Mitsubishi Electric Melservo-J4 MR-J4-_TM, MR-J4-10TM1 Instruction Manual

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General-Purpose AC Servo

Multi-network Interface AC Servo

MODEL

MR-J4-_TM_

SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT)

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

CAUTION

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 that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

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. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. 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. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get 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 main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s 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 main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a moldedcase 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. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

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3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. 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.

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 front cover, 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 product. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet 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, it may cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

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 (X, Y, Z axes)

When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor. The servo amplifier must be installed in a metal cabinet.

Operation 0 °C to 55 °C (non-freezing)

Operation

5 %RH to 90 %RH (non-condensing)

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CAUTION

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a 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, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products. To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

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(-H)) 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 connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

Servo amplifier

Servo motor

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 converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

Servo amplifier

24 V DC

DOCOM

Control output signal

For source output interface

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires 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 main circuit 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.

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(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 and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to stop the operation and shut the power off immediately. 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, it may cause an electric shock, fire, injury, etc. 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 affect the electronic equipment used near the servo amplifier. Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas. Use the servo amplifier with the specified servo motor. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may cause an electric shock, fire, injury, etc. 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.

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(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. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

Electromagnetic brake

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart 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. After an earthquake or other natural disasters, ensure safety by checking the conditions of the installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.

24 V DC

(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 the servo amplifier that has not been energized for an extended period of 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.

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DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.

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

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_TM_ Servo Amplifier Instruction Manual". For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".

Compliance with global standards

For the compliance with global standards, refer to app. 4 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".

«About the manuals»

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 No.

MELSERVO MR-J4-_TM_ Servo Amplifier Instruction Manual SH(NA)030193ENG

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO MR-D30 Instruction Manual (Note 5) SH(NA)030132ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using an MR-D30 functional safety unit.

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«Wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

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

Temperature N [°C] × 9/5 + 32 N [°F]

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1. EtherCAT COMMUNICATION 1- 1 to 1-12

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function list ....................................................................................................................................... 1- 4

1.3 Communication specifications .......................................................................................................... 1- 7

1.4 EtherCAT State Machine (ESM) ....................................................................................................... 1- 8

1.4.1 Communication status ................................................................................................................ 1- 8

1.4.2 EtherCAT state ........................................................................................................................... 1- 9

1.4.3 Startup ....................................................................................................................................... 1-10

1.4.4 Network disconnection procedure ............................................................................................. 1-11

1.5 Summary of object dictionary (OD).................................................................................................. 1-12

1.5.1 Section definition of object dictionary ........................................................................................ 1-12

1.5.2 Saving object dictionary data to EEP-ROM .............................................................................. 1-12

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2- 1 to 2- 4

2.1 Specifications .................................................................................................................................... 2- 1

2.2 Parts identification ............................................................................................................................. 2- 2

2.3 LED indication ................................................................................................................................... 2- 2

2.3.1 LED indication definition ............................................................................................................. 2- 2

2.3.2 LED indication list ....................................................................................................................... 2- 3

2.4 Connecting Ethernet cable ............................................................................................................... 2- 4

3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3- 1 to 3- 6

3.1 PDO communication cycle ................................................................................................................ 3- 1

3.2 PDO setting-related object ................................................................................................................ 3- 1

3.3 PDO default mapping ....................................................................................................................... 3- 2

3.4 PDO variable mapping ...................................................................................................................... 3- 4

3.5 Mapping-necessary objects .............................................................................................................. 3- 5

4. SDO (SERVICE DATA OBJECT) COMMUNICATION 4- 1 to 4- 2

4.1 SDO communication-related service ................................................................................................ 4- 1

4.2 SDO Abort Code ............................................................................................................................... 4- 2

5. CiA 402 DRIVE PROFILE 5- 1 to 5-90

5.1 FSA state .......................................................................................................................................... 5- 1

5.2 Controlword/Control DI ..................................................................................................................... 5- 4

5.2.1 Bit definition of Controlword ....................................................................................................... 5- 4

5.2.2 Bit definition of Control DI .......................................................................................................... 5- 5

5.3 Statusword/Status DO ...................................................................................................................... 5- 7

5.3.1 Bit definition of Statusword ......................................................................................................... 5- 7

5.3.2 Bit definition of Status DO .......................................................................................................... 5- 8

5.4 Control mode ................................................................................................................................... 5-12

5.4.1 Selecting control mode (Modes of operation) ........................................................................... 5-12

5.4.2 Control switching ....................................................................................................................... 5-12

5.4.3 Cyclic synchronous position mode (csp) .................................................................................. 5-13

5.4.4 Cyclic synchronous velocity mode (csv) ................................................................................... 5-16

5.4.5 Cyclic synchronous torque mode (cst) ...................................................................................... 5-18

5.4.6 Profile position mode (pp) ......................................................................................................... 5-20

