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Mitsubishi Electric MR-JE-C Series Instruction Manual

Melser i/o-je ethernet interface, servo amplifier
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General-Purpose AC Servo
Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Network)
C

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Summary of Contents for Mitsubishi Electric MR-JE-C Series

  • Page 1 General-Purpose AC Servo Ethernet Interface MODEL MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (Network)
  • Page 2 Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
  • Page 4 3. To prevent injury, note the following CAUTION Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
  • Page 5 CAUTION When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).
  • Page 6 CAUTION Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other.
  • Page 7 (5) Corrective actions CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
  • Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 9 MEMO A - 8...

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4 1.1 Function List ............................1- 1 2. CC-Link IE Field Network Basic/SLMP 2- 1 to 2-16 2.1 Outline ............................... 2- 1 2.1.1 Features ............................. 2- 1 2.2 Communication specifications ......................2- 2 2.2.1 Communication specifications of CC-Link IE Field Network Basic ..........
  • Page 11 4.4.2 Cable connection diagram ......................4- 3 4.5 Modbus RTU Message Format......................4- 4 4.6 Broadcast Communication ........................ 4- 4 4.7 Modbus RTU Communication Message Frame ................4- 5 4.8 Function Codes ..........................4- 6 4.8.1 List of function codes ......................... 4- 6 4.8.2 Read Holding Registers (Reading data in holding registers: 03h)..........
  • Page 12 7.5.7 External Input signal display (2C12h) ..................7-32 7.5.8 Control DI (2D01h to 2D0Ah) ....................7-34 7.5.9 Status DO (2D11h to 2D1Ah) ....................7-41 7.5.10 Manufacturer Device Name 2 (2D30h) ................... 7-47 7.5.11 Manufacturer Hardware Version 2 (2D31h) ................7-47 7.5.12 Manufacturer Software Version 2 (2D32h) ................
  • Page 13 MEMO...

  • Page 14: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Function List POINT Ethernet communication (CC-Link IE field network Basic, SLMP and Modbus/ TCP) and RS-485 communication (Modbus RTU) are exclusively independent functions. The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.
  • Page 15 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation "MR-JE-_C Servo Amplifier Instruction Manual"/ "MR-JE-_C Servo Amplifier Instruction Absolute position detection Setting a home position once makes home position return unnecessary at every Manual (Profile system power-on. Mode)"/ "MR-JE-_C Servo Amplifier Instruction Manual (Positioning...
  • Page 16 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Improves a disturbance response when a response performance cannot be Robust filter increased because of a large load to motor inertia ratio, such as a roll feed axis. Slight vibration suppression Suppresses vibration of ±1 pulse generated at a servo motor stop. control The position control is performed based on a value obtained by multiplying the Electronic gear...

  • Page 17: Cc-Link Ie Field Network Basic/Slmp 2- 1 To

    1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation This function calculates the power running energy and the regenerative power from Power monitoring function the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2. From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error Machine diagnosis function...

  • Page 18: Outline

    2. CC-Link IE Field Network Basic/SLMP 2. CC-Link IE Field Network Basic/SLMP 2.1 Outline CC-Link IE Field Network Basic is a standard Ethernet-based protocol used to perform cyclic communication by the installed software without using a dedicated ASIC. You can establish a highly flexible system because CC-Link IE Field Network Basic can be used together with TCP/IP communications.

  • Page 19: Communication Specifications

    2. CC-Link IE Field Network Basic/SLMP 2.2 Communication specifications 2.2.1 Communication specifications of CC-Link IE Field Network Basic Function Description Communication protocol No. 61450 (cyclic data) Port No. No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only) Cyclic data 32 points (64 bytes) IPv4 range: 0.0.0.1 to 223.255.255.254...

  • Page 20: Slmp Communication Specifications

    2. CC-Link IE Field Network Basic/SLMP 2.2.2 SLMP communication specifications Function Description Communication protocol UDP/TCP (Note) iQSS No. 45237 (NodeSearch and IPAddressSet only) No. 5010 Port No. No. 5012 (Note) IPv4 range: 0.0.0.0 to 255.255.255.255 IP address Use the same network address for both the master and slave stations. Default value: 192.168.3.0 Subnet mask Default value: 255.255.255.0...

  • Page 21: Message Format

    2. CC-Link IE Field Network Basic/SLMP 2.3.1 Message format The following shows the request message format to be used when the master station (controller) sends a message, and the response message format to be used when the slave stations (servo amplifiers) return a message.
  • Page 22 2. CC-Link IE Field Network Basic/SLMP Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and home position return mode) Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn) Device No. Device No. Index Device Index Device (Note)

  • Page 23: Mapping Data Details Of Link Device

    2. CC-Link IE Field Network Basic/SLMP Table 2.3 RWwn/RWrn mapping (pt/idx/jg/hm) Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn) Device No. Device No. Index Device Index Device (Note) (Note) RWwn00 6060 Modes of operation RWrn00 6061 Modes of operation display RWwn01 6040...

