Mitsubishi Electric MRJ5G, MRJ5WG User's Manual v2

MR-J5-G/MR-J5W-G User's Manual (Communication Function)

-MR-J5-_G_ -MR-J5W_-_G_ -MR-J5D_-_G_

Mitsubishi Electric AC Servo System

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 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. In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence depending on conditions. 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 the operator.

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

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[Installation/wiring]

[Setting/adjustment]

[Operation]

[Maintenance]

WARNING To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more

for the converter unit/drive unit) before starting wiring and/or inspection. To prevent an electric shock, ground the servo amplifier. To prevent an electric shock, any person who is involved in wiring should be fully competent to do the

work. To prevent an electric shock, mount the servo amplifier before 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 switches with wet hands.

WARNING To prevent an electric shock, any person who is involved in inspection should be fully competent to do

the work. To prevent an electric shock, do not operate the switches with wet hands.

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: Searching for desired information in multiple manuals at the same time (manual cross searching) Jumping from a link in a manual to another manual for reference Browsing for hardware specifications by scrolling over the components shown in product illustrations Bookmarking frequently referenced information Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For the related manuals, refer to the User's Manual (Introduction).

When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".

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 [Nm] 141.6 [ozinch]

Moment of inertia 1 [( 10-4 kgm2)] 5.4675 [ozinch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [C] 9/5 + 32 N [F]

Rotary Servo Motor Linear Servo Motor Direct Drive Motor

This manual is necessary primarily for installing, wiring, and using options.

The manual is necessary for operation of servo amplifiers.

The manual is necessary for adjustment of operation status.

The manual is necessary for using communication functions.

The manual is necessary for specifying the causes of alarms and warnings.

Partner Encoder

Function

Adjustment

Object Dictionary

Troubleshooting

Introduction

Hardware

Communication Function

Parameters It describes the parameters of the servo amplifier.

It describes the objects for the servo amplifier.

For the usage of each function, refer to this manual.

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CONTENTS SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

CHAPTER 1 CC-Link IE TSN 6 1.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Establishing and disconnecting the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Summary of object dictionary (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Network setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3 Application function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 CC-Link IE TSN Network diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 IP address setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Parameter automatic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Hold/Clear of output at CPU STOP and at CPU stop error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Remote reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Clock function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Motion mode (high-speed) setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.4 APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 CC-Link IE TSN communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Cyclic transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Transient transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Setting of positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

CHAPTER 2 CC-Link IE Field Network Basic 54 2.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Establishing and disconnecting the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Summary of object dictionary (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

2.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Network setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

2.3 Application function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 CC-Link IE Field Network Basic Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 IP address setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Hold/Clear of output at CPU STOP and at CPU stop error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Remote reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

C O

N TE

N TS

2.4 APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Cyclic transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 SLMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

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1 CC-Link IE TSN

1.1 Functions and configuration This manual describes communication with the MR-J5_-_G_ servo amplifiers using CC-Link IE TSN. In addition to this manual, reference the following manual when using CC-Link IE TSN. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)

Outline

Motion mode Motion mode is used with a controller 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. The positioning function built-in servo amplifier can be used for positioning operation. Motion mode supports CiA 402 drive profile. Refer to the following for control modes supported by motion mode. Page 7 Function list Page 50 Control mode

System configuration

Compatible controller

*1 Combine the module with the servo amplifier that has firmware version B9 or later.

Category Model Motion module RD78G

RD78GH FX5-_SSC-G *1

Master/local module RJ71GN11-T2 *1

1 CC-Link IE TSN 1.1 Functions and configuration

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Communication-related function list (Application) Category Subcategory Function Description Detailed explanation Network Open network CC-Link IE TSN

communication protocol This servo amplifier supports CC-Link IE TSN. Page 8

Communication specifications

CC-Link IE TSN communication setting

Network configuration settings and station-specific mode selection are performed by using GX Works3.

Page 12 Startup

Common protocol

SLMP This function supports SLMP (SeamLess Message Protocol). Parameter setting and monitoring are enabled.

Page 19 CC-Link IE TSN communication protocol

Profile CSP+ File for describing the necessary information for startup, operation, and maintenance of CC-Link family connected products.

