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2 APPENDIX

2.1 CC-Link IE TSN

43

2

• Control switching between cyclic mode (csp, csv, and cst) and profile mode (pp, pv, and tq)
The control mode is switched between the cyclic mode (csp, csv, and cst) and the profile mode (pp, pv, and tq) only if the
condition for control switching is met, following which [Modes of operation display (Obj. 6061h)] is changed. If the condition for
control switching is not met, the control mode will not be switched and the value in [Modes of operation display (Obj. 6061h)]
will not be changed. The condition for control switching is "Motor being stopped".
"Motor being stopped" means that S_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. Switching the control mode without waiting for the motor to
stop may cause a shock.
The following shows a timing chart of control switching between the cyclic mode (csp, csv, and cst) and the profile mode (pp,
pv, and tq).

pp

csp

ON

OFF

[Modes of operation display (Obj. 6061h)]

[Modes of operation (Obj. 6060h)]

pp

csp

S_ZSP

Zero speed level

Within 4 ms

Servo motor speed

(Bit 3 of [Status DO 2 (Obj. 2D12h)])

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Содержание Melservo-Jet MR-JET-G

Страница 1: ...MR JET G User s Manual Communication Function MR JET _G 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: ...efore wiring To prevent an electric shock connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the cabinet then connect the grounding lead wire to the ground 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 sw...

Страница 5: ...anual Introduction U S CUSTOMARY UNITS U S customary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F Rotary Servo Mo...

Страница 6: ...ctionary OD 8 Engineering tool 9 1 2 Startup 10 Outline 10 Network setting 10 1 3 Application function 12 CC Link IE TSN Network diagnostics 12 IP address setting function 13 Parameter automatic setting 14 Hold Clear of output at CPU STOP and at CPU stop error 15 Remote reset 15 Clock function 15 CHAPTER 2 APPENDIX 16 2 1 CC Link IE TSN 16 CC Link IE TSN communication protocol 16 Cyclic transmissi...

Страница 7: ...roller supported by a CANopen profile Combining with Mitsubishi Electric manufactured Motion modules enables advanced motion control such as positioning of multiple axes synchronous control by sequential command or interpolation control Motion mode supports CiA 402 drive profile Refer to the following for control modes supported by motion mode Page 6 Function list Page 42 Control mode System confi...

Страница 8: ... can be synchronized via the CC Link IE TSN in accordance with the synchronization cycle specified by the master station Thus operation timing of other slave stations connected to the same network can be synchronized Network system startup Detect Now function The master station reads the information a model code a device version etc of the servo amplifier that is connected to the network and autom...

Страница 9: ...ommunication speed 1 Gbps Transmission distance between stations Max 100 m Number of connection nodes Max 254 stations The number of connection nodes depends on the specifications of the controller Guaranteeing method of communication bandwidth Time division Synchronization method IEEE802 1AS to IEEE1588 Communication cycle 1 2 125 μs 250 μs 500 μs 1 ms 2 ms 4 ms 8 ms Cyclic transmission Motion mo...

Страница 10: ... changing the network configuration Failing to do so may trigger AL 086 Summary of object dictionary OD The data that a device holds such as control parameters command values and feedback values is handled as an object composed of an Index object name object type R W attribute and other elements The data is exchanged between the master and slave devices The aggregate of these objects is called an ...

Страница 11: ...e main purposes of the engineering tools used in communication For specific usages refer to the manuals of the engineering tool and controller Engineering tool list This list shows engineering tools used in CC Link IE TSN Index Sub Object Name Data Type Access Description 1010h 0 ARRAY Store parameters U8 ro Number of entries 1 Save all parameters U32 rw Saves all parameters Bit Description 0 0 Ob...

Страница 12: ...Refer to the following when setting with parameters Page 13 IP address setting function 3 Network setting servo parameter setting MR JET G User s Manual Parameters 4 Network connection procedure Page 11 Network connection procedure Settings when connecting to Mitsubishi Electric Motion Unit To control the stroke limit on the controller side set Pr PD41 For details refer to the manual for the contr...

Страница 13: ... in the network If the network is not connected check the following contents Check if an alarm has occurred in the servo amplifier If an alarm occurs refer to the following manual and cancel the alarm MR JET User s Manual Troubleshooting Check the rotary switch Make sure that the 4th octet of the IP address set by the master station matches the setting of the rotary switches Network disconnection ...

Страница 14: ...nitoring function of network status Network map monitor The current network connection configuration is displayed as a diagram Information such as the connection status of cables duplication of IP address and the disconnection status of stations can be monitored The error history stored in the servo amplifier can be read and deleted These operations can be performed by servo amplifiers with firmwa...

Страница 15: ... address is as follows Pr NPA01 IP address setting Rotary switches SW1 SW2 IP address 00000000h The rotary switch is used 00h 1st octet Use the value of for Pr NPA02 IP address 2nd octet 3rd octet 4th octet 01h to FEh 1st octet Use the 1st to 3rd octet values of Pr NPA02 IP address 2nd octet 3rd octet 4th octet The setting value of the rotary switch SW1 SW2 is used FFh Not available 00000001h Netw...