  • Page 24: Slmp

    2. CC-Link IE Field Network Basic/SLMP 2.4 SLMP 2.4.1 Outline POINT SLMP (UDP) is supported by servo amplifiers with software version A0 or later. SLMP (TCP) is supported by servo amplifiers with software version A3 or later. In SLMP (TCP), if connection with a client disconnects during establishment, the connection may not close and this may cause reconnection failure.

  • Page 25: Message Format

    2. CC-Link IE Field Network Basic/SLMP 2.4.2 Message format The following shows the request message format to be used when the master station (external device) sends a message, and the response message formats to be used when the slave stations (servo amplifiers) return a message.

  • Page 26: Command

    2. CC-Link IE Field Network Basic/SLMP Item Size Endian Description Header This header is for TCP/IP and UDP/IP. Add the header on the external device side before sending a message. TCP/IP is supported by servo amplifiers with software version A3 or later. Subheader 2 bytes At a request: 5000h...

  • Page 27: Cia 402 Read/Write Command

    2. CC-Link IE Field Network Basic/SLMP 2.4.3 Command The following table lists applicable commands. Detailed Name Command Description command explanation CiA 402 object 4020h 0001h Reads data specified by using the CiA 402 object from the servo Section read/write amplifier to the external device. 2.4.4 (1) 0002h Writes data specified by using the CiA 402 object from the external...
  • Page 28 2. CC-Link IE Field Network Basic/SLMP (c) Item list Item Size Endian Description Command 2 bytes Little 4020h Sub command 2 bytes Little 0001h Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.) For the response message, the value specified in the request message is stored.
  • Page 29 2. CC-Link IE Field Network Basic/SLMP (3) SDO Object SubID Block Upload (CiA 402 object sub ID continuous read) When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from the master station (external device), they return a value of the object corresponding to the specified Index or consecutive Sub Index.

  • Page 30: Error Codes

    2. CC-Link IE Field Network Basic/SLMP 2) At abnormal completion The response message is the same as that of section 2.4.2 (2) (b). (c) Item list Item Size Endian Description Command 2 bytes Little 4020h Sub command 2 bytes Little 0006h Index 2 bytes...

  • Page 31: Startup

    2. CC-Link IE Field Network Basic/SLMP 2.5 STARTUP POINT Setting [Pr. PN02 Communication error detection time] to a small value may trigger [AL. 86.1] in the following condition: the power of the servo amplifier is cycled, or an instantaneous power failure occurs during CC-Link IE Field Network Basic communication.

  • Page 32: Ip Address Setting

    2. CC-Link IE Field Network Basic/SLMP 2.5.2 IP address setting POINT Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet communication using a switching hub.
  • Page 33 2. CC-Link IE Field Network Basic/SLMP MEMO 2 - 16...

  • Page 34: Modbus/Tcp 3- 1 To

    3. Modbus/TCP 3. Modbus/TCP 3.1 Outline POINT Modbus/TCP is available with servo amplifiers with software version A3 or later. The following are shown in the "Data Type" in this instruction manual. I8 or U8: 2 bytes I16 or U16: 4 bytes I32 or U32: 8 bytes VS: VISIBLE STRING The following are shown in the "Access"...

  • Page 35: Function List

    3. Modbus/TCP 3.3 Function List Functions that can be implemented are as follows. Operation and maintenance of the servo amplifier can be performed remotely. Function Description Detailed explanation Reads the items in "Display all", the monitor function of MR Configurator2, Status monitor such as the servo motor speed and droop pulses.

  • Page 36: Modbus/Tcp Communication Message Frame

    3. Modbus/TCP 3.5 Modbus/TCP Communication Message Frame Query Messages sent from the client (controller) and Response Messages sent from the servers (servo amplifiers) are both sent in the following message frame format. Messages are sent by using TCP/IP. Unit Identifier Function Data Query Message...

  • Page 37: Function Codes

    3. Modbus/TCP 3.6 Function Codes 3.6.1 List of function codes The MR-JE-_C servo amplifier supports the following function codes. Code Function name Description Read Holding Registers Reading data in holding registers The data in the registered holding registers can be read from the client. Diagnostics Function diagnostics When this function code is sent from the client to a server, the server returns the...
  • Page 38 3. Modbus/TCP Response Message Data Transaction Protocol Unit Length Field Function Byte Count Identifier Identifier Identifier 16 bits 0000h 16 bits 8 bits 8 bits 8 bits 8 bits 8 bits Message field Size Description Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned. Protocol Identifier 16 bits The value "0000h"...

  • Page 39: Diagnostics (Function Diagnostics: 08H)

    3. Modbus/TCP Response Message Data Transaction Protocol Unit Length Field Function Byte Count Identifier Identifier Identifier 16 bits 0000h 000Bh The following shows the information in each Response Message. Message field Description Transaction Identifier Transaction Identifier received from the client (controller) is copied and returned. Protocol Identifier The value "0000h"...
  • Page 40 3. Modbus/TCP (2) Usage example The following shows a setting example of when the diagnosis function is used. Query Message Sub Function Data Transaction Protocol Unit Length Field Function Identifier Identifier Identifier 16 bits 0000h 0006h Set the following values to each Query Message. Message field Description Transaction Identifier...