Application function

Functional safety

Safety communication function

Connecting the servo amplifier with a programmable controller that supports functional safety enables safety sub-functions.

MR-J5 User's Manual (Hardware) MR-J5D User's Manual (Hardware) MR-J5 User's Manual (Function)

Cyclic transmission

Hold/Clear of output at CPU STOP and CPU stop error

When the CPU module of the cyclic master is at STOP, when the stop error occurs, Hold/Clear is automatically set on the refresh device output. The servo amplifier stops regardless of the setting of Hold/ Clear of the cyclic master.

Page 17 Hold/Clear of output at CPU STOP and at CPU stop error

RAS function Automatic return When a station that has been disconnected due to a data link error becomes normal, that particular station will automatically reconnect to the network, and restart the data link.

Application function

Synchronization CC-Link IE TSN network synchronous communication function

The control cycle of the slave station 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.

Motion mode (high- speed)

The communication cycle between the master station and the slave station can be set to 31.25 s.

Page 18 Motion mode (high-speed) setting

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 automatically sets the network configuration.

Station mode check The master station checks whether the master station and the servo amplifier are in the same station mode by obtaining the station mode of the servo amplifier.

Parameter setting

Parameter automatic setting

This is a function where the controller automatically writes the servo parameters when the servo amplifier is returning/entering.

Page 16 Parameter automatic setting

Setting change Remote reset This is a function to reset a servo amplifier via the network. Servo parameters to be enabled at power cycle are reflected by resetting the servo amplifier.

Page 17 Remote reset

IP address setting IP addresses are delivered from the controller to servo amplifiers via CC-Link IE TSN.

Page 15 IP address setting function

CC-Link IE TSN Network diagnostics

Reserved station specification/ cancellation

Stations not connected to the network can be included in the total number of stations for future connection.

Page 14 CC-Link IE TSN Network diagnostics

Time synchronization

Clock function This function is used to acquire time information from the grand master (the station serving as a clock source) via CC-Link IE TSN so that this information may be used for the time management of functions performed by the servo amplifier, such as alarm history.

Page 17 Clock function

1 CC-Link IE TSN 1.1 Functions and configuration 7

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Communication specifications

Communication specifications of CC-Link IE TSN

*1 The communication cycle depends on the controller specifications and the number of the connected axes. The communication cycles of 31.25 s and 62.5 s can be used by servo amplifiers with firmware version A6 or later.

*2 There are restrictions on the communication cycle depending on the function used. For details, refer to "CC-Link IE TSN restrictions" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction)

*3 The communication speed can be set to 1 Gbps or 100 Mbps. 100 Mbps can be used with servo amplifiers with firmware version B6 or later. When 100 Mbps is selected, the minimum communication cycle is 500 s. When using 100 Mbps, set [Pr. NPA12 Communication speed] to "1h". For details, refer to "Network basic parameters" in the following manual. MR-J5-G/MR-J5W-G User's Manual (Parameters)

*4 The cycle of the cyclic transmission must match the communication cycle. When using GX Works3, select "Communication Period Setting" in "Module parameter (network)", then modify "Basic Period Setting".

Item Description Remark Physical layer 1000BASE-T (1 Gbps), 100BASE-TX (100 Mbps) Twisted pair

Communication connector RJ-45 2

Communication cable

Cable type Category 5e or higher, (double shielded/STP) straight cable

Standard One of the following standards must be met. IEEE802.3 1000BASE-T ANSI/TIA/EIA-568-B (Category 5e)

Connector RJ-45 shielded connector

Network topology Line, tree (star)

Communication speed 1 Gbps, 100 Mbps *3

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, IEEE1588

Communication cycle *1*2*4

MR-J5-_G_ MR-J5D1-_G_

31.25 s, 62.5 s, 125 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

When setting the communication cycle to 31.25 s, refer to the following. Page 18 Motion mode (high-speed) setting

MR-J5W2-_G MR-J5D2-_G_

62.5 s, 125 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

MR-J5W3-_G 125 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

MR-J5D3-_G_ 250 s, 500 s, 1 ms, 2 ms, 4 ms, 8 ms

Cyclic transmission [Motion mode] Communicates data cyclically between stations using PDOs. Maximum RPDO size: 80 bytes/axis Maximum TPDO size: 80 bytes/axis The servo amplifiers support variable PDO mapping.

