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7 CiA 402 DRIVE PROFILE

7.4 Control mode

39

7

7.4

Control mode

Selecting control mode (Modes of operation)

Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation] can be rewritten with a PDO or an SDO.

Control switching

• Changes to the OMS bit of [Controlword (Obj. 6040h)] are not accepted until control switching is complete.

Before inputting a command, check that the control mode has been switched by referring to [Modes of
operation display (Obj. 6061h)].

• Update [Target position (Obj. 607Ah)] and [Position offset (Obj. 60B0h)] to [Position actual value (Obj.

6064H)] when changing the control mode from the mode other than the cyclic synchronous position mode
(csp) to the cyclic synchronous position mode (csp).

Control switching between position/speed/torque modes

As there is a time lag when switching between control modes, the controller needs to keep sending the command values of
the corresponding control modes until the mode is completely switched. After the completion of the control mode switching is
confirmed by [Modes of operation display (Obj. 6061h)], the controller can stop sending the command value relative to the
control mode before switching.
Before switching to or from the position mode, check that the servo motor is in zero speed state. Data of whether the servo
motor is in zero speed state can be obtained by Bit 3 (S_ZSP) of [Status DO 2 (Obj. 2D12h)]. If the motor is not in zero speed
state, the control mode will not be switched and therefore [Modes of operation display (Obj. 6061h)] will not change. To switch
the control mode even if the motor is not in zero speed state, set [Pr. PC76.1] to "1" to disable the monitoring of zero speed
state. When the monitoring of zero speed state is disabled, a shock may occur at control switching.

Index

Sub

Object

Name

Data Type

Access

Description

6060h



VAR

Modes of operation

I8

rw

0: No mode change/No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)

6061h



VAR

Modes of operation display

I8

ro

0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)

6502h



VAR

Supported drive modes

U32

ro

Bit =1 for the following modes
bit 0: Profile position mode
bit 2: Profile velocity mode
bit 3: Profile torque mode
bit 5: Homing mode
bit 7: Cyclic sync position mode
bit 8: Cyclic sync velocity mode
bit 9: Cyclic sync torque mode

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Содержание MELSERVO-J5 MR-J5-G-N1

Страница 1: ...MR J5 G N1 User s Manual Communication Function MR J5 _G _N1 MR J5W_ _G N1 Mitsubishi Electric AC Servo System ...

Страница 2: ......

Страница 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this manual keep it accessible to t...

Страница 4: ... connect the protective earth PE terminal the terminal marked with the symbol of the servo amplifier to the protective earth PE of the cabinet To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric sho...

Страница 5: ... Process Data Object COMMUNICATION 13 4 1 PDO communication cycle 13 4 2 PDO setting related objects 14 4 3 PDO default mapping 15 RxPDO default mapping 15 TxPDO default mapping 16 4 4 Variable PDO mapping 17 4 5 Objects that require mapping 18 RxPDO 18 TxPDO 18 CHAPTER 5 SDO Service Data Object COMMUNICATION 19 5 1 SDO communication related services 19 5 2 SDO Abort Code 20 CHAPTER 6 SYNCHRONIZAT...

Страница 6: ...itching 39 7 5 Engineering tool 41 Engineering tool list 41 CHAPTER 8 STARTUP 42 8 1 Connection with controller 42 8 2 Node address setting 43 8 3 Network disconnection procedure 43 CHAPTER 9 MANUFACTURER SPECIFIC FUNCTION 44 9 1 Torque limit selection 44 Torque limit 44 REVISIONS 46 WARRANTY 47 TRADEMARKS 48 ...

Страница 7: ...f Automation GmbH ETG EtherCAT Technology Group manages EtherCAT The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT CoE The device type corresponds to a power drive system and supports the CiA 402 drive profile CiA 402 drive profile The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT CoE The de...

Страница 8: ...ervo motors by receiving a target speed command via either synchronous or asynchronous communication with a controller Profile torque mode tq This is a control mode to drive servo motors by receiving a target torque command via either synchronous or asynchronous communication with a controller Homing mode hm This is a control mode to perform homing with the method specified by the controller Stand...

Страница 9: ...g configures the control mode and network communication Page 42 STARTUP Remote maintenance File access over EtherCAT FoE This protocol enables a firmware upload to devices via a network For details contact your local sales office Profile ESI This is a setting file on which the information specific to each slave station vendor information product information profiles objects and other information i...

