Mitsubishi Electric MRJETGN1 v2 User's Manual
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MR-JET-G-N1 User's Manual (Communication Function)
-MR-JET-_G-N1
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 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).
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
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 FUNCTIONS AND CONFIGURATION 6 1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
CiA 402 drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Control mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Engineering tool list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
CHAPTER 2 EtherCAT COMMUNICATION 9 2.1 Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 EtherCAT State Machine (ESM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Communication state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 EtherCAT state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
CHAPTER 3 OBJECT DICTIONARY (OD) 12 3.1 Section definition of object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3.2 Saving object dictionary data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Store parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CHAPTER 4 PDO (Process Data Object) COMMUNICATION 14 4.1 PDO communication cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.2 PDO setting-related objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 4.3 PDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
RxPDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 TxPDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.4 Variable PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 4.5 Objects that require mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
RxPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 TxPDO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
CHAPTER 5 SDO (Service Data Object) COMMUNICATION 19 5.1 SDO communication-related services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 5.2 SDO Abort Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
CHAPTER 6 SYNCHRONIZATION 21 6.1 Availability of synchronous mode in control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 6.2 Synchronous mode (DC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 6.3 Asynchronous mode (Free-run mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CHAPTER 7 CiA 402 DRIVE PROFILE 23 7.1 PDS state transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 7.2 Controlword/Control DI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
C O
N TE
N TS
Bit definition of Controlword. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Bit definition of Control DI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.3 Statusword/Status DO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Bit definition of Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Bit definition of Status DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.4 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Selecting control mode (Modes of operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
CHAPTER 8 STARTUP 42 8.1 Absolute position detection system configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Precautions and restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.2 Connecting Ethernet cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 8.3 Example set-up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Controller settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Establishing the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Operating the servo motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Disconnecting the network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
CHAPTER 9 MANUFACTURER-SPECIFIC FUNCTION 48 9.1 Torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
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1 FUNCTIONS AND CONFIGURATION
1.1 Outline EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff Automation. ETG (EtherCAT Technology Group) manages EtherCAT. The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE). The device type corresponds to a power drive system, and supports the CiA 402 drive profile.
CiA 402 drive profile The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE). The device type corresponds to a power drive system, and supports the CiA 402 drive profile.
1 FUNCTIONS AND CONFIGURATION 1.1 Outline
1
Compliance with standards The servo amplifiers comply with the standards shown below. For the descriptions which are not in this manual, refer to the following standards.
Control mode Symbol Description Cyclic synchronous position mode csp This is a control mode to drive servo motors by receiving a position command cyclically via either
synchronous or asynchronous communication with a controller. Use an absolute position address for the command.
Cyclic synchronous velocity mode csv This is a control mode to drive servo motors by receiving a speed command cyclically via either synchronous or asynchronous communication with a controller.
Cyclic synchronous torque mode cst This is a control mode to drive servo motors by receiving a torque command cyclically via either synchronous or asynchronous communication with a controller.
Profile position mode pp This is a position control mode where an end position command is received to drive the servo motor in either the synchronous or asynchronous communication with a controller. Use an absolute position address or a relative position address for the command.
Profile velocity mode pv This is a control mode to drive servo motors by receiving a target speed command via either synchronous or asynchronous communication with a controller.
Profile torque mode tq This is a control mode to drive servo motors by receiving a target torque command via either synchronous or asynchronous communication with a controller.
Point table mode pt This is a control mode to drive servo motors according to commands such as travel distance and speed which are stored in the point table number specified via either synchronous or asynchronous communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original). Available on servo amplifiers with firmware version B8 or later.
JOG operation mode jg This is a control mode where the servo motor speed is set to drive the servo motor manually via either synchronous or asynchronous communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original). Available on servo amplifiers with firmware version B8 or later.
Homing mode hm This is a control mode to perform homing with the method specified by the controller.
