    Machine Diagnosis
  • 100

    Quick Stop
  • 101

    Halt
  • 101

    Ramp Stop
  • 102

    Profidrive Parameter Definitions Related to Alarms
  • 103

    Parameter
    • 104

      Parameter Enabling
  • 105

    Degree Function

• 108

  9 Object Dictionary

  • 108

    Store Parameters
  • 109

    Profidrive Parameter (Manufacturer-Specific) List
  • 112

    Profidrive Parameter (Manufacturer-Specific)
    • 112

      General Objects
    • 113

      Servoparameter Objects
    • 116

      Alarm Objects
    • 118

      Monitor Objects
    • 129

      Manufacturer Specific Control Objects
    • 136

      PDS Control Objects
    • 138

      Position Control Function Objects
    • 140

      Profile Velocity Mode Objects
    • 142

      Profile Torque Mode Objects
    • 144

      Profile Position Mode Objects
    • 147

      Homing Mode Objects
    • 150

      Factor Group Objects
    • 152

      Optional Application FE Objects
    • 152

      Touch Probe Function Objects