5.4.7 Profile velocity mode (pv) .......................................................................................................... 5-24

5.4.8 Profile torque mode (tq) ............................................................................................................ 5-27

5.4.9 Homing mode (hm) ................................................................................................................... 5-30

5.4.10 Point table mode (pt) ............................................................................................................... 5-59

5.4.11 Jog mode (jg) .......................................................................................................................... 5-64

5.4.12 Indexer mode (idx) .................................................................................................................. 5-71

5.5 Touch probe ..................................................................................................................................... 5-78

5.6 Quick stop ........................................................................................................................................ 5-82

5.7 Halt ................................................................................................................................................... 5-83

5.8 Software position limit ...................................................................................................................... 5-84

5.9 Torque limit ...................................................................................................................................... 5-84

5.10 Polarity ........................................................................................................................................... 5-85

5.11 Degree function ............................................................................................................................. 5-87

5.12 Torque offset .................................................................................................................................. 5-89

6. MANUFACTURER FUNCTIONS 6- 1 to 6-12

6.1 Object for status monitor ................................................................................................................... 6- 1

6.2 Incremental counter .......................................................................................................................... 6- 3

6.3 Stroke end ......................................................................................................................................... 6- 3

6.4 Definition of alarm-related objects .................................................................................................... 6- 4

6.5 Parameter object ............................................................................................................................... 6- 5

6.5.1 Definition of parameter objects .................................................................................................. 6- 5

6.5.2 Enabling parameters .................................................................................................................. 6- 6

6.6 Scale measurement function ............................................................................................................ 6- 7

6.7 One-touch tuning .............................................................................................................................. 6- 8

6.8 Machine diagnosis function ............................................................................................................. 6-10

6.9 Servo amplifier life diagnosis function ............................................................................................. 6-12

7. OBJECT DICTIONARY 7- 1 to 7-82

7.1 Store Parameters .............................................................................................................................. 7- 1

7.2 Supported object dictionary list ......................................................................................................... 7- 2

7.3 Object dictionary ............................................................................................................................... 7- 6

7.3.1 General Objects ......................................................................................................................... 7- 6

7.3.2 PDO Mapping Objects .............................................................................................................. 7-12

7.3.3 Sync Manager Communication Objects .................................................................................... 7-16

7.3.4 Parameter Objects .................................................................................................................... 7-21

7.3.5 Alarm Objects ............................................................................................................................ 7-24

7.3.6 Monitor Objects ......................................................................................................................... 7-27

7.3.7 Manufacturer Specific Control Objects ..................................................................................... 7-40

7.3.8 PDS Control Objects ................................................................................................................. 7-51

7.3.9 Position Control Function Objects ............................................................................................. 7-55

7.3.10 Profile Velocity Mode Objects ................................................................................................. 7-58

7.3.11 Profile Torque Mode Objects .................................................................................................. 7-60

7.3.12 Profile Position Mode Objects ................................................................................................. 7-62

7.3.13 Homing Mode Objects............................................................................................................. 7-66

7.3.14 Factor Group Objects .............................................................................................................. 7-72

7.3.15 Touch Probe Function Objects ............................................................................................... 7-75

7.3.16 Optional application FE Objects .............................................................................................. 7-76

7.3.17 Point Table Mode Objects ....................................................................................................... 7-79

7.3.18 Cyclic synchronous position mode Objects ............................................................................ 7-82

MEMO

1. EtherCAT COMMUNICATION

1.1 Summary

EtherCAT is the abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master and slaves developed by Beckhoff Automation that uses real-time Ethernet. ETG (EtherCAT Technology Group) owns EtherCAT. The EtherCAT communication is available when the EtherCAT network module (ABCC-M40-ECT manufactured by HMS Industrial Networks) is connected to the MR-J4-_TM_ servo amplifier. The MR-J4_TM_ servo amplifier to which the EtherCAT network module is connected operates as a slave station compliant with CAN application protocol over EtherCAT (CoE) standards. The device type is a power drive system and is compatible with the CiA 402 drive profile.

(1) CiA 402 drive profile compatible

The MR-J4-_TM_ servo amplifier operates as a slave station compliant with CAN application protocol over EtherCAT (CoE) standards. The device type is a power drive system and is compatible with the CiA 402 drive profile.

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1. EtherCAT COMMUNICATION

(2) Various control modes supported

The MR-J4-_TM_ servo amplifier supports the following control modes. In the table below, whether the synchronous mode and asynchronous mode can be used in each control mode. For the synchronous mode and asynchronous mode, refer to (3) in this section.

Control mode Symbol Description

This is a position mode where a position command is received

Cyclic synchronous position mode

Cyclic synchronous velocity mode

Cyclic synchronous torque mode

Profile position mode pp

Profile velocity mode pv

Profile torque mode tq

Homing mode hm

Point table mode pt

JOG mode jg

Indexer mode idx

at a constant period to drive the servo motor in the synchronous or asynchronous communication with a

csp

controller. Use an absolute position address for a command.

