Mitsubishi Electric MRJEA v3 Instruction Manual
en
SH(NA)030177ENG-C(1708)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.
MODEL
MODEL CODE
General-Purpose AC Servo
M R
-JE -_A
S E
R V
O A
M P
L IF
IE R
IN S
T R
U C
T IO
N M
A N
U A
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HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus RTU Protocol)
General-Purpose Interface AC Servo
1CW708
MR-JE-A INSTRUCTIONMANUAL(MODBUS-RTU)
C
C
A - 1
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.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
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 to personnel or may cause physical damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.
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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. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire. When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in regenerative resistor and wiring from the servo amplifier. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.
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. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.
A - 3
4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient temperature
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
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). Additionally, disinfect and protect wood from insects before packing products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with the Instruction Manual.
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(2) Wiring
CAUTION Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control output signal
Servo amplifier
RA
For sink output interface
24 V DC
DOCOM
Control output signal
24 V DC Servo amplifier
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
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. Separate the power lines from the signal cables.
(3) Test run and adjustment
CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
A - 5
CAUTION Never adjust or change the parameter values extremely as it will make operation unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric
shock, fire, injury, etc. may occur.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.
For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.
(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.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A - 6
CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with the emergency stop switch.
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
24 V DCU
To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.
(6) Maintenance, inspection and parts replacement
CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
(7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 7
DISPOSAL OF WASTE Please dispose a servo amplifier 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.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table setting changes
Write to the EEP-ROM due to program setting changes Compliance with global standards
For the compliance with global standards, refer to app. 2 of "MELSERVO-JE-_A Servo Amplifier Instruction Manual".
About the manual
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.
Relevant manuals
Manual name Manual number
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual SH(NA)030128ENG
MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030150ENG
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG
MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual SH(NA)030135ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
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]
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MEMO
1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4
1.1 Summary ........................................................................................................................................... 1- 1 1.2 Function List ...................................................................................................................................... 1- 2 1.3 Communication Specifications .......................................................................................................... 1- 2 1.4 System Configuration ....................................................................................................................... 1- 3
1.4.1 Diagrammatic sketch .................................................................................................................. 1- 3 1.4.2 Cable connection diagram ......................................................................................................... 1- 4
2. PARAMETER 2- 1 to 2- 6
2.1 Detailed list of parameters ................................................................................................................ 2- 2 2.2 Restrictions on using Modbus RTU communication ......................................................................... 2- 5
3. MODBUS PROTOCOL 3- 1 to 3-10
3.1 Modbus RTU Message Format......................................................................................................... 3- 1 3.2 Broadcast Communication ................................................................................................................ 3- 1 3.3 Modbus RTU Communication Message Frame ............................................................................... 3- 2 3.4 Function Codes ................................................................................................................................. 3- 3
3.4.1 List of function codes ................................................................................................................. 3- 3 3.4.2 Read Holding Registers (Reading data in holding registers: 03h)............................................. 3- 4 3.4.3 Diagnostics (Function diagnostics: 08h) .................................................................................... 3- 6 3.4.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) ............................... 3- 8 3.4.5 Processing at occurrence of an error ........................................................................................ 3-10
4. MODBUS REGISTERS 4- 1 to 4-22
4.1 List of Available Registers ................................................................................................................ 4- 1 4.2 Monitor (Address: 2B01h to 2B7Fh) ................................................................................................. 4- 2
4.2.1 List of registers ........................................................................................................................... 4- 2 4.2.2 Directions for use ....................................................................................................................... 4- 3
4.3 Parameter Setting (Address: 2001h to 27FFh) ................................................................................. 4- 4 4.3.1 List of registers ........................................................................................................................... 4- 4 4.3.2 Directions for use ....................................................................................................................... 4- 4
4.4 Point Table Setting (Address: 2801h to 281Fh) ............................................................................... 4- 5 4.4.1 List of registers ........................................................................................................................... 4- 5 4.4.2 Directions for use ....................................................................................................................... 4- 5
4.5 Writing Command to EEP-ROM (Address: 1010h) .......................................................................... 4- 5 4.5.1 List of registers ........................................................................................................................... 4- 5 4.5.2 Directions for use ....................................................................................................................... 4- 6
4.6 Alarm Information (Address: 1001h) ................................................................................................. 4- 7 4.6.1 List of registers ........................................................................................................................... 4- 7 4.6.2 Directions for use ....................................................................................................................... 4- 7
4.7 Alarm Number (Address: 2A41h) ..................................................................................................... 4- 7 4.7.1 List of registers ........................................................................................................................... 4- 7 4.7.2 Directions for use ....................................................................................................................... 4- 7