  • Page 41: Preset Multiple Registers (Writing Data In Multiple Holding Registers: 10H)

    3. Modbus/TCP 3.6.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) Data is written to consecutive holding registers for the specified number of data points starting from the specified register address. (1) Message frame Query Message Starting No. of Data Transaction Protocol...
  • Page 42 3. Modbus/TCP (2) Usage example The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]). No. of Continuous Index Name Data type Access Setting value Registers read/write 2102h PC02 00000100h Query Message Starting No. of Data Transaction Protocol...

  • Page 43: Processing At Occurrence Of An Error

    3. Modbus/TCP 3.6.5 Processing at occurrence of an error In Modbus/TCP communication, when the Query Message sent from the client (controller) includes an incorrect value, the server (servo amplifier) returns an exception response to the client (controller). If an error is detected in the TCP/IP layer, the server (servo amplifier) returns no message to the client (controller).

  • Page 44: Startup

    3. Modbus/TCP 3.7 Startup POINT When using Modbus/TCP communication, set [Pr. PN10 Ethernet communication time-out selection] before driving the servo motor. The servo motor may continue to operate after the communication is disabled due to a communication shut-off or other causes. Setting [Pr.

  • Page 45: Ip Address Setting

    3. Modbus/TCP 3.7.2 IP address setting POINT Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet communication using a switching hub.

  • Page 46: Modbus Rtu 4- 1 To

    4. Modbus RTU 4. Modbus RTU 4.1 Outline POINT Modbus RTU is available with servo amplifiers with software version A4 or later. RS-485 communication (Modbus RTU) and Ethernet communication function are mutually exclusive. They cannot be used together. In addition, MR Configurator2 cannot be used with an Ethernet port.

  • Page 47: Function List

    4. Modbus RTU The following shows a communication data format of 1 frame for Modbus RTU communication. (LSB) (MSB) Next start Start Parity Stop Data 1 frame (11 bits) 4.3 Function List Functions that can be implemented are as follows. Operation and maintenance of the servo amplifier can be performed remotely.

  • Page 48: System Configuration

    4. Modbus RTU 4.4 System Configuration 4.4.1 Diagrammatic sketch The following diagrammatic sketch shows the system configuration of Modbus RTU communication. Up to 32 axes of servo amplifiers can be operated and controlled on the same bus. Servo amplifier Servo amplifier Servo amplifier (Note) Modbus...

  • Page 49: Modbus Rtu Message Format

    4. Modbus RTU 4.5 Modbus RTU Message Format In the Modbus RTU communication, a command sent from a master (controller) to a slave (servo amplifier) is called "Query Message", and a command that the slave (servo amplifier) returns to the master (controller) is called "Response Message".

  • Page 50: Modbus Rtu Communication Message Frame

    4. Modbus RTU 4.7 Modbus RTU Communication Message Frame Query Messages sent from the master (controller) and Response Messages sent from the slaves (servo amplifiers) are both sent in the following message frame format. Address Function Data Error Check Query Message Master Slave (controller)

  • Page 51: Function Codes

    4. Modbus RTU 4.8 Function Codes 4.8.1 List of function codes The MR-JE-_C servo amplifier supports the following function codes. Code Function name Description Broadcast communication Reading data in holding registers Read Holding Registers Not supported The data in the registered holding registers can be read from the master.
  • Page 52 4. Modbus RTU Response Message Data CRC Check Slave Address Function Byte Count (8 bits) (8 bits) (8 bits) (8 bits) (8 bits) (8 bits) (8 bits) (8 bits) (8 bits) Message Size Description Slave Address 8 bits The station number of a slave (servo amplifier) is returned. Function 8 bits When the message was received without errors, "03h"...

  • Page 53: Diagnostics (Function Diagnostics: 08H)

    4. Modbus RTU The following shows the information in each Response Message. Message Description Slave Address The station number "02h" is returned. Function The value "03h" is returned. This means that the message was received without errors. Byte Count The value "08h" is returned. This means that data of 8 frames is returned. Data Data starting from the start address is returned.
  • Page 54 4. Modbus RTU (2) Usage example The following shows a setting example of when the function diagnostics of the slave address "03h" is executed. Query Message Sub Function Data CRC Check Slave Address Function (8 bits) (8 bits) Set the following values to each Query Message. Message Description Slave Address...

  • Page 55: Preset Multiple Registers (Writing Data In Multiple Holding Registers: 10H)

    4. Modbus RTU 4.8.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) Data is written to consecutive holding registers for the specified number of data points starting from the specified register address. (1) Message frame Query Message Starting Address No.
  • Page 56 4. Modbus RTU (2) Usage example The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]) of the slave address "02h". Continuous Index Name Data type Access No. of Registers Setting value read/write 2102h PC02 00000100h Query Message...

  • Page 57: Processing At Occurrence Of An Error

    4. Modbus RTU 4.8.5 Processing at occurrence of an error In the Modbus RTU communication, when the Query Message sent from the master (controller) includes an incorrect value, the slave (servo amplifier) returns an exception response to the master (controller). When a parity error, CRC error, overrun error, or framing error occurs, the slave (servo amplifier) does not return a message to the master (controller).