This is a speed mode where a speed command is received at

csv

a constant period to drive the servo motor in the synchronous or asynchronous communication with a controller.

This is a torque mode where a torque command is received at

cst

a constant period to drive the servo motor in the synchronous or asynchronous communication with a controller.

This is a positioning operation mode where an end position command is received to drive the servo motor in the synchronous or asynchronous communication with a controller.

Use an absolute position address or relative position address for a command.

This is a mode where a target speed command is received to drive the servo motor in the synchronous or asynchronous communication with a controller.

This is a mode where a target torque command is received to drive the servo motor in the synchronous or asynchronous communication with a controller.

This is a mode where the servo amplifier performs a home position return operation using the method directed by the controller.

In this control mode, the servo motor is driven according to the travel distance and speed stored in the point table No. which is specified in the synchronous or asynchronous communication with a controller. This control mode is specific to Mitsubishi Electric, not in CiA 402 standard.

This is available with servo amplifiers with software version B2 or later.

In this control mode, the servo motor is manually driven at a speed set in the synchronous or asynchronous communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original).

This is available with servo amplifiers with software version B2 or later.

In this control mode, the servo motor is driven to the station specified in the synchronous or asynchronous communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric original).

This is available with servo amplifiers with software version B2 or later.

Note 1. Servo amplifiers with software version B3 or earlier cannot be used in the asynchronous mode. When the controller sends an

operation command in the asynchronous mode, the error code that indicates the state transition is not allowed is notified and

the ERROR LED of the network module blinks.

2. Servo amplifiers with software version B4 or later can be used in the asynchronous mode. When it is used in the asynchronous

mode, Cycle time (1C32h: 2) setting is required. For details on Cycle time (1C32h: 2), refer to (4) in this section.

Synchronous

mode

Available

Asynchronous

mode

Available

(Note 1, 2)

Available

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1. EtherCAT COMMUNICATION

(3) Synchronous mode (DC mode)

In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off.

Synchronous mode setting

Sync0 Sync1

0.25 ms (When the PDO communication cycle is set to 0.25 ms)

Cycle time (1C32h: 2)

Shift time

(1C32h: 3)

(4) Asynchronous mode (Free-run mode)

In the asynchronous mode, when using the cyclic synchronous position mode, the cyclic synchronous speed mode, and the cyclic synchronous torque mode, set as shown in the following table. Input the command value for each communication cycle set in Cycle time (1C32h: 2). If the command is not inputted on each communication cycle, the previously input command will be maintained.

Note. If the value is not set for Cycle time, the PDO communication cycle is 0.25 ms (initial

(5) Compliance with standards

MR-J4-_TM_ servo amplifiers comply with the following standards. Refer to the following standards for the description not written in this Instruction Manual.

ETG.1000.2 EtherCAT Specification – Part2 Physical Layer service definition and protocol specification

ETG.1000.3 EtherCAT Specification – Part3 Data Link Layer service definition

ETG.1000.4 EtherCAT Specification – Part4 Data Link Layer protocol specification

ETG.1000.5 EtherCAT Specification – Part5 Application Layer service definition

ETG.1000.6 EtherCAT Specification – Part6 Application Layer protocol specification

ETG.1020 EtherCAT Protocol Enhancements V1.1.0

ETG.1300 EtherCAT Indicator and Labeling Specification V1.1.0

ETG.2000 EtherCAT Slave Information (ESI) Specification V1.0.7

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

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

0.5 ms (When the PDO communication cycle is set to 0.5 ms) 1 ms (When the PDO communication cycle is set to 1 ms) 2 ms (When the PDO communication cycle is set to 2 ms)

Local Cycle time

Cycle time (1C32h: 2)

(Note)

value).

0.25 ms (When the PDO communication cycle is set to 0.25 ms)

0.5 ms (When the PDO communication cycle is set to 0.5 ms) 1 ms (When the PDO communication cycle is set to 1 ms) 2 ms (When the PDO communication cycle is set to 2 ms)

Standards Version

Unused

V1.0.3

Edition 1.0

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1. EtherCAT COMMUNICATION

1.2 Function list

The following table lists the functions available with the MR-J4-_TM_ servo amplifier to which the EtherCAT network module is connected. "MR-J4-_TM_" means "MR-J4-_TM_ Servo Amplifier Instruction Manual".

Cyclic synchronous position mode (csp)

Cyclic synchronous velocity mode (csv)

Cyclic synchronous torque mode (cst)

Profile position mode (pp)

Profile velocity mode (pv)

Profile torque mode (tq)

Homing mode (hm) The home position return operation specified in each network is supported.

