Mitsubishi Electric Melservo-Jet MR-JET-G, User Manual

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2 APPENDIX
2.1 CC-Link IE TSN
25
2
Transient transmission
The transient transmission is a function that communicates data only when there is a communication request. Data
communication is performed between stations by using SLMP and other protocols, regardless of the communication cycles.
For CC-Link IE TSN, transient transmission and cyclic transmission are performed using different communication bands in
order to ensure the stability of the cyclic transmission.
Transient transmission in the motion mode
With SLMP, actions such as reading the servo amplifier model code and accessing each object can be performed. For reading
and writing each object, the SDO Download command, SDO Upload command, and other commands are used.
■
SLMP command
The following is a list of SLMP commands.
Drive profile
This section explains the CiA 402 drive profile specification as well as the unique functions of servo amplifiers. Each function
can be controlled by using the object dictionary via the network.
A list of drive profile specifications is as follows.
Command Sub command Remark
0101h 0000h Model code reading
4020h 0001h ReadObject
4020h 0002h WriteObject
4020h 0005h ObjectSubIDReadBlock
4020h 0006h ObjectSubIDWriteBlock
Function name Description Reference
Control mode Control such as the position mode, speed mode, and torque mode

Page 42 Control mode
PDS state transitions Control method until the servo motor starts to operate

Page 26 PDS state transitions
Controlword/Control DI Control of each function

Page 29 Controlword/Control DI
Statusword/Status DO Monitor of each function  Page 35 Statusword/Status DO
Motor
Controller
Network
Network protocol
(cyclic communication,
transient communication)
Drive control application
Network protocol (cyclic communication, transient communication)
Object dictionary
Servo amplifier
PDS state transitions
Control mode
(such as csp or hm)
Servo amplifier
functions