Mitsubishi MR-JE series Instruction Manual Download

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3. SLMP

3 - 4

3.3 Command

The following table lists applicable commands.

Name Command

Sub

command

Description

Detailed

explanation

CiA 402 object
read/write

4020h

0001h

Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.

Section

3.4.1

0002h

Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.

Section

3.4.2

0005h

Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.

Section

3.4.3

0006h

Writes data of consecutive sub commands specified by using the CiA
402 object from the external device to the servo amplifier.

Section

3.4.4

NodeSearch

0E30h

0000h

Detects the server device in the network.

IPAddressSet

0E31h

0000h

Sets the IP address of the server device in the network.

Model code read

0101h

0000h

Reads the servo amplifier model.

3.4 CiA 402 read/write command

The MR-JE-_C servo amplifier supports the CiA 402 read/write command.

Service

SLMP

Description

Command

Sub

command

SDO Upload

4020h

0001h

Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.

SDO Download

4020h

0002h

Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.

SDO Object SubID Block Upload

4020h

0005h

Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.

SDO Object SubID Block
Download

4020h

0006h

Writes data of consecutive sub commands specified by using the CiA
402 object from the external device to the servo amplifier.

Summary of Contents for MR-JE series

Page 1: ...ruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _C SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310...

Page 2: ...or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may...

Page 3: ...a magnetic contactor is not connected continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions Always connect a molded case circuit breaker or a fuse to each...

Page 4: ...occur When you keep or use the equipment please fulfill the following environment Item Environment Ambient temperature Operation 0 C to 55 C non freezing Storage 20 C to 65 C non freezing Ambient humi...

Page 5: ...ing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signa...

Page 6: ...correct combination Otherwise an electric shock fire injury etc may occur The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking...

Page 7: ...enance inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency s...

Page 8: ...s servo Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO MR JE _C Servo Amplifier Instruction Manual SH NA 030257ENG MELSERVO JE Servo Amplifier Instructi...

Page 9: ...A 8 MEMO...

Page 10: ...ad 3 5 3 4 2 SDO Download CiA 402 object write 3 5 3 4 3 SDO Object SubID Block Upload CiA 402 object sub ID continuous read 3 6 3 4 4 SDO Object SubID Block Download CiA 402 object sub ID continuous...

Page 11: ...4 Object library details objects in the 6000s 7 34 7 4 1 Control status 6041h 7 34 7 4 2 Quick stop option code 605Ah 7 35 7 4 3 Halt option code 605Dh 7 36 7 4 4 Control mode display 6061h 7 37 7 4 5...

Page 12: ...TCP IP communications Up to 64 axes of servo amplifiers up to 16 axes of servo amplifiers per group can be monitored by the controller In the profile position mode positioning operation can be perfor...

Page 13: ...ble control following the ideal model The two degrees of freedom model adaptive control enables you to set a response to the command and a response to the disturbance separately Additionally this func...

Page 14: ...o certain pins of the CN3 connector Output signal selection device settings The output devices including MBR Electromagnetic brake interlock can be assigned to certain pins of the CN3 connector Output...

Page 15: ...SERVO MR JE _C Servo Amplifier Instruction Manual Modbus TCP CC Link IE Field Network Basic CC Link IE Field Network Basic enables fixed cycle communication between the master and slave stations using...

Page 16: ...sion speed between stations Max 100 m Number of nodes Max 64 stations max number of connections per group 16 stations Number of usable stations 1 station per MR JE _C servo amplifier Standard response...

Page 17: ...the master and slave stations Default value 192 168 3 0 Subnet mask Default value 255 255 255 0 Message format Refer to chapter 3 Physical layer 1000BASE T Communication connector RJ45 1 port CN1 Comm...

Page 18: ...end Use link devices RWr RWw RX and RY for data communications Sending and receiving the request message and response message at a constant cycle allow the master station controller to perform link re...

Page 19: ...hen changing it from the initial setting refer to section 7 2 3 Table 2 1 RYn RXn mapping supporting the position speed torque control mode profile mode and home position return mode Master station Se...

Page 20: ...l output 1 Status DO 1 RWrn0B 2D12 Control output 2 Status DO 2 RWwn0C 6081 Command speed pp Profile velocity RWrn0C 2D13 Control output 3 Status DO 3 RWwn0D RWrn0D 2A42 Alarm No Current alarm 2 RWwn0...

Page 21: ...2 CC Link IE FIELD NETWORK BASIC PROTOCOL 2 4 MEMO...