Point table mode (pt)

Indexer mode (idx)

JOG mode (jg)

Model adaptive control

High-resolution encoder

Absolute position detection system

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression control

Electronic gear

S-pattern acceleration/ deceleration time constant

Function Description Reference

The position control operation performed by a synchronous sequential position command through network is supported.

The speed control operation performed by a synchronous sequential speed command through network is supported.

The torque control operation performed by a synchronous sequential torque command through network is supported.

The positioning operation performed by an asynchronous end position command through network is supported.

The speed control operation performed by an asynchronous speed command through network is supported.

The torque control operation performed by an asynchronous torque command through network is supported.

Select any 1 to 255 point table and perform operation in accordance with the set values.

This is available with servo amplifiers with software version B2 or later.

Perform operation to the station positions divided into 2 to 255. This is available with servo amplifiers with software version B2 or later.

This is a control mode where the servo motor speed is set to drive the servo motor manually.

This is available with servo amplifiers with software version B2 or later.

This function achieves a high response and stable control following the ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to the command and a response to the disturbance separately.

Additionally, this function can be disabled. To disable this function, refer to section

7.5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".

High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary servo motor compatible with the MELSERVO-J4 series.

Setting a home position once makes home position return unnecessary at every power-on.

You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

This function suppresses vibration at an arm end or residual vibration.

This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration of high frequency. The shaft resonance suppression filter suppresses the vibration.

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as the servo system response is increased.

This function analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2-installed personal computer and the servo amplifier.

MR Configurator2 is necessary for this function.

For roll feed axis, etc. of which a response level cannot be increased because of the large load to motor inertia ratio, this function improves a disturbance response.

This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]

Positioning control is performed with the value obtained by multiplying the position command from the controller by a set electronic gear ratio.

Speed can be increased and decreased smoothly. [Pr. PT51]

Section 5.4

MR-J4-_TM_

Chapter 12

MR-J4-_TM_

Section 7.2

MR-J4-_TM_ Section 7.1.5

MR-J4-_TM_ Section 7.1.1

MR-J4-_TM_ Section 7.1.3

MR-J4-_TM_ Section 7.1.2

MR-J4-_TM_ Section 7.1.4

[Pr. PE41]

[Pr. PA06] [Pr. PA07]

1 - 4

1. EtherCAT COMMUNICATION

Function Description Reference

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

Alarm history clear This function clears alarm histories. [Pr. PC21]

Torque limit Limits the servo motor torque.

Speed limit This function limits the servo motor speed. [Pr. PT67]

Status display Shows servo status on the 3-digit, 7-segment LED display

Input signal selection (device settings)

Output signal selection (device settings)

Output signal (DO) forced output

Test operation mode

Analog monitor output This function outputs servo status with voltage in real time.

MR Configurator2

Linear servo system

Direct drive servo system The direct drive servo system can be configured to drive a direct drive motor.

Fully closed loop system Fully closed loop system can be configured using the load-side encoder.

Latch function (Touch probe)

One-touch tuning

SEMI-F47 function

Tough drive function

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Use the brake unit when the regenerative option cannot provide sufficient regenerative capability.

The brake unit can be used for the servo amplifiers of the 5 kW or more.

Use the power regeneration converter when the regenerative option cannot provide sufficient regenerative capability.

The power regeneration converter can be used for the servo amplifiers of the 5 kW or more.

Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for a large regenerative power generated.

LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end) and other input device can be assigned to any pins.

The output devices including ALM (Malfunction) can be assigned to specified pins of the CN3 connector.

Turns on/off the output signals forcibly independently of the servo status. Use this function for checking output signal wiring, etc.

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation

MR Configurator2 is necessary for this function.

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Linear servo system can be configured using a linear servo motor and linear encoder.

This function latches the current position at the rising edge of the external latch input signal.

Gain adjustment is performed just by one click a certain button on MR Configurator2.

Also, one-touch tuning can be performed via a network. One-touch tuning via a network is available with servo amplifiers with software version B0 or later.

This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

MR-J4-_TM_

Section 6.3

MR-J4-_TM_

Section 11.3

MR-J4-_TM_

Section 11.4

MR-J4-_TM_

Section 11.2

[Pr. PA11] [Pr. PA12]

MR-J4-_TM_

Section 4.3

[Pr. PD03] to

[Pr. PD05]

[Pr. PD07] to

[Pr. PD09]

MR-J4-_TM_ Section 4.5.1

(1) (d)

MR-J4-_TM_

Section 4.5

[Pr. PC09] [Pr. PC10]

MR-J4-_TM_

Section 11.7

MR-J4-_TM_

Chapter 14

MR-J4-_TM_

Chapter 15

MR-J4-_TM_

Chapter 16

Section 5.5

MR-J4-_TM_

Section 3.5

[Pr. PD37]

Section 6.7

MR-J4-_TM_

Section 6.2

MR-J4-_TM_

Section 7.4

[Pr. PA20] [Pr. PF25]

MR-J4-_TM_

Section 7.3

1 - 5

1. EtherCAT COMMUNICATION

Function Description Reference

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button.

Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Scale measurement function

MR-D30 functional safety unit MR-D30 functional safety unit is supported.

Lost motion compensation function

Super trace control

Limit switch

Software limit

FoE (File Access over EtherCAT)

However, the drive recorder is not available when:

1. The graph function of MR Configurator2 is being used.

2. The machine analyzer function is being used.

3. [Pr. PF21] is set to "-1".

4. The controller is not connected (except the test operation mode).

5. An alarm related to the controller is occurring.

This amplifier complies with the STO function as functional safety of IEC/EN 61800-5-2. You can create a safety system for the equipment easily.

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.

This function is available with MR Configurator2 or via a network. The servo amplifier life diagnosis function via a network is available with servo

amplifiers with software version B0 or later.

This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2. Also, the power monitoring function can be used via a network.

From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing.

This function is available with MR Configurator2 or via a network. The machine diagnosis function via a network is available with servo amplifiers

with software version B0 or later.

The function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control.

This is used with servo amplifiers with software version B0 or later.

This function improves the response delay occurred when the machine moving direction is reversed.

This function sets constant and uniform acceleration/deceleration droop pulses to almost 0.

Travel intervals can be limited with the limit switch using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end)

Limits travel intervals by address using parameters. The same function with the limit switch is enabled by setting parameters.

This servo amplifier supports FoE (File Access over EtherCAT). For details, contact your local sales office.

This is used with servo amplifiers with software version B3 or later.

[Pr. PA23]

MR-J4-_TM_

Chapter 13

Section 6.9

Section 6.1

Section 6.8

Section 6.6

MR-J4-_TM_

Section 17.1

MR-J4-_TM_

Section 17.2

MR-J4-_TM_

Section 7.6

MR-J4-_TM_

Section 7.7

Section 5.8

MR-J4-_TM_

Section 5.3

[Pr. PT15] to

[Pr. PT18]

1 - 6

1. EtherCAT COMMUNICATION

1.3 Communication specifications

The following table shows the communication specifications.

EtherCAT communication specifications

Physical layer 100BASE-TX (IEEE802.3)

Communication connector RJ45, 2 ports (IN port, OUT port)

Communication cable

Network topology

Variable communication speed 100 Mbps (Full duplex)

Transmission speed between stations

Number of nodes

SDO (Mailbox) communication

PDO (Process Data) communication

PDO mapping

Distributed clock (DC)

Explicit Device Identification Supported

LED display RUN, ERROR, LINK/Activity (IN, OUT)

Item Description Remark

IEC 61158 Type121 CAN application protocol over EtherCAT

(CoE), IEC 61800-7 CiA 402 Drive Profile

CAT5e, shielded twisted pair (4 pair) straight cable

Line, Tree, Star, or a connection topology where the topologies are used together

Max. 100 m

Max. 65535 The number of connection nodes for actual use

Asynchronous Sending/Receiving: 1 channel each

Cycle time: Select from 0.25 ms, 0.5 ms, 1 ms, and 2 ms.

Receive (RxPDO): 1 channel Send (TxPDO): 1 channel

Variable PDO mapping supported Maximum size of RxPDO and TxPDO: 64 bytes

The DC mode and Free-run mode can be selected.

(In servo amplifiers with software version B3 or earlier, the DC mode is required in the csp, csv, and cst mode.)

Double-shielded type recommended

varies depending on the specifications of the master controller used.

Maximum data size in sending/receiving 1486 bytes each

Data size at PDO default mapping RxPDO: 29 bytes TxPDO: 41 bytes

each Maximum number of object mapping: 32 each

Sync0: Set the same cycle as the PDO communication cycle.

Sync1: Not used

1 - 7

1. EtherCAT COMMUNICATION

1.4 EtherCAT State Machine (ESM)

The communication status of MR-J4-_TM_ servo amplifiers is classified and managed by EtherCAT State Machine (ESM) that the EtherCAT standard specifies.

1.4.1 Communication status

The following table shows the classification of the communication status. Two communication types are provided: One is the PDO (process data object) communication where command data and feedback data are sent and received at a constant period. Another is the SDO (service data object) communication where object data is sent and received asynchronously. Refer to chapter 3 for details of the PDO communication. Refer to chapter 4 for details of the SDO communication.

ESM status Description

After the power is on, the communication status is the init state. The SDO communication and PDO

Init

Pre-Operational

Safe-Operational

Operational

Bootstrap

communication cannot be performed. The master accesses the DL-Information register and initializes communication.