  • Page 58: Startup

    4. Modbus RTU 4.9 STARTUP POINT When using Modbus RTU communication, set [Pr. PF46 Modbus RTU communication time-out selection] before driving the servo motor. The servo motor may continue to operate after the communication is disabled due to a communication shut-off or other causes. Setting [Pr.

  • Page 59: Slave Address Setting

    4. Modbus RTU 4.9.2 Slave address setting POINT The initial value of the slave address is 0. The slave address can be set from 1 to 247 by using the identification number setting rotary switch (SW1/SW2). Cycle the power of the servo amplifier after changing the parameter setting of the slave address or identification number setting rotary switch (SW1/SW2).

  • Page 60: Parameters

    5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting CAUTION Setting a value out of the range...
  • Page 61 5. PARAMETERS Initial Symbol Name Unit value PC13 Analog torque command maximum output 100.0 PC14 For manufacturer setting 0000h PC15 0000h PC16 Electromagnetic brake sequence output [ms] PC17 Zero speed [r/min] PC18 *BPS Alarm history clear 0000h PC19 *ENRS Encoder output pulse selection 0000h PC20 For manufacturer setting...

  • Page 62: Extension Setting 3 Parameters ([Pr. Pf

    5. PARAMETERS Initial Symbol Name Unit value PC66 LPSPL Touch probe detection range + (lower four digits) [μm]/10 (STM-4) PC67 LPSPH Touch probe detection range + (upper four digits) [inch]/[pulse] PC68 LPSNL Touch probe detection range - (lower four digits) [μm]/10 (STM-4) PC69...

  • Page 63: Network Setting Parameters ([Pr. Pn

    5. PARAMETERS Initial Symbol Name Unit value PF25 CVAT Instantaneous power failure tough drive - Detection time [ms] PF26 For manufacturer setting PF27 PF28 PF29 0000h PF30 PF31 FRIC Machine diagnosis function - Friction judgment speed [r/min] PF32 For manufacturer setting PF33 0000h PF34...
  • Page 64 5. PARAMETERS Initial Symbol Name Unit value PN01 For manufacturer setting PN02 CERT Communication error detection time 1000 [ms] PN03 For manufacturer setting 0000h PN04 0000h PN05 0000h PN06 0000h PN07 0000h PN08 *NOP2 Function selection N-2 0000h PN09 For manufacturer setting PN10 Ethernet communication time-out selection PN11...

  • Page 65: Detailed List Of Parameters

    5. PARAMETERS 5.2 Detailed list of parameters POINT Refer to chapter 5 in "MR-JE-_C Servo Amplifier Instruction Manual", chapter 4 in "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)", and chapter 4 in "MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode)" for the parameters not given in this manual.

  • Page 66: Extension Setting 3 Parameters ([Pr. Pf

    5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PC72 _ _ _ x Modbus RTU communication endian selection *COPG This digit can be used only when Modbus RTU is set. Function 0: Standard endian selection C-G 1: Big endian Endian indicates the order of data with the unit of 2 bytes.

  • Page 67: Network Setting Parameters ([Pr. Pn

    5. PARAMETERS 5.2.3 Network setting parameters ([Pr. PN_ _ ]) Initial No./symbol/ Setting Function value name digit [unit] PN02 Set the time until [AL. 86.1 Network communication error 1] is detected. 1000 [ms] CERT Setting "0" disables the detection of [AL. 86.1 Network communication error 1]. Communication This parameter can be used only when CC-Link IE Field Network Basic is set.
  • Page 68 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN12 Set the 2nd octet of the IP address in decimal. *IPAD2 Set the IP address assigned by the network administrator. IP address When SLMP command (IPAdressSet) is received, the setting of the second octet is setting 2 written to this parameter.
  • Page 69 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN19 Set the 1st octet of the default gateway in decimal. *DGW1 Set the default gateway assigned by the network administrator. Default The default gateway can also be changed simultaneously by the SLMP command gateway (IPAdressSet).
  • Page 70 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN27 Set the 4th octet of the IP address of the network device allowed to be connected in decimal. *IPAF4 When [Pr. PN24] to [Pr. PN27] are all set to "0", the IP address filtering function is IP address disabled.
  • Page 71 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN32 Set the 2nd octet of the IP address of the network device allowed to be connected in decimal. *IPOA2 When [Pr. PN31] to [Pr. PN34] are all set to "0", the operation specification IP Operation address function is disabled.
  • Page 72 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN34 Set the 4th octet of the IP address of the network device allowed to be connected in decimal. *IPOA4 When [Pr. PN31] to [Pr. PN34] are all set to "0", the operation specification IP Operation address function is disabled.
  • Page 73 5. PARAMETERS MEMO 5 - 14...

  • Page 74: Manufacturer Functions

    6. MANUFACTURER FUNCTIONS 6. MANUFACTURER FUNCTIONS 6.1 Stroke end When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is performed by either of the following stop methods. Operation status [Pr. PD35] Remark setting During rotation at constant speed...

