1. FUNCTIONS AND CONFIGURATION
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1. FUNCTIONS AND CONFIGURATION
1.1 Summary of Modbus-TCP
The Modbus protocol, developed for programmable controllers by Modicon Inc., has evolved into the
Modbus/TCP protocol for use over TCP/IP.
The Modbus master acts as a TCP client, and the Modbus slave acts as a TCP server for client-server
communication. Using the functions in the message frames enables to read or write data from/to
parameters, write input commands, and check operation status of servo amplifiers.
For MR-JE-_C servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive
profile.
A Modbus-compatible controller, the client, can communicate with the MR-JE-_C servo amplifiers that are
servers by accessing assigned holding registers.
1.2 Function List
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Function Description
Detailed
explanation
Position control mode (P)
(pulse train input)
This servo amplifier is used as a position control servo.
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
Speed control mode (S)
(Analog input/DI input)
This servo amplifier is used as a speed control servo.
Torque control mode (T)
(Analog input)
This servo amplifier is used as a torque control servo.
Position/speed control
switching mode (P/S)
Using an input device, control can be switched between position control and speed
control.
Speed/torque control switch
mode (S/T)
Using an input device, control can be switched between speed control and torque
control.
Torque/position control switch
mode (T/P)
Using an input device, control can be switched between torque control and position
control.
Profile position mode (pp)
The servo amplifier operates in the profile position mode.
"MR-JE-_C
Servo Amplifier
Instruction
Manual (Profile
Mode)"
Profile velocity mode (pv)
The servo amplifier operates in the profile velocity mode.
Profile torque mode (tq)
The servo amplifier operates in the profile torque mode.
Homing mode (hm)
The servo amplifier operates in the home position return mode.
Absolute position detection
system
Setting a home position once makes home position return unnecessary at every
power-on.
"MR-JE-_C
Servo Amplifier
Instruction
Manual" /
"MR-JE-_C
Servo Amplifier
Instruction
Manual (Profile
Mode)"
Model adaptive control
This function achieves a high response and stable 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 function can be disabled. To disable this function, refer to section
7.4 of "MR-JE-C_ Servo Amplifier Instruction Manual".
Touch probe function
The touch probe function is available only in the profile mode. When the touch probe
1 signal turns on, the current position latch function will latch the current position.
The latched data can be read with communication commands.
Section 6.4.8
Command pulse selection
Command pulse train form can be selected from among three different types.
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
motor compatible with the MELSERVO-JE series.
Содержание MELSERVO-JE MR-JE-C
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