Страница 10: ...e Star or Hybrid of these three topology types Communication speed 100 Mbps Full duplex Transmission distance between stations Max 100 m Number of connection nodes Max 65535 The number of connection nodes for actual use varies depending on the specifications of the master controller SDO Mailbox communication Asynchronous communication Sending Receiving 1 channel each Maximum data size in sending r...

Страница 11: ...SDO Service Data Object COMMUNICATION ESM state Description Init The ESM state after turning on the power is the Init state No SDO communication or PDO communication is possible The master station accesses the DL Information registers and initializes the communication Pre Operational SDO communication is possible PDO communication is not possible Initial network settings are configured and the ini...

Страница 12: ...ce and the local address space in EtherCAT communication The global address space is used for PDO communication and the local address space in each slave station stores object data The master station requests the slave to transition to the Safe Operational state The state transitions to the Safe Operational state 7 Synchronization The master station and the slave station synchronize with each othe...

Страница 13: ...xes 1000h to 1FFFh are used for common objects for all axes and Indexes 2000h onward are used for objects for individual axes An individual axis can be specified by adding offsets to objects addresses Index Index Description Reference 1000h to 1FFFh Communication profile MR J5 G N1 User s Manual Object Dictionary 2000h to 5FFFh Objects defined by the manufacturer 6000h to 9FFFh CiA 402 drive profi...

Страница 14: ...not saving Precautions To shut off the power supply after executing Store parameters make sure that a save is not in progress bit 0 is on before shutting off the power Restore default parameters Objects can be reset to the factory setting Writing 64616F6Ch reverse order of the ASCII code load to Restore all default parameters Obj 1011h 01h followed by cycling the power starts object initialization...

Страница 15: ...and data from the controller and a TxPDO is used when the slave station transmits status data to the controller The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a time 4 1 PDO communication cycle RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier To change the communication cycle time r...

Страница 16: ...G N1 User s Manual Object Dictionary 1 Synchronization Type U16 rw 2 Cycle time U32 rw 4 Synchronization types supported U16 ro 5 Minimum cycle time U32 ro 6 Calc and copy time U32 ro 9 Delay time U32 ro 12 Cycle time too small U16 ro 1C33h 0 RECORD SM input parameter U8 ro 1 Synchronization type U16 rw 2 Cycle time U32 rw 4 Synchronization types supported U16 ro 5 Minimum cycle time U32 ro 6 Calc...

Страница 17: ...chronous position mode csp Cyclic synchronous velocity mode csv Cyclic synchronous torque mode cst Homing mode hm This initial mapping is for an application in which the modes above are switched and used The following function can be used together Speed limit function in cst Map size 26 bytes 2nd RxPDO map A axis 1601h B axis 1611h C axis 1621h Modes of operation Obj 6060h Padding 1 byte Controlwo...

Страница 18: ...tual value Obj 6064h Velocity actual value Obj 606Ch Following error actual value Obj 60F4h Torque actual value Obj 6077h Cyclic synchronous position mode csp Cyclic synchronous velocity mode csv Cyclic synchronous torque mode cst Homing mode hm This initial mapping is for an application in which the modes above are switched and used This mapping is also for an application in which the following m...

Страница 19: ... TxPDO byte RxPDO byte TxPDO byte RxPDO byte TxPDO byte 0 125 64 64 0 25 64 64 108 120 120 120 0 5 to 8 64 64 108 120 144 162 Index Sub Object Name Data Type Access Description 1600h 0 RECORD 1st receive PDO Mapping U8 rw MR J5 G N1 User s Manual Object Dictionary 1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw 1601h 0 RECORD 2nd receive PDO Mapping U8 rw 1 to 32 Mapped Object 001 to Mapped ...

Страница 20: ...p pv tq hm Controlword 6040h Control DI 1 2D01h Gain switching Control DI 2 2D02h Proportional control Control DI 3 2D03h Target position 607Ah Target velocity 60FFh Target torque 6071h Profile velocity 6081h Profile acceleration 6083h Profile deceleration 6084h Torque slope 6087h Velocity limit value 2D20h Object name Index Mode 1 csp csv cst pp pv tq hm Statusword 6041h Status DO 1 2D11h Status ...

Страница 21: ...O Upload Expedited This service reads data of up to 4 bytes from the slave station SDO Upload Normal This service reads data of the specified bytes from the slave station Upload SDO Segment This service reads additional data when the object size is larger than the specified number of octets Abort SDO Transfer This service notifies the SDO Abort Code when an error occurs in either of the services G...