Page 22: ...cedures The MR JE _C servo amplifier is compatible only with the binary code It is not compatible with the ASCII code For the compatibility of SLMP with external devices refer to manuals for external...

Page 23: ...as two different formats for normal completion and abnormal completion a At normal completion Ethernet header Response data Request destination network No Subheader SLMP UDP header IP header Request d...

Page 24: ...ng until the processing is completed H0001 to HFFFF 1 to 65535 Waiting time Unit 0 25 s Request data Variable Little Specify the command sub command and data that indicate the request content Command...

Page 25: ...Detects the server device in the network IPAddressSet 0E31h 0000h Sets the IP address of the server device in the network Model code read 0101h 0000h Reads the servo amplifier model 3 4 CiA 402 read...

Page 26: ...e object Refer to chapter 7 For the response message the value specified in the request message is stored Sub Index 1 bytes Little Specify Sub Index of the object Refer to chapter 7 For the response m...

Page 27: ...the object corresponding to the specified Index or consecutive Sub Index 1 Request message command and the following Command Sub command Index Sub Index Reserved Number of data value L H L H L H L H 2...

Page 28: ...ode and the following End code Index Sub Index Reserved Number of data value L H L H L H 00h 00h Refer to 3 in this section for details b At abnormal completion The response message is the same as tha...

Page 29: ...ect 2 A value is written to an object which is not the Read only object for all AL states but for the present AL state with Write disabled CCC7h 1 A value is written to the object mapped to a response...

Page 30: ...setting rotary switch SW1 SW2 2 Parameter Pr PN11 to Pr PN14 3 SLMP communication IP Address Set command Subnet mask setting The initial value is 255 255 255 0 To change the initial value set it with...

Page 31: ...using the SLMP command with the identification number setting rotary switch SW1 SW2 on the display of the servo amplifier MR Configurator2 or controller When the IP address is changed with the identi...

Page 32: ...pending on a setting value of Pr PF25 Instantaneous power failure tough drive Detection time when instantaneous power failure tough drive selection is enabled in Pr PA20 The following parameters canno...

Page 33: ...ge setting 256 PN31 IPOA1 Operation specification IP address 1 0 PN32 IPOA2 Operation specification IP address 2 0 PN33 IPOA3 Operation specification IP address 3 0 PN34 IPOA4 Operation specification...

Page 34: ...and identification number setting rotary switch Identification number setting rotary switch SW1 SW2 IP address 00h 1st octet The setting value of Pr PN11 is used 2nd octet The setting value of Pr PN12...

Page 35: ...aneously by the SLMP command IPAdressSet Setting range 0 to 255 255 PN18 SNMK4 Subnet mask setting 4 Set the 4th octet of the subnet mask in decimal Set the subnet mask assigned by the network adminis...

Page 36: ...et range of the IP address of the network device allowed to be connected The range for the IP address of the network device allowed to be connected is between Pr PN26 and Pr PN29 Set a value in decima...

Page 37: ...bject SubID Block Download command 4020h sub command 0006h 3 CC Link IE Field Network Basic request message RWwn Monitoring parameter setting and test operation can be executed via Ethernet when the I...

Page 38: ...s 4 range specification Set a value for the 4th octet range of the IP address of the network device allowed to be connected The range for the IP address of the network device allowed to be connected i...

Page 39: ...5 PARAMETERS 5 8 MEMO...

Page 40: ...or LSN Servo motor speed 0 r min ON OFF Part of droop pulses No S pattern acceleration deceleration With S pattern acceleration deceleration LSP or LSN Travels for the droop pulse portion and stops t...

Page 41: ...ompleted or not the setting value changes to 100 at the completion Unit 2D52h 0 Writing One touch tuning Stop 2 bytes 0 Writing 1EA5h stops one touch tuning Writing a value other than 1EA5h will trigg...

Page 42: ...perform in One touch tuning mode 2D50h during servo motor driving to perform one touch tuning Gains and filters will be adjusted automatically During one touch tuning the progress can be checked with...

Page 43: ...ation torque is displayed in increments of 0 1 2C22h 0 Reading Dynamic friction torque at forward rotation at rated speed 2 bytes Kinetic friction at forward rotation torque at the rated speed is disp...

Page 44: ...amplifier including a capacitor and a relay before they malfunction The information of the servo amplifier life diagnosis function can be obtained with the following objects Index Sub address Read wri...

Page 45: ...6 MANUFACTURER FUNCTIONS 6 6 MEMO...