  • Page 75: One-Touch Tuning

    6. MANUFACTURER FUNCTIONS Perform a return as follows when the stroke end is detected. Mode Return method Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (607Ah). In the stop method selection of [Pr. PD35], only "1" can be set. Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (60FFh).
  • Page 76 6. MANUFACTURER FUNCTIONS (2) Procedure of one-touch tuning via a network Perform one-touch tuning via a network in the following procedure. Start Refer to "MR-JE-_C Servo Amplifier Instruction Manual", "MR-JE-_C Servo Startup of the system Amplifier Instruction Manual (Profile Mode)", and "MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode)"...

  • Page 77: Machine Diagnosis Function

    6. MANUFACTURER FUNCTIONS 6.3 Machine diagnosis function This function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing.

  • Page 78: Servo Amplifier Life Diagnosis Function

    6. MANUFACTURER FUNCTIONS 6.4 Servo amplifier life diagnosis function You can check the cumulative energization time and the number of on/off times of the inrush relay based on the data in the servo amplifier. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.
  • Page 79 6. MANUFACTURER FUNCTIONS MEMO 6 - 6...

  • Page 80: Object Dictionary

    7. OBJECT DICTIONARY 7. OBJECT DICTIONARY Each data such as control parameters, command values, and feedback values is handled as an object composed of an Index value, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (controller) and the slave stations (servo amplifiers).

  • Page 81: Object Dictionary List

    7. OBJECT DICTIONARY 7.3 Object dictionary list Data Index Name and function Default Range Units Type 1000 Device Type Impos- 00020192h 00020192h Impos- sible (fixed) sible This displays the servo drive defined with the CiA 402 profile. 1001 Error Register Impos- 00h to 01h Impos-...
  • Page 82 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 1011 Restore default parameters Impos- 1 (A3 or 1 (Fixed) Impos- sible earlier) (A3 or sible The number of entries is returned. earlier) 5 (A4 or Depending on the servo amplifier software later) 5 (Fixed) version, the "Default"...
  • Page 83 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2001 PA01 to PA32 Impos- PA01 Possible sible The values of the basic setting parameters 2020 PA32 ([Pr. PA_ _ ]) can be obtained and set. For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual".
  • Page 84 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2801 Point table 001 to Point table 255 Impos- 7 (fixed) Impos- sible sible Return the configuration diagram number of 28FF point table No. 1 to 255. (Note Point data Impos- pos units...
  • Page 85 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2A00 Alarm history newest Impos- 3 (fixed) Impos- sible sible The number of entries in the latest alarm of the 2A0F alarm history is returned. Alarm No. Impos- 00000000h 00000000h to sible FFFFFFFFh...
  • Page 86 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2A45 Parameter error list Impos- 32 (fixed) Impos- sible Numb sible When [AL. 37 Parameter error] has occurred, er of the number of entries of the parameter which readi causes the error is returned.
  • Page 87 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2B01 Cumulative feedback pulses rw Possible -2147483648 pulse Possible The cumulative feedback pulses are returned. 2147483647 The accumulation of the feedback pulse can be cleared by writing "7845 (00001EA5h)". 2B02 Servo motor speed ro Possible...
  • Page 88 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2B2A Internal temperature of amplifier ro Possible -32768 to °C Impos- 32767 sible The internal temperature of amplifier is returned. 2B2D Unit power consumption ro Possible -32768 to Possible 32767 The unit power consumption is returned.
  • Page 89 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2B8B Alarm Monitor 11 Instantaneous torque ro Possible -32768 to Possible 32767 The instantaneous torque at alarm occurrence is returned. 2B8C Alarm Monitor 12 Within one-revolution ro Possible -2147483648 pulse Possible...
  • Page 90 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2BB4 Alarm Monitor 52 Override voltage ro Possible -32768 to 0.01 V Possible (Note 32767 The analog override voltage at alarm occurrence is returned. 2BB5 Alarm Monitor 53 Override level ro Possible -32768 to Possible...
  • Page 91 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2C20 Machine diagnostic status Impos- 0000h 0000h to Possible sible FFFFh [Bit 0 to Bit 3: Friction estimation status at forward rotation] 0: Normal (During estimation) 1: Normal (Estimation is completed) 2: Warning (the servo motor may tend to rotate in one direction) 3: Warning (the servo motor speed may be too...
  • Page 92 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2C25 Oscillation frequency during motor stop Impos- -32768 to Possible sible 32767 Vibration frequency during stop/servo-lock is returned in increments of 1 Hz. 2C26 Vibration level during motor stop Impos- -32768 to 0.1%...
  • Page 93 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2D51 One-touch tuning status Impos- 0 to 100 Impos- sible sible The one-touch tuning progress is returned. 2D52 One-touch tuning Stop Impos- 0000h to Impos- sible 1EA5h sible Writing "1EA5h"...
  • Page 94 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 2D99 Setup S/W graph trigger Impos- 0 to 1 Impos- (Note sible sible The graph trigger of the setup software can be set. By using RS-485 communication, the multi axis waveform data can be measured with MR Configurator2.
  • Page 95 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 6041 Statusword ro Possible 0000h to Impos- FFFFh sible The current control status can be checked. Bit 0: ready to switch on Bit 1: switched on Bit 2: operation enabled Bit 3: fault Bit 4: voltage enabled Bit 5: quick stop...
  • Page 96 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 6065 Following error window rw Possible 12582912 0 to pos units PC75, Impos- 4294967295 PC76 sible In the profile position mode (pp), JOG operation mode (jg), point table mode (pt), and indexer mode (idx), the condition in which the droop pulse exceeds the object setting value, bit 13 of Statusword...
  • Page 97 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 6077 Torque actual value ro Possible -32768 to 0.1% Impos- 32767 sible The current torque is returned. The read data is in of 0.1% unit. 607A Target position rw Possible -2147483648 pos units...
  • Page 98 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 607E Polarity rw Possible 00h to FFh PA14, Impos- PC29 sible The rotation direction selection can be set. Bit 7: position polarity Bit 6: velocity polarity Bit 5: torque polarity Turn on or off both bits 6 and 7 to set the rotation direction to position commands and speed commands.
  • Page 99 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 6087 Torque slope rw Possible 0 to 0.1% PT49 Impos- 10000000 sible Set the change amount per 1 s of the torque command to be used in the profile torque mode. When "0"...
  • Page 100 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 609A Homing acceleration rw Possible 0 to 20000 PT61 Impos- sible Set the acceleration/deceleration time constants at home position return. Set a time for the servo motor to reach the rated speed. 60A8 SI unit position Impos-...
  • Page 101 7. OBJECT DICTIONARY Data Index Name and function Default Range Units Type 60F2 Positioning option code rw Possible 0000h 0000h to PT03 Impos- 00C0h sible Set the profile position mode. Bit 1 to Bit 3 always report "0". Setting a value other than "0"...