Standards Version ETG.1000.2 EtherCAT Specification - Part2 Physical Layer service definition and protocol specification
V1.0.4
ETG.1000.3 EtherCAT Specification - Part3 Data Link Layer service definition
V1.0.4
ETG.1000.4 EtherCAT Specification - Part4 Data Link Layer protocol specification
V1.0.4
ETG.1000.5 EtherCAT Specification - Part5 Application Layer service definition
V1.0.4
ETG.1000.6 EtherCAT Specification - Part6 Application Layer protocol specification
V1.0.4
ETG.1020 EtherCAT Protocol Enhancements V1.2.0
ETG.1300 EtherCAT Indicator and Labeling Specification V1.1.1
ETG.2000 EtherCAT Slave Information (ESI) Specification V1.0.10
ETG.6010 Implementation Directive for CiA 402 Drive Profile V1.1.0
IEC 61800-7-201 Adjustable speed electrical power drive systems Part 7-201: Generic interface and use of profiles for power drive systems Profile type 1 specification
Edition 2.0
Adjustable speed electrical power drive systems Part 7-301: Generic interface and use of profiles for power drive systems Mapping of profile type 1 to network technologies
Edition 2.0
1 FUNCTIONS AND CONFIGURATION 1.1 Outline 7
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1.2 Function list This list explains the EtherCAT related functions for devices and the whole system.
1.3 Engineering tool The following explains the main purposes of the engineering tools used in communication. For specific usages, refer to the manuals of the engineering tool and controller.
Engineering tool list This list shows the engineering tools used with the MR-JET-G-N1.
Category Subcategory Function Description Detailed explanation Network Open network EtherCAT protocol This protocol supports EtherCAT. Page 9 Communication
specifications
EtherCAT communication setting
This setting specifies the control mode and network communication. Page 42 STARTUP
Remote maintenance
File access over EtherCAT (FoE)
This protocol enables a firmware upload to devices via a network. For details, contact your local sales office.
Profile ESI This is a setting file on which the information specific to each slave station (vendor information, product information, profiles, objects, and other information) is written. Store the ESI file on the controller to use it.
Application function
Synchronization Distributed clock (DC)
This function enables DC mode. Page 21 SYNCHRONIZATION
Engineering tool Detailed explanation 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.
1 FUNCTIONS AND CONFIGURATION 1.2 Function list
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2 EtherCAT COMMUNICATION
2.1 Communication specifications The communication specifications are shown in the following table.
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Function restrictions" in the following manual. MR-JET-G-N1 User's Manual (Introduction)
Item Description Remark EtherCAT communication specifications IEC 61158 Type12
CAN application protocol over EtherCAT (CoE), IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
Communication connector Two RJ45 ports (IN port and OUT port)
Communication cable
Cable type Category 5e or higher, (double shielded/STP) straight cable
Standard One of the following standards must be met. IEEE802.3 100BASE-TX ANSI/TIA/EIA-568-B (Category 5e)
Connector RJ-45 shielded connector
Network topology Line, Tree, Star, or Hybrid of these three topology types
Communication speed 100 Mbps (Full duplex)
Transmission distance between stations Max. 100 m
Number of connection nodes Max. 65535 The number of connection nodes for actual use varies depending on the specifications of the master controller.
SDO (Mailbox) communication Asynchronous communication Sending/Receiving: 1 channel each
Maximum data size in sending/receiving: 1486 bytes per channel
PDO (Process Data) communication *1 Cycle time: Select from 0.125 ms, 0.25 ms, 0.5 ms, 1 ms, 2 ms, 4 ms, or 8 ms. Receive PDO (RxPDO): 1 channel Send PDO (TxPDO): 1 channel
PDO mapping The servo amplifiers support variable PDO mapping. Maximum size of RxPDO and TxPDO: 64 bytes each Maximum number of object mapping: 32 each
Distributed clock (DC) DC mode or Free-run mode can be selected. Sync0: Set for the same cycle time as the PDO communication cycle Sync1: Not used
Explicit Device Identification Supported
LED display RUN, ERROR, LINK/Activity (IN, OUT)
2 EtherCAT COMMUNICATION 2.1 Communication specifications 9
10
2.2 EtherCAT State Machine (ESM) The communication states of the MR-JET-_G-N1 servo amplifier are classified and managed by EtherCAT State Machine (ESM) which is defined in the EtherCAT standard.
Communication state Communication states are classified as shown in the table below. There are two types of communication: PDO communication (process data object) in which command data and feedback data are transmitted and received cyclically, and SDO communication (service data object) in which object data is transmitted and received asynchronously. Page 14 PDO (Process Data Object) COMMUNICATION Page 19 SDO (Service Data Object) COMMUNICATION
ESM state Description Init The ESM state after turning on the power is the Init state. No SDO communication or PDO communication is possible. The master
station accesses the DL-Information registers and initializes the communication.