4.8 Alarm Occurrence Monitor (Address: 2B81h to 2BFFh) ................................................................... 4- 8 4.8.1 List of registers ........................................................................................................................... 4- 8
2
4.8.2 Directions for use ....................................................................................................................... 4- 9 4.9 Alarm History (Address: 2A00h to 2A0Fh) ...................................................................................... 4-10
4.9.1 List of registers .......................................................................................................................... 4-10 4.9.2 Directions for use ...................................................................................................................... 4-10
4.10 Alarm History Clear (Address: 2A40h) .......................................................................................... 4-10 4.10.1 List of registers ........................................................................................................................ 4-10 4.10.2 Directions for use .................................................................................................................... 4-10
4.11 Parameter Error Count (Address: 2A44h) ..................................................................................... 4-11 4.11.1 List of registers ........................................................................................................................ 4-11 4.11.2 Directions for use .................................................................................................................... 4-11
4.12 Parameter Error List (Address: 2A45h) ......................................................................................... 4-11 4.12.1 List of registers ........................................................................................................................ 4-11 4.12.2 Directions for use .................................................................................................................... 4-11
4.13 Point Table Error (Address: 2A43h) .............................................................................................. 4-12 4.13.1 List of registers ........................................................................................................................ 4-12 4.13.2 Directions for use .................................................................................................................... 4-12
4.14 External Input Pin Status (Address: 2C10h) .................................................................................. 4-13 4.14.1 List of registers ........................................................................................................................ 4-13 4.14.2 Directions for use .................................................................................................................. 4-13
4.15 External Output Pin Status (Address: 2C11h) ............................................................................... 4-14 4.15.1 List of registers ........................................................................................................................ 4-14 4.15.2 Directions for use .................................................................................................................... 4-14
4.16 Input Device Status (Address: 2C12h) .......................................................................................... 4-14 4.16.1 List of registers ........................................................................................................................ 4-14 4.16.2 Directions for use .................................................................................................................... 4-15
4.17 Output Device Status (Address: 2C13h) ....................................................................................... 4-16 4.17.1 List of registers ........................................................................................................................ 4-16 4.17.2 Directions for use .................................................................................................................... 4-17
4.18 Servo Amplifier Model (Address: 1008h) ....................................................................................... 4-18 4.18.1 List of registers ........................................................................................................................ 4-18 4.18.2 Directions for use .................................................................................................................... 4-18
4.19 Servo Amplifier Software Version (Address: 100Ah) ..................................................................... 4-18 4.19.1 List of registers ........................................................................................................................ 4-18 4.19.2 Directions for use .................................................................................................................... 4-18
4.20 Broadcast Setting (Address: 2D98h) ............................................................................................. 4-19 4.20.1 List of registers ........................................................................................................................ 4-19 4.20.2 Directions for use .................................................................................................................... 4-19
4.21 Servo Motor Rated Speed (Address: 2D28h) ................................................................................ 4-19 4.21.1 List of registers ........................................................................................................................ 4-19 4.21.2 Directions for use .................................................................................................................... 4-19
4.22 Servo Motor Maximum Speed (Address: 2D29h) .......................................................................... 4-19 4.22.1 List of registers ........................................................................................................................ 4-19 4.22.2 Directions for use .................................................................................................................. 4-19
4.23 SDO Abort Code (Address: 2A60h) ............................................................................................... 4-20 4.23.1 List of registers ........................................................................................................................ 4-20 4.23.2 Directions for use .................................................................................................................... 4-20
4.24 Access Log 1 (Address: 2A64h) .................................................................................................... 4-20 4.24.1 List of registers ........................................................................................................................ 4-20 4.24.2 Directions for use .................................................................................................................... 4-20
4.25 Access Log 2 (Address: 2A65h) .................................................................................................... 4-21
3
4.25.1 List of registers ........................................................................................................................ 4-21 4.25.2 Directions for use .................................................................................................................... 4-21
4.26 Communication Error Count (Address: 2A68h) ............................................................................. 4-21 4.26.1 List of registers ........................................................................................................................ 4-21 4.26.2 Directions for use .................................................................................................................... 4-21
4.27 Supported Profile Information (Address: 1000h) ........................................................................... 4-22 4.27.1 List of registers ........................................................................................................................ 4-22 4.27.2 Directions for use .................................................................................................................... 4-22
4.28 Device Information (Address: 1018h) ............................................................................................ 4-22 4.28.1 List of registers ........................................................................................................................ 4-22 4.28.2 Directions for use .................................................................................................................... 4-22