Page 46: ...f entries is returned 1 bytes Reading Impos sible 1 01h 1 Saving all parameters Save all parameters Writing Writing save 65766173h saves all the objects which can be stored in the EEP ROM Reading Bit...

Page 47: ...01 to PC80 The values of the extension setting parameters Pr PC_ _ can be obtained and set For details refer to MR JE _C Servo Amplifier Instruction Manual 4 bytes Read write Impos sible PC01 to PC80...

Page 48: ...5 Alarm detail number Bit 16 to Bit 31 Alarm number 4 bytes Reading Possible 00000000h to FFFFFFFFh 2A42 0 Current alarm 2 Current alarm 2 The number of the current alarm is returned When no alarm has...

Page 49: ...ratio The effective load ratio is returned 2 bytes Reading Possible 0000h to FFFFh 2B0A 0 Peak load ratio Peak load ratio The peak load ratio is returned 2 bytes Reading Possible 0000h to FFFFh 2B0B 0...

Page 50: ...t alarm occurrence are returned 4 bytes Reading Possible 80000000h to 7FFFFFFFh pulse 2B85 0 Command pulse frequency at alarm occurrence Alarm Monitor 5 Command pulse frequency The command pulse frequ...

Page 51: ...0h to 7FFFh Hz 2BA8 0 Number of tough drive operations at alarm occurrence Alarm Monitor 40 Number of tough drive operations The number of tough drive operations at alarm occurrence is returned 2 byte...

Page 52: ...1 is returned 4 bytes Reading Possible 00000000h to FFFFFFFFh 2 Input device status 2 External Input signal display2 The input device status 2 is returned 4 bytes Reading Possible 00000000h to FFFFFF...

Page 53: ...for friction estimation 4 Warning The change in the servo motor speed may be small for friction estimation 5 Warning The acceleration deceleration time constants may be too short for friction estimati...

Page 54: ...utput 10 Status DO 1 to Status DO 10 The on off status of output device can be read 2 bytes Reading Possible 0000h to FFFFh 2D20 0 Speed limit value Velocity limit value The speed limit value is set 4...

Page 55: ...touch tuning can be returned to the value before the change The description of the setting values is as follows 0000 Restores the default value 0001 Restores the value before one touch tuning 2 bytes...

Page 56: ...display Modes of operation display The current control mode is returned 0 No mode assigned 1 Profile position mode pp 3 Profile velocity mode pv 4 Profile torque mode tq 6 Homing mode hm 20 Position c...

Page 57: ...time Velocity window time Refer to Velocity window 606Dh 2 bytes Read write Possible 10 0000h to FFFFh ms PT68 606F 0 Zero speed Velocity threshold In the profile velocity mode pv when the time set wi...

Page 58: ...reverse direction is returned in units of commands 4 bytes Read write Possible 0 80000000h to 7FFFFFFFh pos units PT17 PT18 2 Stroke limit Max position limit The stroke limit value in the forward dire...

Page 59: ...Range Limited within the range of 0 to 10000000 When 0 is set the setting value is invalid step input 4 bytes Read write Possible 0 00000000h to 00989680h 0 1 PT49 6088 0 Torque command pattern Torque...

Page 60: ...Set a time for the servo motor to reach the rated speed 4 bytes Read write Possible 0 00000000h to 00004E20h 20000 ms PT61 PT62 60A8 0 SI unit position SI unit position 60A8h is set automatically with...

Page 61: ...ation New Target position profile velocity acceleration and others are reflected immediately Bit 7 Bit 6 rotary axis direction option Specify the operation of the rotation axis during pp and pt 00 The...

Page 62: ...of the servo amplifier The value saved in the EEP ROM is set to the object at the next power on Servo parameters can also be modified through the object library However the new setting is not automat...

Page 63: ...alue other than 65766173h and 00000000h to each item results in an error Sub Index Item Setting value Write to EEP ROM Parameter 0 Number of entries Number of entries 01h 1 Saving all parameters Save...

Page 64: ...Index for the object to be mapped To set the object as unassigned gap set 0 8 to 15 Sub Index of object to be mapped Set the Sub Index for the object to be mapped To set the object as unassigned gap s...

Page 65: ...1 for details on the objects not listed here 7 3 1 External input pin status 2C10h Index Sub Index Name Data type Read write 2C10h 0 External input pin status External Input pin display Number of ent...

Page 66: ...the output of the target pin is on 1 is returned When the output of the target pin is off 0 is returned The values in the areas marked with diagonal lines are indefinite Bit CN3 connector pin Bit CN3...