Страница 16: ...t requires power cycling after being set is changed by the parameter automatic setting AL 09E 7 Parameter unreflected warning occurs Cycle the power of the servo amplifier Do not turn off the power supply of the controller during backup Before turning off the power supply of the controller check the rewrite status of the parameter file of the slave station by using the event history function of th...

Страница 17: ...The servo amplifier decelerates the servo motor to a stop Remote reset Resetting can be done by sending the reset command to the specified station The reset command can be sent from the Remote Operation window of GX Works3 Refer to the following for details Page 12 Remote Operation Clock function This function is used to acquire time information from the grand master the station serving as a clock...

Страница 18: ...s performed in initialization phase of CC Link IE TSN such as management master mediation connection structure detection propagation delay measurement communication band setting The servo motor cannot be operated Pre Operational The master station the Motion module and the slave station the servo amplifier send and receive SDOs with transient transmission and get ready to start or to resume operat...

Страница 19: ...r transitions to Operational When PDO mapping setting is not performed on the servo amplifier the state transitions on this route 6 When the master station issues NMT State Download SLMP for Init to the servo amplifier or when a communication time out occurs the servo amplifier transitions from Safe Operational to Init 7 When the master station issues NMT State Download SLMP for Pre Operational to...

Страница 20: ...ping is defined The PDO received by each station is called an RPDO and the PDO transmitted by each station is called a TPDO PDOs are transferred using the cyclic Ms frame from the master station to the slave station and the cyclic Ss frame from the slave station to the master station A conceptual figure of communication between the master station and the slave station is shown below RPDO1 RPDO2 TP...

Страница 21: ...elocity 000Ch 6040h Controlword 000Eh 60E0h Positive torque limit value 0010h 60E1h Negative torque limit value 0012h 6071h Target torque 0014h 2D20h Velocity limit value 0018h 2D01h Control DI 1 001Ah 2D02h Control DI 2 001Ch 2D03h Control DI 3 001Eh 2D04h Control DI 4 0020h 2D05h Control DI 5 0022h 0000h GAP TPDO from the servo amplifier to the master station Offset Address Index Device name 000...

Страница 22: ...1600h set 60600008h to Mapped Object 001 Obj 1600h 01h Item Value RPDO maximum number of objects 32 TPDO maximum number of objects 32 RPDO initial size byte 36 TPDO initial size byte 42 RPDO maximum size byte 80 TPDO maximum size byte 80 Number of RPDO mapping settings 2 1st Receive PDO Mapping 2nd Receive PDO Mapping Number of TPDO mapping settings 2 1st Transmit PDO Mapping 2nd Transmit PDO Mapp...

Страница 23: ...60600008h Modes of operation Obj 6060h 00h 1600h 03h 00000008h GAP Obj 0000h 00h 1600h 04h 60400010h Controlword Obj 6040h 00h 1600h 05h 00000008h GAP Obj 0000h 00h Index Sub Index Setting value Object contents 1600h 00h 5h Number of entries 1600h 01h 1D010008h Watchdog counter DL Obj 1D01h 00h 1600h 02h 60600008h Modes of operation Obj 6060h 00h 1600h 03h 00000008h GAP Obj 0000h 00h 1600h 04h 604...

Страница 24: ...me Index Mode csp csv cst ct 1 pp 2 pv 2 tq 2 hm Watch dog counter DL Obj 1D01h Controlword Obj 6040h Control DI 1 Obj 2D01h Control DI 2 Obj 2D02h Control DI 3 Obj 2D03h Target position Obj 607Ah Target velocity Obj 60FFh Target torque Obj 6071h Profile velocity Obj 6081h 1 Profile acceleration Obj 6083h 1 Profile deceleration Obj 6084h 1 Torque slope Obj 6087h 1 Velocity limit value Obj 2D20h Po...

Страница 25: ...A00h are assigned to PDO Assignment Obj 1C00h 01h Index Sub Index Object Name Data Type Default Description 1D01h VAR Watch dog counter DL U16 Watchdog counter download 1D02h VAR Watch dog counter UL U16 Watchdog counter upload Index Sub Index Object Name Data Type Access Default Description 1C00h 0 RECORD 1st PDO Config U8 ro 4 4 Number of entries 1 PDO Assignment U16 rw 1600h Set the address Ind...

Страница 26: ...sending station PDO Enable Sub Index 2 Cyclic communication enabled control flag Bit 0 of the sub payload Operation of PDO receiving station 0 Disabled 0 Disabled The PDO is not transferred to the receipt memory 1 Enabled The PDO is regarded as disabled 1 Enabled 0 Disabled The PDO is not transferred to the receipt memory 1 Enabled The PDO is regarded as enabled PDO Enable Sub Index 2 Operation of...

Страница 27: ...fication 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...