5. DRIVING MOTOR 5- 1 to 5-46
5.1 Device Control .................................................................................................................................. 5- 2 5.1.1 Function description ................................................................................................................... 5- 2 5.1.2 Related registers ........................................................................................................................ 5- 3 5.1.3 Details of registers ..................................................................................................................... 5- 3 5.1.4 Directions for use ....................................................................................................................... 5- 4
5.2 Control Mode .................................................................................................................................... 5- 5 5.2.1 Function description ................................................................................................................... 5- 5 5.2.2 Related registers ........................................................................................................................ 5- 5 5.2.3 Details of registers ..................................................................................................................... 5- 5 5.2.4 Directions for use ....................................................................................................................... 5- 7
5.3 Home Position Return Mode ............................................................................................................. 5- 7 5.3.1 Function description ................................................................................................................... 5- 7 5.3.2 Related registers ........................................................................................................................ 5- 8 5.3.3 Details of registers ..................................................................................................................... 5- 8 5.3.4 Directions for use ...................................................................................................................... 5-12
5.4 JOG Operation Mode ....................................................................................................................... 5-13 5.4.1 Function description .................................................................................................................. 5-13 5.4.2 Related registers ....................................................................................................................... 5-13 5.4.3 Details of registers .................................................................................................................... 5-14 5.4.4 Directions for use ...................................................................................................................... 5-17
5.5 Point Table Operation Mode ............................................................................................................ 5-18 5.5.1 Function description .................................................................................................................. 5-18 5.5.2 Related registers ....................................................................................................................... 5-18 5.5.3 Details of registers .................................................................................................................... 5-19 5.5.4 Directions for use ...................................................................................................................... 5-22
5.6 Program Operation Mode ................................................................................................................ 5-24 5.6.1 Function description .................................................................................................................. 5-24 5.6.2 Related registers ....................................................................................................................... 5-24 5.6.3 Details of registers .................................................................................................................... 5-25 5.6.4 Directions for use ...................................................................................................................... 5-27
5.7 Touch Probe (Address: 60B8h to 60BBh) ....................................................................................... 5-28 5.7.1 Function description .................................................................................................................. 5-28 5.7.2 List of registers .......................................................................................................................... 5-28 5.7.3 Details of registers .................................................................................................................... 5-29 5.7.4 Directions for use ...................................................................................................................... 5-31
5.8 Function common to the modes ...................................................................................................... 5-33 5.8.1 List of registers .......................................................................................................................... 5-33
4
5.8.2 Control input (2D01h to 2D09h) ................................................................................................ 5-33 5.8.3 Control output (2D11h to 2D19h) .............................................................................................. 5-38 5.8.4 Simultaneous start bit setting (2D9Ah) ..................................................................................... 5-43 5.8.5 Controller force stop (2D9Bh) ................................................................................................... 5-43 5.8.6 Override (2DB0h) ...................................................................................................................... 5-44 5.8.7 Forward torque limit value (60E0h) ........................................................................................... 5-44 5.8.8 Reverse torque limit value (60E1h) ........................................................................................... 5-44 5.8.9 Current position (6064h) ........................................................................................................... 5-44 5.8.10 Current speed (606Ch) ........................................................................................................... 5-44 5.8.11 Current torque (6077h) ........................................................................................................... 5-45 5.8.12 Cam number setting (2D80h) .................................................................................................. 5-45 5.8.13 Current cam number (2D82h) ................................................................................................. 5-45 5.8.14 Cam axis one-cycle length setting (2D84h) ............................................................................ 5-45 5.8.15 Cam stroke length setting (2D85h) ......................................................................................... 5-46 5.8.16 Request store CAM (2D88h) ................................................................................................... 5-46 5.8.17 CAM area (2D89h) .................................................................................................................. 5-46 5.8.18 CAM data in CAM area (2D8Bh) ............................................................................................. 5-46
6. LIST OF MODBUS REGISTERS 6- 1 to 6- 4
7. APPLICATION OF FUNCTIONS 7- 1 to 7- 4
7.1 Connection with GOT2000 series ..................................................................................................... 7- 1 7.1.1 Access to Modbus registers ....................................................................................................... 7- 1
1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
This instruction manual describes the communication with the MR-JE-_A servo amplifiers using the Modbus RTU communication protocol. Refer to "MELSERVO-JE-_A Servo Amplifier Instruction Manual" and "MELSERVO-JE-_A Servo Amplifier Instruction Manual (Positioning Mode)" for the items not given in this manual. 1.1 Summary
POINT
The Modbus RTU communication function is supported by servo amplifiers manufactured in May 2015 or later.
Note that using the Modbus RTU communication function prevents the RS- 422/RS-485 communication function (Mitsubishi Electric general-purpose AC servo protocol) from being used, and vice versa. They cannot be used together.