Page 67: ...4 0 SON Servo on 1 LSP Forward rotation stroke end 2 LSN Reverse rotation stroke end 3 TL External torque limit selection 4 TL1 Internal torque limit selection 5 PC Proportional control 6 RES Reset 7...

Page 68: ...he same as C_EM1 C_EM1 This device can be used by setting 0 _ _ _ in Pr PA04 When C_EM1 is turned on the base circuit shuts off and the dynamic brake operates to decelerate the servo motor to a stop T...

Page 69: ...limit selection at the same time to make the torque less than the rated by TLA Analog torque limit Do not use C_PC in the torque control When C_PC is used in the torque control operation may be perfor...

Page 70: ...1 12 13 14 15 5 Bit definition of control DI5 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 C_DOG Proximity dog input When C_DOG is turned on a...

Page 71: ...g 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 7 Bit definition of control DI7 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 8 Bit definition...

Page 72: ...Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 10 Bit definition of control DI10 Bit Symbol Description 0 The value at reading is undefin...

Page 73: ...off status or alarm occurs S_MBR will turn off 4 S_CDPS Variable gain selection S_CDPS turns on during gain switching 5 The value at reading is undefined 6 7 S_TL Analog torque limit selection When T...

Page 74: ...2 When a home position return completes normally S_ZP2 turns on S_ZP2 is always on unless the home position is erased In the incremental system it turns off with one of the following conditions 1 AL...

Page 75: ...with servo amplifiers with software version A3 or later 10 The value at reading is undefined 11 S_MTTR Transition to tough drive mode in process When a tough drive is Enabled in Pr PA20 activating th...

Page 76: ...of Status DO 5 Bit Symbol Description 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 Bit definition of Status DO 6 Bit Symbol Description 0 The value at reading is undefine...

Page 77: ...of Status DO 7 Bit Symbol Description 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 8 Bit definition of Status DO 8 Bit Symbol Description 0 The value at reading is undefine...

Page 78: ...of Status DO 9 Bit Symbol Description 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 10 Bit definition of Status DO 10 Bit Symbol Description 0 The value at reading is undefin...

Page 79: ...get reached Note 1 11 Internal Limit Active 12 to 13 Operation Mode Specific Note 1 14 to 15 Reserved Note 2 Note 1 The description changes depending on the control mode 2 The value at reading is unde...

Page 80: ...the operations Setting value Description 1 For manufacturer setting 2 In the profile mode pp pv and homing mode hm the servo motor decelerates to a stop with Quick stop deceleration 6085h and the sta...

Page 81: ...w set point Bit 4 of Controlword 6040h is set to 1 Profile velocity mode pv The servo motor decelerates to a stop according to Profile deceleration 6084h The operation restarts after the servo motor d...

Page 82: ...er of entries Number of entries 1 bytes Reading 1 Min Position Limit Stroke limit 4 bytes Read write 2 Max Position Limit Stroke limit 4 bytes The current software limit setting can be read At this ti...

Page 83: ...ed when this bit is turned on Select a rotation direction by setting bit 5 to bit 7 in combination 7 4 7 Degree 60F2h Index Sub Index Name Data type Read write 60F2h 0 Profile position mode setting Po...

Page 84: ...osition to the target position in the shorter direction If the distances from the current position to the target position are the same for CCW and CW the servo motor rotates in the CCW direction The f...

Page 85: ...60BAh and the touch probe position negative value 60BBh For details of each object refer to sections 7 4 9 to 7 4 12 2 Usage The following explains for latching the current position at the rising edg...

Page 86: ...function enabled 1 0 Latch with the first trigger 1 Continuously latch with trigger inputs 2 The value at reading is undefined Set 0 when writing 3 4 0 Stop sampling at the rising edge of touch probe...

Page 87: ...robe function 0 indicates disabled and 1 enabled With bit 1 if the data is latched at the rising edge of the touch probe can be checked Latched data can be read when this bit is set to 1 When this bit...

Page 88: ...de Supported Drive Modes 4 bytes Reading The supported control mode can be read The returned value is 0000002Dh The following table shows the details Bit Supported Modes Defined value 0 Profile positi...

Page 89: ...7 OBJECT LIBRARY 7 44 MEMO...

Page 90: ...dded and partially changed Section 2 2 Partially changed Section 3 1 POINT is added Section 3 2 2 Partially changed Chapter 4 POINT is added Section 5 1 CAUTION is added POINT is added Section 5 2 Par...

Page 91: ...MEMO...

Page 92: ...trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and or other cou...

Page 93: ...t from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repa...

Page 94: ...ruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _C SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310...

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