The SDO communication can be performed. The PDO communication cannot be performed. The initial setting for network and initial transfer of parameters can be performed in this state.

The SDO communication can be performed. Though the PDO communication also can be performed, all operations (commands) such as servo motor drive are invalid. When the DC mode is selected, synchronization is established in this state.

Both the SDO communication and PDO communication can be performed. Commands using the PDO communication are valid and the servo motor can be driven.

The mailbox communication with the FoE protocol can be performed. Firmware can be updated through EtherCAT in this state. (For manufacturer setting)

1 - 8

1. EtherCAT COMMUNICATION

1.4.2 EtherCAT state

EtherCAT states shift under the conditions shown in figure 1.1 and table 1.1. When the state shifts from the Init state through the Pre-Operational and Safe-Operational state to the Operational state, the servo amplifier can be operated. When the Operational state shifts to another state, the servo amplifier executes initialization to clear the internal status.

Power on

(1)

Init

(2)

Pre-Operational

(4)

(12)

Note. This state is for manufacturer setting.

(3)

(5)

Safe-Operational

(7)

Operational

(10)

Bootstrap

(Note)

(6)(9)

(8)

Fig. 1.1

Table. 1.1 EtherCAT state transition

Transition No. Description

(1) Power on

SDO communication configuration (a) The master sets the registers of the slaves. The following shows the registers to be set.

(2)

(4)

(7)

(5), (12)

(8)

(3), (6), (9), (11)

(10) When the master requests the slave to shift to the Bootstrap state, the state shifts to the Bootstrap state.

DL Address register

Sync Manager channel for SDO communication (b) The master requests the slaves to shift to the Pre-Operational state. (c) The state shifts to the Pre-Operational state.

PDO communication configuration (a) Set the configuration parameter of the master (such as PDO mapping) using the SDO communication. (b) The master sets the Sync Manager channel and FMMU channel for the PDO communication of the slaves.

FMMU (Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global address area and the local address area in the EtherCAT communication. The global address area is used for

the PDO communication. The local address area stores object data for each station. (c) The master requests the slave to shifts to the Safe-Operational state. (d) The state shifts to the Safe-Operational state.

Synchronous (a) The master and slave use Distributed Clocks to synchronize. (b) The master starts to output a valid command value. (c) The master requests the slave to shift to the Operational state. (d) The state shifts to the Operational state.

When the master requests the slave to shifts to the Pre-Operational state, the state shifts to the Pre-Operational state.

When the master requests the slave to shifts to the Safe-Operational state, the state shifts to the Safe-Operational state.

In the following case, the state shifts to the init state.

When the master requests the slave to shifts to the Init state.

(11)

1 - 9

1. EtherCAT COMMUNICATION

1.4.3 Startup

The following describes the setting and startup of the EtherCAT communication. Refer to section 4.1 of "MRJ4-_TM_ Servo Amplifier Instruction Manual" for the startup procedure other than the network setting.

(1) Connection with the controller

POINT

Use the latest ESI file when setting up the controller. If the ESI file is old, newly added objects may not be usable. For ESI files available with the servo amplifiers you use, contact your local sales office.

Set up the controller following the manual of the controller used. For the setup, the EtherCAT Slave Information (ESI) file listing the information about the communication setting of devices is available. Store the ESI file in the controller to use it. The controller configures the setting for the slave connected to the master according to the contents of the ESI file corresponding to the slave connected.

(2) Parameter setting

Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 of "MR-J4-_TM_ Servo Amplifier Instruction Manual" for the parameter setting.

(3) Node address setting

POINT

The node address of MR-J4-_TM_ servo amplifiers complies with the specifications of Explicit Device Identification. Configure the setting of Set Explicit Device Identification for the controller. Do not connect multiple devices with the same node address setting. Node address setting via network and Configured Station Alias (0012h) are available with the combination of servo amplifiers with software version B2 or later and network modules with software version 2.00.03 or later. If the value in SII Configured Station Alias is set to other than 0000h when the node address is set with the axis selection rotary switch (SW2/SW3) or [Pr. PN01 Node address setting], the ERROR LED of the network module blinks. Cycling the power resets the set value in SII Configured Station Alias to 0000h and this enables the servo amplifier to start normally.

Set the node address of EtherCAT with the axis selection rotary switch (SW2/SW3) on the display, [Pr. PN01 Node address setting] or SII Configured Station Alias as necessary. You can set a node address as follows. After the node address setting is changed, cycle the power.

Axis selection rotary

switch (SW2/SW3)

00h 0000h 0001h to FFFFh

00h 0001h to FFFFh 0000h (Note) The value of [Pr. PN01] is set as the node address.

01h to FFh 0000h to FFFFh 0000h (Note)

Pr. PN01

SII Configured Station

Alias

Node address setting value

The value set in SII Configured Station Alias via network is the node address.