  • Page 102: Object Dictionary Details (1000 Series)

    7. OBJECT DICTIONARY 7.4 Object dictionary details (1000 series) POINT This section describes the objects of the 1000 series. Refer to section 7.3 for details on the objects that are not listed here. 7.4.1 Manufacturer Device Name (1008h) (1) Object list Data No.

  • Page 103: Manufacturer Software Version (100Ah)

    7. OBJECT DICTIONARY 7.4.3 Manufacturer Software Version (100Ah) (1) Object list Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 100Ah Manufacturer Software Version Impossible The software version of the servo amplifier model can be read. Can be used with servo amplifiers with software version A4 or later.
  • Page 104 7. OBJECT DICTIONARY (1) Usage This object can read the compatibility of each Sub Index. The following table shows the returned values of each item. Item Saved parameter Returned value Index Number of entries 5 (Note) Index: 2001h to 27FFh, Save all parameters 00000001h (available) 2801h to 28FFh...

  • Page 105: Restore Default Parameters (1011H)

    7. OBJECT DICTIONARY 7.4.5 Restore default parameters (1011h) Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write Number of entries Restore all default parameters Restore communication (Note) default parameters Restore application default 1011h Restore default parameters Impossible (Note)

  • Page 106: Transmit Pdo Mapping (1A00H)

    7. OBJECT DICTIONARY 7.4.6 Transmit PDO Mapping (1A00h) Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write Number of entries Mapped Object 001 1A00h Transmit PDO Mapping Mapped Object 032 The object to be registered in the response message can be set. Set the respective number of objects to be registered in Number of entries (1A00h: 0), and the objects to be registered in Mapped Object 001 (1A00h: 1) to Mapped Object 032 (1A00h: 32).

  • Page 107: Object Dictionary Details (2000 Series)

    7. OBJECT DICTIONARY (2) Setting precautions (a) The response message mapping can be set while the CC-Link IE Field Network Basic Communication is stopped (RX (n + 3) F = 00h). (b) Map the objects in the order of Sub Index 1 to 32 regardless of the object size. Only the necessary number of RWr devices are secured automatically.

  • Page 108: Access Log 1 (2A64H)

    7. OBJECT DICTIONARY 7.5.2 Access log 1 (2A64h) Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2A64h Access log 1 Impossible This object is can be used with servo amplifiers with software version A3 or later. The access log 1 can be read.

  • Page 109: Communication Error Count (2A68H)

    7. OBJECT DICTIONARY 7.5.4 Communication error count (2A68h) Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2A68h Communication error count Impossible This object is available with servo amplifiers with software version A4 or later. The Modbus RTU communication error count can be read.

  • Page 110: External Output Pin Display (2C11H)

    7. OBJECT DICTIONARY 7.5.6 External Output pin display (2C11h) Data No. of points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write Number of entries 2C11h External Output pin display Impossible External Output pin display1 The ON/OFF status of external output signals outputted from the servo amplifier can be read. (1) Usage Read the ON/OFF state of external signals with this object.