Pre-Operational SDO communication is possible. PDO communication is not possible. Initial network settings are configured and the initial transfer of parameters are made in this state.
Safe-Operational SDO communication is possible. PDO communication is also possible, although all the operations (commands) such as driving servo motors are disabled. When the DC mode is selected, synchronization is established in this state.
Operational Both the SDO communication and the PDO communication are possible. Commanding via PDO communication is enabled, and servo motors can be driven.
Bootstrap Mailbox communication via the FoE protocol is possible. This is a state in which the firmware is updated via EtherCAT. (For manufacturer setting)
2 EtherCAT COMMUNICATION 2.2 EtherCAT State Machine (ESM)
2
EtherCAT state The servo amplifier can be operated once the state transitions from the Init state through the Pre-Operational and Safe- Operational state to the Operational state. When the Operational state transitions to other states, initialization of the servo amplifier is executed to clear internal statuses.
*1 This state is for manufacturer's settings.
Transition No. Description (1) Power-on
(2) SDO communication configuration The master station sets Sync Manager channels for SDO communication and DL Address registers of the slave station. The master station requests the slave station to transition to the Pre-Operational state. The state transitions to the Pre-Operational state.
(4) PDO communication configuration The master station sets configuration parameters (such as PDO mapping) using SDO communication. The master station sets Sync Manager channels for PDO communication and FMMU channels of the slave station. FMMU
(Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global address space and the local address space in EtherCAT communication. The global address space is used for PDO communication, and the local address space in each slave station stores object data.
The master station requests the slave station to transition to the Safe-Operational state. The state transitions to the Safe-Operational state.
(7) Synchronization The master station and the slave station synchronize with each other by using Distributed Clocks. The master station starts to output a valid command value. The master station requests the slave station to transition to the Operational state. The state transitions to the Operational state.
(5), (12) When the master station requests the slave station to transition to the Pre-Operational state, the state transitions to the Pre- Operational state.
(8) When the master station requests the slave station to transition to the Safe-Operational state, the state transitions to the Safe- Operational state.
(3), (6), (9), (11) In the following case, the state transitions to the Init state. When the master station requests the slave station to transition to the Init state.
(10) When the master station requests the slave station to transition to the Bootstrap state, the state transitions to the Bootstrap state.
Power on
Pre-Operational
Safe-Operational
Bootstrap
Init
Operational
(1)
(3) (2)
(4) (5)
(7) (8)
(6)(9)
(12)
(11)(10)
*1
2 EtherCAT COMMUNICATION 2.2 EtherCAT State Machine (ESM) 11
12
3 OBJECT DICTIONARY (OD)
For details of the object dictionary, refer to the following manual. MR-JET-G-N1 User's Manual (Object Dictionary)
The data that a CAN application protocol over EtherCAT (CoE) device holds, such as control parameters, command values, and feedback values, is handled as an object composed of an Index value, 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).
3.1 Section definition of object dictionary With the CoE protocol (CAN application protocol over EtherCAT), objects of an object dictionary are categorized by Index depending on the descriptions as shown in the following table. Refer to the Reference column for the details of each object.
Index Description Reference 1000h to 1FFFh Communication profile MR-JET-G-N1 User's Manual (Object Dictionary)
2000h to 5FFFh Objects group defined by Mitsubishi Electric
6000h to 9FFFh CiA 402 drive profile
Index Description Reference 0000h to 0FFFh Data type area
1000h to 1FFFh CoE communication area Page 14 PDO (Process Data Object) COMMUNICATION Page 19 SDO (Service Data Object) COMMUNICATION MR-JET-G-N1 User's Manual (Object Dictionary)
2000h to 25FFh Servo parameter area (manufacturer specific) MR-JET-G-N1 User's Manual (Object Dictionary)
2A00h to 2FFFh Servo control command/monitor area (manufacturer specific)
6000h to 67FFh CiA 402 drive profile area
3 OBJECT DICTIONARY (OD) 3.1 Section definition of object dictionary
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3.2 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 manual. MR-JET-G-N1 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
3 OBJECT DICTIONARY (OD) 3.2 Saving object dictionary data 13
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4 PDO (Process Data Object) COMMUNICATION In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs. An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave station transmits status data to the controller with TxPDOs.
The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a time.