Страница 22: ...t exist in the object dictionary 0604 0043h General parameter incompatibility reason 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too short 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written to...

Страница 23: ...estrictions on the communication cycle depending on the function used For details refer to Function restrictions in the following manual MR J5 G N1 MR J5W G N1 User s Manual Introduction Control mode Synchronous mode Asynchronous mode Cyclic synchronous position mode csp 1 Cyclic synchronous velocity mode csv 1 Cyclic synchronous torque mode cst 1 Profile position mode pp Profile velocity mode pv ...

Страница 24: ...22 6 SYNCHRONIZATION 6 2 Synchronous mode DC mode MEMO ...

Страница 25: ... profile specification After the PDO communication is established after the AL state has reached Operational the status is controlled by the master station transmitting commands by setting Controlword in accordance with the following table Once the state transitions from Not ready to switch on which is right after turning on the power supply to Operation enabled the servo motor becomes ready to op...

Страница 26: ...he operation is disabled after servo off and dynamic braking 10 Transition by Disable Voltage command or Quick Stop command from master station The dynamic brake operates 11 Transition by Quick Stop command from master station Initiation of Quick Stop 12 Automatic transition after completion of Quick Stop When the value of Quick stop option code is 1 2 3 or 4 Transition by Disable Voltage command ...

Страница 27: ...on enabled state it is necessary to give the commands Shutdown Switch On and Enable operation sequentially It is also possible to transition directly from the current state to the target state with one command Command Bit setting of Controlword command Transition No Bit 7 Fault Reset Bit 3 Enable Operation Bit 2 Quick Stop Bit 1 Enable Voltage Bit 0 Switch On Shutdown 0 1 1 0 2 6 8 Switch On 0 0 1...

Страница 28: ...DI 1 U16 rw Object defined by Mitsubishi Electric 2D02h VAR Control DI 2 U16 rw Object defined by Mitsubishi Electric Bit Symbol Description 0 SO Switch on 1 EV Enable voltage 2 QS Quick stop 3 EO Enable operation 4 OMS The definition changes depending on the setting of Modes of operation Obj 6060h MR J5 User s Manual Function 5 6 7 FR Fault reset 8 HALT 0 Operation ready 1 Temporary stop 9 OMS Th...

Страница 29: ... undefined Set 0 when writing 1 2 3 4 C_CDP Gain switching Refer to SIGNALS AND WIRING in the following manual MR J5 User s Manual Hardware 5 C_CLD Fully closed loop control switching 6 The value at reading is undefined Set 0 when writing 7 8 9 10 11 12 13 14 15 Bit Symbol Description Reference 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 C_PC Proportional control Refer t...

Страница 30: ...mpletion for scale measurement The state absolute position erased of a scale measurement encoder can be canceled by turning on C_ABS2 with the scale measurement function At this time S_ABSV2 will turn off 9 The value at reading is undefined Set 0 when writing 10 11 12 13 14 15 Bit Symbol Description Reference 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 1...

Страница 31: ...defined Set 0 when writing 1 2 3 4 C_CDP2 Gain switching 2 Refer to SIGNALS AND WIRING in the following manual MR J5 User s Manual Hardware 5 The value at reading is undefined Set 0 when writing 6 7 8 9 10 11 12 13 14 15 Bit Symbol Description Reference 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 ...

Страница 32: ...I 7 Control DI 8 Bit Symbol Description Reference 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 Bit Symbol Description Reference 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 ...

Страница 33: ...DI 9 Control DI 10 Bit Symbol Description Reference 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 Bit Symbol Description Reference 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 ...

Страница 34: ...equal to or higher than the specified level 5 QS Quick stop 0 In a Quick stop 1 Not in a Quick stop including in the test mode 6 SOD Switch on disabled 7 W Warning 0 No warning has occurred 1 A warning has occurred 8 The value at reading is undefined 9 RM Remote 0 Not following the Controlword command 1 Operating in accordance with the Controlword command 10 OMS Operation Mode Specific The definit...

Страница 35: ... 0001 Ready to switch on x0xx xxx0 x01x 0011 Switched on x0xx xxx0 x01x 0111 Operation enabled x0xx xxx0 x00x 0111 Quick stop active x0xx xxx0 x0xx 1111 Fault reaction active x0xx xxx0 x0xx 1000 Fault Bit Symbol Description Reference 0 The value at reading is undefined 1 2 S_SA Speed reached Refer to SIGNALS AND WIRING in the following manual MR J5 User s Manual Hardware 3 S_MBR Electromagnetic br...