Page 21 Cyclic transmission Page 26 PDO mapping objects

Transient transmission [Motion mode] Communicates data non-cyclically between stations using SLMP and other protocols. SDOs can be used to read and write objects of the servo amplifier.

Page 33 Transient transmission

Port No. No. 161: For system use No. 5010: SLMP communication port (UDP/IP) No. 45237: For system use No. 45238: For system use No. 45239: For system use

1 CC-Link IE TSN 1.1 Functions and configuration

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Establishing the communication Configure the system and set the parameters or rotary switches that are required for startup of the CC-Link IE TSN master station and the servo amplifier. The communication will be established if the settings of the master station and the servo amplifiers are made correctly. When the communication is established, the 7-segment LED display of the servo amplifiers changes to "controller is connected".

Disconnecting the communication Procedure for disconnecting the communication When shutting off the system power or disconnecting the servo amplifier from the network, be sure to disconnect after servo- off. Failing to do so may trigger [AL. 086 Network communication error].

Changing the communication configuration Make sure that the servo amplifier is in servo-off state before 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 object dictionary (OD).

Section definition of object dictionary The following shows the structure of an object dictionary. Each axis (Axes A, B, and C) of 1-axis servo amplifier and multi-axis servo amplifier has the same object dictionary configuration.

The classification of the objects defined by Mitsubishi Electric is as follows.

Index Description Reference 1000h to 1FFFh Communication profile MR-J5-G/MR-J5W-G User's Manual (Object

Dictionary)2000h to 5FFFh Objects group defined by Mitsubishi Electric

6000h to 9FFFh CiA 402 drive profile

Index Description Reference 2000h to 27FFh Servo parameter MR-J5-G/MR-J5W-G User's Manual (Object

Dictionary)2800h to 29FFh Point table

2A00h to 2A7Fh Alarm

2B00h to 2BFFh Monitor

2C00h to 2C7Fh Diagnostics

2D00h to 2DFFh Manufacturer defined control Page 37 Controlword/Control DI Page 43 Statusword/Status DO

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Saving object dictionary data Some of object dictionary data is stored in a non-volatile memory and some is not. Use [Store parameters (Obj. 1010h)] for storing the object dictionary data in the non-volatile memory. For details about objects that can be stored in the non-volatile memory, refer to the following. MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)

Store parameters Writing "65766173h" (= reverse order of the ASCII code "save") to [Store parameters (Obj. 1010h: 01h)] enables the setting value of an object to be stored in the non-volatile memory of the servo amplifier. It can take up to around 25 s for [Save all parameters (Obj. 1010h: 01h)] to write all the parameters. Do not shut off the power supply during writing.

Reading [Save all parameters (Obj. 1010h: 01h)] will produce the following values. Bit 0 is "0" during saving and "1" when 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), then shut off the power.

Restore default parameters Objects can be reset to the factory setting. To initialize objects, write "64616F6Ch" (= reverse order of the ASCII code "load") to [Restore all default parameters (Obj. 1011h: 01h)], then cycle the power. Writing a value other than "load" (= 64616F6Ch) triggers an error. Initialization can take up to around 25 s.

Reading [Restore all default parameters (Obj. 1011h: 01h)] will display "00000001h" (command valid).

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: Object cannot be saved by the command (save in progress)

1: Object can be saved by the command (save not in progress)

1 0: Not automatically saved

Index Sub Object Name Data Type Access Description 1011h 0 ARRAY Restore default parameters U8 ro Number of entries

1 Restore all default parameters U32 rw All parameter initialization

1 CC-Link IE TSN 1.1 Functions and configuration

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Engineering tool list This list shows engineering tools used in CC-Link IE TSN.

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, communication error detection time, are made with this software. If using MR Configurator2 via a network, start MR Configurator2 from GX Works3. The servo amplifier and the personal computer do not need to be connected with a USB cable because they communicate each other via the controller.