4.1 PDO communication cycle RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier. To change the communication cycle time, rewrite [Cycle Time (Obj. 1C32h: 02h)] with SDO download in the Pre-Operational state via a network.
4.2 PDO setting-related objects Objects related to PDO settings are shown in the following table.
Index Sub Object Name Data Type Access Description 1C32h 0 RECORD SM output parameter U8 ro MR-JET-G-N1 User's Manual
(Object Dictionary)1 Synchronization Type U16 rw
2 Cycle time U32 rw
4 Synchronization types supported U16 ro
5 Minimum cycle time U32 ro
6 Calc and copy time U32 ro
9 Delay time U32 ro
12 Cycle time too small U16 ro
1C33h 0 RECORD SM input parameter U8 ro
1 Synchronization type U16 rw
2 Cycle time U32 rw
4 Synchronization types supported U16 ro
5 Minimum cycle time U32 ro
6 Calc and copy time U32 ro
9 Delay time U32 ro
12 Cycle time too small U16 ro
Master station (controller)
Constant cycle
Command data (RxPDO)
Status data (TxPDO)
Slave station (servo amplifier)
4 PDO (Process Data Object) COMMUNICATION 4.1 PDO communication cycle
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4.3 PDO default mapping
The servo amplifier supports the variable PDO mapping function, which can select objects transmitted and received in PDO communication. For changing the PDO mapping, refer to the following. Page 17 Variable PDO mapping
RxPDO default mapping With the RxPDO default mapping, a master station (controller) transmits command data to a slave station (servo amplifier) using an RxPDO in the array shown in the following table.
Map No. Initial mapping settings Applications expected to be used for initial mapping 1st RxPDO map (1600h) Modes of operation (Obj. 6060h)
Padding (1 byte) Controlword (Obj. 6040h) Control DI 1 (Obj. 2D01h) Control DI 2 (Obj. 2D02h) Control DI 3 (Obj. 2D03h) Target position (Obj. 607Ah) Target velocity (Obj. 60FFh) Velocity limit value (Obj. 2D20h) Target torque (Obj. 6071h)
Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode (csv) Cyclic synchronous torque mode (cst) Homing mode (hm) This initial mapping is for an application in which the modes above are switched and used. The following function can be used together. Speed limit function (in cst)
Map size: 24 bytes
2nd RxPDO map (1601h) Modes of operation (Obj. 6060h) Padding (1 byte) Controlword (Obj. 6040h) Control DI 1 (Obj. 2D01h) Control DI 2 (Obj. 2D02h) Control DI 3 (Obj. 2D03h) Target position (Obj. 607Ah) Target velocity (Obj. 60FFh) Velocity limit value (Obj. 2D20h) Target torque (Obj. 6071h) Profile velocity (Obj. 6081h) Profile acceleration (Obj. 6083h) Profile deceleration (Obj. 6084h) Torque slope (Obj. 6087h)
Profile position mode (pp) Profile velocity mode (pv) Profile torque mode (tq) Homing mode (hm) This initial mapping is for an application in which the modes above are switched and used. The following function can be used together. Speed limit function (in tq)
Map size: 42 bytes
3rd RxPDO map (1602h) Modes of operation (Obj. 6060h) Padding (1 byte) Controlword (Obj. 6040h) Control DI 1 (Obj. 2D01h) Control DI 2 (Obj. 2D02h) Control DI 3 (Obj. 2D03h) Target point table (Obj. 2D60h) Profile velocity (Obj. 6081h) Profile acceleration (Obj. 6083h) Profile deceleration (Obj. 6084h)
Point table mode (pt) JOG operation mode (jg) Homing mode (hm) This initial mapping is for an application in which the modes above are switched and used. Map size: 24 bytes
4th RxPDO map (1603h) Unassigned
4 PDO (Process Data Object) COMMUNICATION 4.3 PDO default mapping 15
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TxPDO default mapping With the TxPDO default mapping, status data is transmitted to a master station (controller) using a TxPDO in the array shown in the following table.