  • Page 111: External Input Signal Display (2C12H)

    7. OBJECT DICTIONARY 7.5.7 External Input signal display (2C12h) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write Number of entries External Input signal display1 2C12h External Input signal display External Input signal display2 Impossible External Input signal display3 External Input signal display4...
  • Page 112 7. OBJECT DICTIONARY Input device signal (Note 1) External Input signal display1 External Input signal display2 External Input signal display3 External Input signal display4 OV1 (Digital override selection 2) (Note 2) OV2 (Digital override selection 3) (Note 2) OV3 (Digital override selection 4) (Note 2) DI0 (Point table No.

  • Page 113: Control Di (2D01H To 2D0Ah)

    7. OBJECT DICTIONARY 7.5.8 Control DI (2D01h to 2D0Ah) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D01h Control DI1 to Control DI10 Possible 2D0Ah The on/off status of input device can be read. The on/off status of input device can also be set.
  • Page 114 7. OBJECT DICTIONARY (2) Bit definition of control DI 2 Symbol Description The value at reading is undefined. Set "0" when writing. Proportional control Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates torque to compensate for the droop pulse and returns to the original position.
  • Page 115 7. OBJECT DICTIONARY (3) Bit definition of control DI 3 Symbol Description The value at reading is undefined. Set "0" when writing. Clear Turn the C_CR on to clear the droop pulses of the position control counter on the rising edge of the C_CR. The pulse width should be 10 ms or longer.
  • Page 116 7. OBJECT DICTIONARY (5) Bit definition of control DI 5 Symbol Description The value at reading is undefined. Set "0" when writing. Proximity dog C_DOG When C_DOG is turned on, a proximity dog will be detected. The polarity for dog detection can be changed with [Pr.
  • Page 117 7. OBJECT DICTIONARY (7) Bit definition of control DI 7 Symbol Description The value at reading is undefined. Set "0" when writing. Manual pulse generator multiplication 1 Select a multiplication of the manual pulse generator in accordance with the combination with C_TP1. When a multiplication is not selected, the value set in [Pr.
  • Page 118 7. OBJECT DICTIONARY (8) Bit definition of control DI 8 Symbol Description The value at reading is undefined. Set "0" when writing. Second acceleration/deceleration selection This can be used only in the indexer mode. With the C_RT off, when Controlword bit4 (New set-point) is turned on, the acceleration/deceleration time constants set in [Pr.
  • Page 119 7. OBJECT DICTIONARY (9) Bit definition of control DI 9 Symbol Description The value at reading is undefined. Set "0" when writing. (10) Bit definition of control DI 10 Symbol Description The value at reading is undefined. Set "0" when writing. 7 - 40...

  • Page 120: Status Do (2D11H To 2D1Ah)

    7. OBJECT DICTIONARY 7.5.9 Status DO (2D11h to 2D1Ah) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D11h Status DO1 to Status DO10 Possible 2D1Ah The on/off status of output device can be read. The following table lists readable output devices. (1) Bit definition of Status DO 1 Symbol Description...
  • Page 121 7. OBJECT DICTIONARY (2) Bit definition of status DO 2 Symbol Description Z-phase already passed 0: Z-phase unpassed after start-up S_ZPASS 1: Z-phase passed once or more after start-up This bit can be used on the servo amplifiers with software version A3 or later. The value at reading is undefined.
  • Page 122 7. OBJECT DICTIONARY (3) Bit definition of status DO 3 Symbol Description The value at reading is undefined. Forced stop deceleration S_RSTP The S_RSTP turns on during a forced stop deceleration. This bit can be used on the servo amplifiers with software version A3 or later. The value at reading is undefined.
  • Page 123 7. OBJECT DICTIONARY (5) Bit definition of status DO 5 Symbol Description The value at reading is undefined. Rough match When a command remaining distance is lower than the rough match output range set with [Pr. PT12], S_CPO S_CPO turns on. This bit can be used on the servo amplifiers with software version A4 or later.
  • Page 124 7. OBJECT DICTIONARY (6) Bit definition of status DO 6 Symbol Description The value at reading is undefined. (7) Bit definition of status DO 7 Symbol Description Alarm/warning When an alarm occurs, the S_ALMWNG turns off. When a warning occurs (except for [AL. 9F Battery warning]), S_ALMWNG turns on and off repeatedly S_ALMWNG approximately every 1 s.
  • Page 125 7. OBJECT DICTIONARY (8) Bit definition of Status DO 8 Symbol Description The value at reading is undefined. (9) Bit definition of Status DO 9 Symbol Description The value at reading is undefined. (10) Bit definition of Status DO 10 Symbol Description The value at reading is undefined.

  • Page 126: Manufacturer Device Name 2 (2D30H)

    7. OBJECT DICTIONARY 7.5.10 Manufacturer Device Name 2 (2D30h) (1) Object list Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D30h Manufacturer Device Name 2 Impossible The model name of the servo amplifier can be read. This can be used on the servo amplifiers with software version A4 or later.

  • Page 127: Serial Number 2 (2D33H)

    7. OBJECT DICTIONARY 7.5.13 Serial Number 2 (2D33h) (1) Object list Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D33h Serial Number 2 Impossible The serial numbers of the servo amplifier can be read. This can be used on the servo amplifiers with software version A4 or later.