GX Works3 This is a software that comprehensively supports the design and maintenance of the programmable controllers. The software performs settings such as servo amplifier profile (CSP+) registration, network configuration setting (station specific mode, link device setting, etc.), refresh setting, and network synchronization setting.

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1.2 Startup Outline This chapter describes the setting procedure for CC-Link IE TSN. Refer to the following for startup of the servo amplifier. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction)

Precautions To ensure the safety of the system against unauthorized network access, take security measures such as using a firewall.

Network setting Set GX Works3 as required for the servo amplifier network settings, then configure the network. Set the master station and servo amplifier of CC-Link IE TSN according to the following procedure. If an alarm has occurred, refer to the following. MR-J5 User's Manual (Troubleshooting)

1. Master station setting Refer to the GX Works3 manual.

2. IP address setting Set the IP address with the rotary switches and parameter. MR-J5-G/MR-J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction) Refer to the following when setting with parameters. Page 15 IP address setting function

3. Network setting servo parameter setting MR-J5-G/MR-J5W-G User's Manual (Parameters)

4. Network connection procedure Page 13 Network connection procedure

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When using an absolute position detection system, set [Pr. PA03] and [Pr. PC29]. For details, refer to the manual for the controller being used.

If necessary, set the following servo parameters in accordance with the controller settings.

Set [Pr. NPA12] for use in 100 Mbps. By default, the communication speed in "Network automatic setting" is set to 1 Gbps.

Network connection procedure Follow the procedures below to set up the network.

1. Connect the master station and the servo amplifier with a network cable. There is no difference between CN1A and CN1B.

2. Turn on the power of the master station and the servo amplifier.

3. Open the diagnostic screen of GX Works3 and make sure that there is no error 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-J5 User's Manual (Troubleshooting) Check that the values of the rotary switches or [Pr. NPA02 IP address] match the value of IP address set in the master

station.

Network disconnection procedure Refer to the following. Page 9 Disconnecting the communication

Changing the network configuration Refer to the following. Page 9 Changing the communication configuration

Servo parameter Name PD41.2 Limit switch enabled status selection

PD41.3 Sensor input method selection

Servo parameter Name PA03.0 Absolute position detection system selection

PC29.5 [AL. 0E3 Absolute position counter warning] selection

Servo parameter Name PN02 Communication error - Detection time

PN05 Communication error - Detection frequency setting

Network parameter Name NPA12 Communication speed

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1.3 Application function CC-Link IE TSN Network diagnostics The servo amplifier supports the following CC-Link IE TSN Network diagnostic functions. Check the reference destination in the reference column for precautions specific to the servo amplifier. Refer to the GX Works3 manual for details of other functions.

Selected station communication status monitor The detailed state of the currently selectable device on the network map monitor is displayed on the selected station communication status monitor. The items displayed on the selected station communication status monitor are shown below.

In the selected station communication status monitor, CN1A is displayed as PORT2, and CN1B as PORT1.

Remote Operation The only executable function on servo amplifiers is Reset. When Reset is executed to the servo amplifier, the servo amplifier resets the software. For details on software reset, refer to "Software reset" in the following manual. MR-J5 User's Manual (Function)

Function type Function Description Reference Monitoring 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 firmware version B0 or later.

Selected station communication status monitor

The details of the unit status and the communication status of the selected station are displayed. If an error occurs in the unit, the cause of the error and its remedies can be checked.

Page 14 Selected station communication status monitor

Setting change function of network status

Reserved station specification/ cancellation

This function designates a specified station as a reserved station, or cancels it.

Selected Station Operation

Remote Operation A reset command can be sent to the specified station. Page 14 Remote Operation

Setting item Description Reference Status display The status of the servo amplifier is displayed via LED. MR-J5-G/MR-

J5W-G User's Manual (Introduction) MR-J5D-G User's Manual (Introduction)

CC-Link IE TSN status display The CC-Link IE TSN status (CN1A/CN1B connector LED) is displayed.

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The initial value of the IP 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" (Network parameters are used.)

1st octet Use the value of/for [Pr. NPA02 IP address].