The set value of the rotary switch (SW2/SW3) is set as the node address.

Note. If the value in SII Configured Station Alias is set to other than 0000h, the ERROR LED of the network module blinks. Cycling the

power resets the set value in SII Configured Station Alias to 0000h and this enables the servo amplifier to start normally.

1 - 10

1. EtherCAT COMMUNICATION

(4) Specifying the slave with the node address

The controller can specify the slave with the node address in the following two methods.

(a) Specify with AL Status Code (0134h)

The value of the node address set in the axis selection rotary switch (SW2/SW3) or [Pr. PN01 Node

1.4.4 Network disconnection procedure

To disconnect the network by stopping device operation or other means, follow the procedure shown below. If the network is disconnected without following the procedure, [AL. 86.1 Network communication error 1] may occur.

(1) Stop the servo motor.

(2) Set the Shutdown command for Controlword (6040h) to establish the servo-off status.

(3) Shift the state to the Pre-Operational state.

(4) Shut off the power of the servo amplifier and controller.

address setting] can be read.

(b) Specify with Configured Station Alias (0012h)

The value of the node address set in the axis selection rotary switch (SW2/SW3), [Pr. PN01 Node address setting] or SII Configured Station Alias can be read.

1 - 11

1. EtherCAT COMMUNICATION

1.5 Summary of object dictionary (OD)

POINT

Refer to chapter 7 for details of the object dictionary.

Each data set that CAN application protocol over EtherCAT (CoE) devices have 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 object data can be exchanged between the master and slave devices. The aggregate of these objects is called object dictionary (OD).

1.5.1 Section definition of object dictionary

In the CAN application protocol over EtherCAT (CoE) standard, objects of the object dictionary are categorized by Index depending on the area type as shown in the following table. Refer to the Reference column for the chapters and the section where the details of each object are described.

Index Description Reference

0000h to 0FFFh Data type area

1000h to 1FFFh CoE communication area

2000h to 25FFh Parameter area (Vendor-specific) Section 6.5, Chapter 7

2800h to 29FFh Point table area (Vendor-specific) (Note) Chapter 7

2A00h to 2FFFh Servo control command/monitor area (Vendor-specific) Chapter 6, Chapter 7

6000h to 6FFFh CiA 402 Drive profile area

Note. This is available with servo amplifiers with software version B2 or later.

1.5.2 Saving object dictionary data to EEP-ROM

Chapter 1, Chapter 3,

Chapter 4, Chapter 7

Chapter 5, Chapter 7

There are two types of object dictionary data: One is saved to EEP-ROM and another is not saved. Refer to Section 7.3 for the availability and details of save for each object.

1 - 12

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT)

POINT

For EtherCAT Network module, be sure to use ABCC-M40-ECT which is a dedicated model for Mitsubishi Electric MELSERVO. For purchasing, contact your local sales office. Refer to "MR-J4-_TM_ Servo Amplifier Instruction Manual" for how to mount the EtherCAT Network module (ABCC-M40-ECT) to the MR-J4-_TM_ servo amplifier. For the quality assurance on the EtherCAT Network module (ABCC-M40-ECT), contact HMS Industrial Networks.

The EtherCAT communication with an MR-J4-_TM_ servo amplifier requires the EtherCAT Network module (ABCC-M40-ECT). The following shows the details.

2.1 Specifications

Item Description

Product name ABCC-M40-ECT (Anybus Compact Com M40 ECT) Model AB6916-C-203 (Note 1, 2, 3, 4) Manufacturer HMS Industrial Networks

External interface

Dimensions

Mass Approx. 30 g

MR-J4-_TM_ servo amplifier connecting interface: Compact flash connector with standard 50 pins EtherCAT communication port interface: RJ45 connector

52 (W) × 50 (D) × 20 (H) (Except the protrusion of the EtherCAT communication port connector)

Note 1. The model name was changed from 6916-C-203 to AB6916-C-203 in November 2018.

3. When using AB6916-B or AB6916-C, Configured Station Alias cannot be used. Refer to section 1.4.3 (3) for details.

4. When using AB6916-B, use EtherCAT Slave Information (ESI). Without ESI, the controller does not recognize the

lthough it is recommended that you use AB6916-C-203 for the servo amplifiers with software version B2 or later,

B6916-B and AB6916-C are also available. Although it is recommended that you use AB6916-C for the servo

amplifiers with software version B1 or earlier, AB6916-B is also available.

711th and later objects because Get OD List can read only object information of 710 sets.

2 - 1

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT)

2.2 Parts identification

This section describes the EtherCAT Network module (ABCC-M40-ECT) only. Refer to section 1.7 of "MRJ4-_TM_ Servo Amplifier Instruction Manual" for the MR-J4-_TM_ servo amplifier.