  • Page 128: Setup S/W Graph Trigger (2D99H)

    7. OBJECT DICTIONARY 7.5.15 Setup S/W graph trigger (2D99h) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D99h Setup S/W graph trigger Impossible This object can be used on the servo amplifiers with software version A4 or later. The graph trigger of the setup software can be set.
  • Page 129 7. OBJECT DICTIONARY (b) Measuring the multi axis waveform data 1) After connecting the servo amplifier and MR Configurator2 with a USB cable, click "Start" to start measuring the waveform in the trigger mode. 2) Perform the operation 1) on all other target axes (servo amplifiers) to start measuring the waveforms.
  • Page 130 7. OBJECT DICTIONARY (c) Saving the multi axis waveform data 1) After connecting the target axis (servo amplifier) and MR Configurator2 with a USB cable, click "Reread" to read the measurement data. Save the read data. 2) Perform the above operation on all other target axes (servo amplifiers) to save the measurement data.

  • Page 131: Set Controlword Bit4 (2D9Ah)

    7. OBJECT DICTIONARY 2) After importing all the files, display the graph data with "Overwrite". Clicking "Overwrite" enables all the histories to be checked on one window. 7.5.16 Set controlword bit4 (2D9Ah) Data No. of Points/ Continuous read/ Index Name Access Index Type...

  • Page 132: C_Em1/2 Command (2D9Bh)

    7. OBJECT DICTIONARY 7.5.17 C_EM1/2 command (2D9Bh) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 2D9Bh C_EM1/2 command Impossible This object can be used on the servo amplifiers with software version A4 or later. Controller operations can be forcibly stopped with function code "10h"...

  • Page 133: Detail Object Dictionary (6000 Series)

    7. OBJECT DICTIONARY 7.6 Detail object dictionary (6000 series) POINT This section describes the objects of the 6000 series. Refer to section 7.3 for details on the objects that are not listed here. 7.6.1 Statusword (6041h) Data No. of Points/ Continuous read/ Index Name...

  • Page 134: Quick Stop Option Code (605Ah)

    7. OBJECT DICTIONARY 7.6.2 Quick stop option code (605Ah) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 605Ah Quick stop option code Impossible The operation method of deceleration to a stop can be specified. The following table shows the supported methods and the operations.
  • Page 135 7. OBJECT DICTIONARY The following shows the case where Halt Bit (Bit 8 of Controlword (6040h)) is set to "1" and "0", and the reflective timing of the deceleration time setting in each control mode. Reflective timing of deceleration time Control mode Halt Bit is set to "1"...

  • Page 136: Modes Of Operation Display (6061H)

    7. OBJECT DICTIONARY 7.6.4 Modes of operation Display (6061h) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 6061h Modes of operation Display Impossible The current control mode can be read. The setting value of each control mode is as follows. Setting Control mode value...

  • Page 137: Polarity (607Eh)

    7. OBJECT DICTIONARY 7.6.6 Polarity (607Eh) Data No. of Points/ Continuous read/ Index Name Access Index Type No. of Registers continuous write 607Eh Polarity Impossible The rotation direction selection can be set. The rotation direction of a servo motor to position commands, speed commands, and torque commands can be set.
  • Page 138 7. OBJECT DICTIONARY (2) Setting of the operation pattern Positioning option code (60F2h) enables the positioning operation patterns to be changed. Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed while the servo motor is rotating (Target reached is off), the new setting value is reflected at a positioning start (Controlword Bit 4 is on) after Target reached is turned on.

  • Page 139: Touch Probe (60B8H To 60Bbh)

    7. OBJECT DICTIONARY 7.6.8 Touch probe (60B8h to 60BBh) The current position latch data at the time of TPR1 (Touch probe 1) input can be read. (1) Object list Data No. of Points/ Continuous read/ Index Name Access Index Type No.
  • Page 140 7. OBJECT DICTIONARY (b) Touch probe status (60B9h) The current status of the touch probe function can be checked. The description of this object is as follows. Description 0: Latch function of touch probe is disabled 1: Latch function of touch probe is enabled 0: Latch is incomplete at the rising edge with the latch function of the touch probe 1: Latch is complete at the rising edge with the latch function of the touch probe 0: Latch is incomplete at the falling edge with the latch function of the touch probe...

  • Page 141: Supported Drive Modes (6502H)

    7. OBJECT DICTIONARY The following shows a timing chart. (a) 60B8h = 0013h 60B8h Bit 0 60B8h Bit 1 60B8h Bit 4 (d) 60B9h = 0003h (f) 60B9h = 0003h (g) Latches continuously 60B8h Bit 5 (b) 60B9h = 0001h 60B9h Bit 0 60B9h Bit 1 60B9h Bit 2...
  • Page 142 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.
  • Page 143 MEMO...
  • Page 144 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Excel is either registered trademarks or trademarks of Microsoft Corporation in the United States, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
  • Page 145 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 146 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030256ENG-C(1810)MEE Printed in Japan Specifications are subject to change without notice.

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