2nd octet

3rd octet

4th octet

Item Initial value IP address 192.168.3.1

Subnet mask 255.255.255.0

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Parameter automatic setting The parameters of the servo amplifier are held by the master station, and are compared with those of the replaced servo amplifier. When there is a difference in those parameters, the parameters held by the CPU module are automatically written to the replaced servo amplifier.

Storage method of parameters There are following two ways to store parameters in the master station. If data in the non-volatile memory of the servo amplifier are rewritten by the engineering tool, the parameters in the CPU

module are also updated automatically. If differences from the previously stored parameters are found in a periodical check, the parameters in the CPU module are

also updated automatically (Set an interval in [Pr. PN20 Parameter automatic backup update interval] for that periodical check).

Parameters that can be stored The parameters that can be written on the servo amplifier and stored with this function are as follows. Servo parameters Network parameters

Precautions When the parameter that 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 the controller. Parameters that are automatically updated by the servo amplifier, such as auto tuning data, may not match the data stored

in the slave station parameter file on the controller. To match the data, first read the servo amplifier parameters using MR Configurator2 or other engineering tools, then reflect the readings on the slave station parameter file on "Detail Setting" in "Parameter Automatic Setting" of GX Works3 before writing the readings to the controller again. Or, set [Pr. PN20 Parameter automatic backup update interval] so that the data can be backed up in the master station periodically.

If performing automatic backup with the interval set in [Pr. PN20], use a master station which features power interruption protection. Failing to do so triggers [AL. 19E.1 Parameter automatic backup setting warning]. At this time, the automatic backup is disabled.

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Motion mode Motion control axis The servo amplifier stops the servo motor in the manner commanded by the controller.

Motion non-control axis 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 14 Remote Operation

Clock function This function is used to acquire time information from the grand master (the station serving as a clock source) via CC-Link IE TSN so that this information may be used for the time management of functions performed by the servo amplifier, such as alarm history. The time synchronization protocol for the grand master and the servo amplifier uses IEEE1588 or IEEE802.1AS.

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Motion mode (high-speed) setting The following explains the setting method of the motion mode (high-speed) that enables a communication cycle of 31.25 s between a master station (Motion module) and a slave station (servo amplifier).

The communication cycles of 31.25 s and 62.5 s can be used by servo amplifiers with firmware version A6 or later.

[AL. 09E.2 Communication cycle setting warning] occurs when using a 31.25 s connection to communicate with a servo amplifier that does not have [Pr. PA01.7 High-speed mode selection] set to "1" (enabled).

When the communication cycle is set to 31.25 s, the maximum size of RPDO is limited to 12 bytes, and the maximum size of TPDO is limited to 22 bytes. If the setting is large, [AL. 09E.3 Number of cyclic points warning] occurs.

Setting method 1. Configure the master station network settings with GX Works3.

2. Select module parameter (network) from the module information of the Motion module, and open the network configuration settings.

3. Set "Motion mode (high-speed)" in the station specific mode setting when setting the network configuration.

4. After changing the station specific mode setting, set [Pr. PA01.7 High-speed mode selection] of the servo parameter to "1" (enabled).

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Communication management The communication state of the slave unit in CC-Link IE TSN is broadly classified as being either an "initialization phase" or an "under control communication phase" and then managed.

Communication state management of the motion mode The motion mode of the servo amplifier support CANopen profile. For devices that support the CANopen profile, the communication state of CC-Link IE TSN is managed by the Network Management (NMT) state machine. Communication state The NMT state machine manages the four states shown below (Init, Pre-Operational, Safe-Operational, and Operational). The communication state transitions in each slave station. For multi-axis servo amplifiers, the communication state transitions in the whole station (common to all the axes).

The state transition diagram of the NMT state machine is as follows. The servo amplifier transitions the communication state by receiving the SLMP command (NMT State Download) from the master station or by other means.

State Main processing details Init Operates in accordance with the procedures performed in "initialization phase" of CC-Link IE TSN, such as

management master mediation, connection structure detection, propagation delay measurement, and 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 operation by setting the control mode and PDO mappings as well as performing other preparations. The servo motor cannot be operated. Refer to the following for transient transmission. Page 33 Transient transmission

Safe-Operational The master station (the Motion module) and the slave station (the servo amplifier) send and receive PDOs with