Страница 28: ...from the Not ready to switch on state to the Operation enabled state with the predetermined procedure Not ready to switch on A Switch on disabled A Ready to switch on A Switched on B Operation enabled C Quick stop active C 1 8 9 10 0 Power off or sw reset Power on 2 3 6 4 5 7 15 11 12 13 Fault A Fault reaction active D 14 B Ready on Servo off Transition by slave Transition by master Transition by ...

Страница 29: ...6 Transitions with the Shutdown command from the master station The dynamic brake operates 7 Transitions with the Disable Voltage command or Quick Stop command from the master station None 8 Transitions with the Shutdown command from the master station Transition when the power supply turned off The operation is disabled after servo off and dynamic braking 9 Transitions with the Disable Voltage co...

Страница 30: ...s necessary to give each command of the Shutdown Switch On and Enable Operation sequentially However it is also possible to transit directly from the ongoing state to the target state with one command Command Command bit setting of Controlword 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 1 1 3 Di...

Страница 31: ...onding bit is 0 When the signal is supported the corresponding bit is 1 When the signals corresponding to Control DI are Bit 4 and Bit 5 0030h is displayed 2D00h 10 ARRAY Supported Control DI 10 U16 ro Correspondence information for Control DI 10 2D01h VAR Control DI 1 U16 rw Objects defined by Mitsubishi Electric 2D0Ah VAR Control DI 10 U16 rw Objects defined by Mitsubishi Electric Bit 1 Symbol D...

Страница 32: ...tion Reference 0 The value at reading is undefined Set 0 when writing 1 2 3 4 C_CDP Gain switching Refer to SIGNALS AND WIRING in the following manual MR JET 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 C_PC Proportional control Refer to...

Страница 33: ...ol DI 4 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: ...defined Set 0 when writing 6 7 8 9 C_FLS Input of upper stroke limit Refer to Stroke limit function in the following manual MR JET User s Manual Function 10 C_RLS Input of lower stroke limit 11 C_DOG Proximity dog input Refer to SIGNALS AND WIRING in the following manual MR JET User s Manual Hardware 12 The value at reading is undefined Set 0 when writing 13 14 15 Bit Symbol Description Reference ...

Страница 35: ...ol 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 36: ... 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 37: ...evel 1 The bus voltage is 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 Page 27 Events and PDS state transitions 6 SOD Switch on disabled 7 W Warning 0 No warning has occurred 1 A warning has occurred 8 Reserved The value at reading is undefined 9 RM Remote 0 When not following the Controlword command 1 Operating in a...

Страница 38: ...word is not sent when in the Not ready to switch on state Statusword bin PDS state x0xx xxx0 x0xx 0000 Not ready to switch on 1 x0xx xxx0 x1xx 0000 Switch on disabled x0xx xxx0 x01x 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 ...

Страница 39: ...SIGNALS AND WIRING in the following manual MR JET User s Manual Hardware 13 S_TLC Limiting torque 14 S_ABSV Absolute position undetermined 1 Absolute position is erased 15 S_BWNG Battery warning Bit Symbol Description Reference 0 S_ZPASS Z phase already passed After the Z phase is passed S_ZPASS turns on 1 The value at reading is undefined 2 3 S_ZSP Zero speed detection Refer to SIGNALS AND WIRING...

Страница 40: ...eration During forced stop deceleration S_RSTP is on 10 The value at reading is undefined 11 S_MTTR Transition to tough drive mode in progress Refer to APPLICABLE FUNCTIONS in the following manual MR JET User s Manual Function 12 The value at reading is undefined 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 41: ...lowing manual MR JET User s Manual Adjustment 5 S_CPO 1 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 This is not outputted during base circuit shut off When the servo amplifier is switched to the servo on state S_CPO switches on 6 The value at reading is undefined 7 8 9 10 11 12 13 14 15 Bit Symbol Description Ref...

Страница 42: ...s undefined 1 2 S_POT 1 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 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 43: ... Status DO 9 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 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 44: ...turned off in hm mode 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 has been confirmed by using Modes of operation display Obj 6061h the controller can stop sending the command value Before switching to or ...

Страница 45: ...t S_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 ...

Страница 46: ... 1 2 Cyclic synchronous position mode Continuous operation to torque control mode No condition 3 Cyclic synchronous torque mode Continuous operation to torque control mode Cyclic synchronous position mode Servo motor being stopped 1 4 Cyclic synchronous velocity mode Cyclic synchronous torque mode Continuous operation to torque control mode No condition 5 Cyclic synchronous torque mode Continuous ...

Страница 47: ...less of the range of ZSP enables switching of the control mode without checking for switching condition Servo motor being stopped on the servo amplifier Set Pr PC76 1 to 1 only if switching the control mode without waiting for the servo motor to stop Note that switching the control mode without waiting for the servo motor to stop may cause a shock ...

Страница 48: ...owing functions are added Profile mode continuous operation to torque control mode Edited sections Section 1 3 Section 1 3 Section 2 1 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 ...

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: ...rademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies IB NA 0300463ENG B ...

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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