Map No. Initial mapping settings Applications expected to be used for initial mapping 1st TxPDO map (1A00h) Modes of operation display (Obj. 6061h)
Padding (1 byte) Statusword (Obj. 6041h) Status DO 1 (Obj. 2D11h) Status DO 2 (Obj. 2D12h) Status DO 3 (Obj. 2D13h) Position actual value (Obj. 6064h) Velocity actual value (Obj. 606Ch) Following error actual value (Obj. 60F4h) Torque actual value (Obj. 6077h)
Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode (csv) Cyclic synchronous torque mode (cst) Homing mode (hm) This initial mapping is for an application in which the modes above are switched and used. This mapping is also for an application in which the following modes are switched and used. Profile position mode (pp) Profile velocity mode (pv) Profile torque mode (tq) Homing mode (hm)
Map size: 24 bytes
2nd TxPDO map (1A01h) Modes of operation (Obj. 6060h) Padding (1 byte) Statusword (Obj. 6041h) Status DO 1 (Obj. 2D11h) Status DO 2 (Obj. 2D12h) Status DO 3 (Obj. 2D13h) Status DO 5 (Obj. 2D15h) Status DO 7 (Obj. 2D17h) Position actual value (Obj. 6064h) Velocity actual value (Obj. 606Ch) Following error actual value (Obj. 60F4h) Torque actual value (Obj. 6077h) M code actual value (Obj. 2D6Ah) Padding (1 byte) Point demand value (Obj. 2D68h) Point actual value (Obj. 2D69h)
Point table mode (pt) JOG operation mode (jg) Homing mode (hm) This initial mapping is for an application in which the modes above are switched and used. Map size: 34 bytes
3rd TxPDO map (1A02h) Unassigned
4th TxPDO map (1A03h) Unassigned
4 PDO (Process Data Object) COMMUNICATION 4.3 PDO default mapping
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4.4 Variable PDO mapping
PDO mappings can be changed in the Pre-Operational state.
The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data transmitted and received with RxPDO and TxPDO. Variable PDO mapping specifications are shown in the following table.
PDO mapping objects are shown in the following table.
Communication Maximum number of objects Maximum size [byte] Number of mapping settings RxPDO 32 64 4 (1600h to 1603h)
TxPDO 4 (1A00h to 1A03h)
Index Sub Object Name Data Type Access Description 1600h 0 RECORD 1st Receive PDO Mapping U8 rw MR-JET-G-N1 User's Manual
(Object Dictionary)1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1601h 0 RECORD 2nd Receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1602h 0 RECORD 3rd Receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1603h 0 RECORD 4th Receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1A00h 0 RECORD 1st Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1A01h 0 RECORD 2nd Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1A02h 0 RECORD 3rd Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1A03h 0 RECORD 4th Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped Object 032 U32 rw
1C12h 0 ARRAY Sync Manager 2 PDO Assignment U8 rw
1 PDO Mapping object index of assigned RxPDO U16 rw
2
3
1C13h 0 ARRAY Sync Manager 3 PDO Assignment U8 rw
1 PDO Mapping object index of assigned TxPDO U16 rw
2
3
4 PDO (Process Data Object) COMMUNICATION 4.4 Variable PDO mapping 17
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4.5 Objects that require mapping Objects required for each mode are shown in the following table.
RxPDO : PDO mapping required : PDO mapping recommended : PDO mapping not required
*1 Available on servo amplifiers with firmware version B2 or later. *2 Available on servo amplifiers with firmware version B8 or later.
TxPDO : PDO mapping required : PDO mapping recommended : PDO mapping not required
*1 Available on servo amplifiers with firmware version B2 or later. *2 Available on servo amplifiers with firmware version B8 or later.
Object name (Index) Mode
csp csv cst pp *1 pv *1 tq *1 pt *2 jg *2 hm Controlword (6040h)
Control DI 1 (2D01h) Gain switching
Control DI 2 (2D02h) Proportional control
Control DI 3 (2D03h)
Target position (607Ah)
Target velocity (60FFh)
Target torque (6071h)
Profile velocity (6081h) *1
Profile acceleration (6083h)
Profile deceleration (6084h)
Torque slope (6087h)
Velocity limit value (2D20h)
Target point table (2D60h) *2
Object name (Index) Mode
csp csv cst pp *1 pv *1 tq *1 pt *2 jg *2 hm Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Status DO 5 (2D15h)
Status DO 7 (2D17h)
Position actual value (6064h)
Following error actual value (60F4h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Point actual value (2D69h) *2
M code actual value (2D6Ah) *2
Point demand value (2D68h) *2
4 PDO (Process Data Object) COMMUNICATION 4.5 Objects that require mapping