The Modbus protocol developed for programmable controllers is provided by Modicon Inc. The Modbus protocol uses dedicated message frames for the serial communication between a master and slaves. Using the functions in the message frames enables to read or write data from/to parameters, write input commands, and check operation status of servo amplifiers. For MR-JE-_A servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive profile. A Modbus-compatible controller, the master, can communicate with the MR-JE-_A servo amplifiers that are slaves by accessing assigned holding registers. The ASCII (American Standard Code for Information Interchange) mode and the RTU (Remote Terminal Unit) mode are provided as the serial transmission modes of the Modbus protocol. The MR-JE-_A servo amplifiers support only the RTU mode.
1. FUNCTIONS AND CONFIGURATION
1 - 2
1.2 Function List
The following table lists the functions that can be used in the Modbus RTU communication.
Function Description Detailed explanation
Status monitor Reads the items in "Display all", the monitor function of MR Configurator2, such as the servo motor speed and droop pulses.
Section 4.2
Parameter setting Reads and writes data from/to parameters. Section 4.3
Point table setting Reads and writes point table data. Section 4.4
Current alarm read Reads alarm numbers that currently exist. Section 4.7
Alarm history read Reads the history of up to 16 alarms. Section 4.9
Parameter error number read Reads the parameter number at occurrence of a parameter error. Section 4.11
Point table error number read Reads the point table number at occurrence of a point table error. Section 4.13
I/O monitor Reads the ON/OFF state of external I/O signals and the status of the I/O devices
Section 4.14 Section 4.15 Section 4.16 Section 4.17
Servo amplifier information read Reads the servo amplifier model and software version. Section 4.18 Section 4.19
Motor drive By accessing to holding registers which are assigned like the address assignment of CiA 402 drive profile, the servo motors are driven.
Chapter 5
1.3 Communication Specifications
The following table shows the communication specifications. For parameters, refer to chapter 2.
Item Description Remark
Communication protocol Modbus RTU protocol When using, select the protocol with [Pr. PC71].
Conformed standard EIA-485 (RS-485)
Number of connectable modules
1: n (up to 32 modules), Setting: Station 1 to station 247 (Station 0: Station number for the broadcast communication) Up to 32 modules including other slave devices such as inverters can be connected.
Set station numbers with [Pr. PC70].
Communication baud rate [bps] 4800/9600/19200/38400/57600/115200 Select this item with [Pr. PC71].
Control procedure Asynchronous serial communication
Communication method Half duplex/Full duplex
Communication specifications
Character method Binary (fixed to 8 bits)
Start bit 1 bit
Stop bit length Select from the following three types. Even parity, stop bit length of 1 bit (Initial setting) Odd parity, stop bit length of 1 bit No parity, stop bit length of 2 bits
Select this item with [Pr. PC71]. Parity check
Error check CRC-16 method
Terminator None
Waiting time setting None
Master/slave type Slave
The following shows a communication data format of 1 frame for Modbus RTU communication.
1 frame (11 bits)
Data
Start 0 1 2 3 4 5 6 7 Parity Stop Next start
(LSB) (MSB)
1. FUNCTIONS AND CONFIGURATION
1 - 3
1.4 System Configuration
1.4.1 Diagrammatic sketch
Up to 32 axes of servo amplifiers can be operated and controlled on one bus.
nth axis (station n) (n = 1 to 32)
2nd axis (station 2)
1st axis (station 1)
Servo amplifier
CN1
Servo amplifier
CN1
Servo amplifier
CN1
Modbus- compatible controller
Terminal block
Terminal block
1. FUNCTIONS AND CONFIGURATION
1 - 4
1.4.2 Cable connection diagram
(1) Half duplex wiring Wire the system as shown below.
13
Plate
39
14
31
40
3,28, 30,34
SDP
SD
RDP
SDN
TRE (Note 2)
RDN
LG
(Note 1) Connector for
1st servo amplifier CN1
Modbus- compatible controller
(Note 1) Connector for
2nd servo amplifier CN1
(Note 1)
(Note 4)
13
Plate
39
14
31
40
3,28, 30,34
SDP
SD
RDP
SDN
TRE
RDN
LG
13
Plate
39
14
31
40
3,28, 30,34
SDP
SD
RDP
SDN
TRE
RDN
LG
Connector for nth (n = 1 to 32) (last axis)
servo amplifier CN1
(Note 3) 30 m or shorter
Note 1. Connector set MR-J3CN1 (3M or equivalent) Connector: 10150-3000PE Shell kit: 10350-52F0-008
2. Connect TRE and RDN on the last axis. 3. The total extension length should be 30 m or shorter in a low-noise environment. 4. When a Modbus-compatible controller does not have a termination resistor, terminate the wire ends with a register of 150 .
(2) Full duplex w