Страница 36: ...PC Under proportional control S_PC is turned on under proportional control 9 The value at reading is undefined 10 S_DB External dynamic brake output 11 The value at reading is undefined 12 13 14 15 S_ZP2 Homing completion 2 When homing completes successfully S_ZP2 turns on Bit Symbol Description Reference 0 The value at reading is undefined 1 2 3 4 5 S_STO In STO state S_STO turns on in STO state ...

Страница 37: ...mbol Description Reference 0 The value at reading is undefined 1 2 3 4 S_CDPS2 Variable gain selection 2 Refer to GAIN SWITCHING FUNCTION in the following manual MR J5 User s Manual Adjustment 5 S_CPO Rough match When the command remaining distance is less than the value of the rough match output range set in Pr PT12 S_CPO is on 6 The value at reading is undefined 7 8 9 10 11 12 13 14 15 ...

Страница 38: ... 7 8 9 10 11 12 13 14 15 Bit Symbol Description Reference 0 The value at reading is undefined 1 2 S_POT Position range When the actual current position is within the range set in Pr PT19 and Pr PT21 S_POT is on When homing is not complete or base circuit shut off is in progress S_POT is off 3 The value at reading is undefined 4 5 6 7 8 9 10 11 12 13 14 15 ...

Страница 39: ...us DO 37 7 Status DO 8 Status DO 9 Bit Symbol Description Reference 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Bit Symbol Description Reference 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Страница 40: ...38 7 CiA 402 DRIVE PROFILE 7 3 Statusword Status DO Status DO 10 Bit Symbol Description Reference 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Страница 41: ...he position mode check that the servo motor is in zero speed state Data of whether the servo motor is in zero speed state can be obtained by Bit 3 S_ZSP of Status DO 2 Obj 2D12h If the motor is not in zero speed state the control mode will not be switched and therefore Modes of operation display Obj 6061h will not change To switch the control mode even if the motor is not in zero speed state set P...

Страница 42: ...ZSP Bit 3 of Status DO 2 Obj 2D12h is on servo motor speed being less than zero speed set in Pr PC07 Setting 1 Disabled Control switching is performed regardless of the range of ZSP to Pr PC76 1 enables the control mode to be switched without checking the condition Motor being stopped on the servo amplifier Set 1 to Pr PC76 1 only if switching the control mode without waiting for the motor to stop...

Страница 43: ...list This list shows an engineering tool used with the MR J5 G N1 Engineering tool Description MR Configurator2 This is a software that has the following functions servo amplifier adjustment monitor display diagnosis reading writing of servo parameters and test operation These functions are performed using a personal computer Settings such as a stroke limit absolute position detection system commu...

Страница 44: ...er configures settings of connected slave stations according to the contents of ESI files for the connected slave stations Connecting Ethernet cables Use a twisted pair cable double shielded compliant with Ethernet Category 5e 100BASE TX or higher as an Ethernet cable The maximum cable length between nodes is 100 m When connecting Ethernet cables to servo amplifiers be aware that CN1A is the IN po...

Страница 45: ...ess set with the ID setting switches SW1 SW2 or Pr NPA09 can be read Identifying with Configured Station Alias 0012h The node address set with SII Configured Station Alias can be read 8 3 Network disconnection procedure To disconnect the network when stopping the operation of equipment follow the procedure shown below Otherwise AL 86 1 Network communication error 1 may occur 1 Stop the servo motor...

Страница 46: ... torque POL disabled Pr PC43 Forward rotation torque limit 2 POL enabled Pr PC44 Reverse rotation torque limit 2 3 10000 POL disabled Pr PC44 Reverse rotation torque limit 2 POL enabled Pr PC43 Forward rotation torque limit 2 Pr PC42 0 Positive Negative torque limit 2 select Obj 2D6Dh 01h Forward rotation torque limit value Reverse rotation torque limit value CPTL 0 CPTL 1 CNTL 0 CNTL 1 0h 0000h P...

Страница 47: ...9 MANUFACTURER SPECIFIC FUNCTION 9 1 Torque limit selection 45 9 MEMO ...

Страница 48: ...on January 2020 SH NA 030371ENG A First edition 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 ...

Страница 49: ...u acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of prod...

Страница 50: ...tric Corporation in Japan and or other countries EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030371ENG A ...

Страница 51: ......

Страница 52: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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