(5)

(6)

2.3 LED indication

(4)

(3)

(2)

(1)

No. Name/Application

ERROR LED

(1)

Indicates an error of the EtherCAT communication.

RJ45 EtherCAT communication port (OUT port)

(2)

Used to connect the next axis servo amplifier.

Link/Activity (OUT port) LED

(3)

Indicates the link status of each EtherCAT communication port.

RJ45 EtherCAT communication port (IN port)

(4)

Used to connect the EtherCAT master controller or the previous axis servo amplifier.

Link/Activity (IN port) LED

(5)

Indicates the link status of each EtherCAT communication port.

RUN LED

(6)

Indicates the EtherCAT communication status (ESM).

Detailed

explanation

Section

2.3.2 (2)

Section

2.4

Section

2.3.2 (3)

Section

2.4

Section

2.3.2 (3)

Section

2.3.2 (1)

The LEDs of the EtherCAT Network module (ABCC-M40-ECT) function according to the regulations of the EtherCAT standard (ETG.1300 EtherCAT Indicator and Labeling Specification). Under certain condition, such as when a fatal error occurs, the EtherCAT Network module (ABCC-M40-ECT) indicates its status by its own specifications.

2.3.1 LED indication definition

The following shows the LED indication definitions.

LED status Definition

Lit An LED remains lit.

Extinguished An LED remains extinguished.

Flickering An LED is switching between lit and extinguished at 10 Hz cycles (every

50 ms).

Blinking An LED is switching between lit and extinguished at 2.5 Hz cycles (every

200 ms).

Single flash An LED is lit for 200 ms and extinguished 1000 ms repeatedly.

Double flash

An LED is lit for 200 ms, extinguished for 200 ms, lit for 200 ms, and extinguished for 1000 ms repeatedly.

2 - 2

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT)

2.3.2 LED indication list

(1) RUN LED

The RUN LED indicates the EtherCAT communication status (ESM status). The extinguished RUN LED may be affected by the LED status of the Link/Activity LEDs. Refer to section 1.4 for the communication status (ESM status).

Extinguished Indicates that the power supply is shut off or the Init state.

Blinking

Single flash Indicates the Safe-Operational state.

(2) ERROR LED

The ERROR LED indicates an error of the EtherCAT communication. If the servo amplifier indicates an alarm, follow the remedy of the alarm number.

Extinguished No error

Blinking

Single flash

Double flash Indicates a watchdog error in the Sync manager.

Flickering

(3) Link/Activity LED (OUT port/IN port)

The Link/Activity LEDs indicate the link status of each EtherCAT communication port.

Extinguished Indicates that the power supply is shut off or the link-unestablished state.

Flickering Indicates that the link is established with traffic.

LED

Status Color

Indicates the Pre-Operational state.

Green

Lit Indicates the Operational state.

Lit Red

LED

Status Color

Red

Lit

LED

Status Color

Lit

Green

Indicates that a fatal error has occurred. This indication is specific to the EtherCAT Network module (ABCC-M40-ECT).

Indicates that the EtherCAT state cannot be changed according to the master command.

Indicates that the EtherCAT state has been changed autonomously due to an internal error.

Indicates the EXCEPTION state, which is an error state of the EtherCAT Network module (ABCC-M40-ECT).

Indicates an error at start-up of the EtherCAT Network module (ABCC-M40ECT).

Indicates that the link is established without traffic.

Description

2 - 3

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT)

2.4 Connecting Ethernet cable

POINT

Use a twisted pair cable (double shielded) with Ethernet Category 5e (100BASE-TX) or higher as the Ethernet cable. The maximum cable length between nodes is 100 m. When connecting an Ethernet cable to an EtherCAT network port, ensure that the connection destination (OUT port (upper side) or IN port (lower side)) is correct.

To the RJ45 EtherCAT communication port (IN port), connect the Ethernet cable connected to the controller or the previous axis servo amplifier. To the RJ45 EtherCAT communication port (OUT port), connect the Ethernet cable connected to the next axis servo amplifier. When the RJ45 EtherCAT communication port (OUT port) is not used, leave this port open. When the node address is not used, an incorrect connection destination sets node addresses that do not correspond to the actual connection order and may cause a malfunction, such as an unintended axis operation.

The first axis

servo amplifier

The second axis

servo amplifier

The final axis

servo amplifier

Controller

Ethernet cable

OUT port

IN port

Ethernet cable

OUT port

IN port

Ethernet cable

OUT port

IN port

2 - 4

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

The PDO (process data object) communication can transfer command data and feedback data between a master (controller) and slaves (servo amplifier) at a constant cycle. PDOs include RxPDOs, which are used by the slaves to receive data from the controller, and TxPDOs, which are used by the slaves to send data to the controller.

Master

(controller)

The variable PDO mapping function enables the PDO communication to transfer multiple PDOs in any array.

3.1 PDO communication cycle

Communication at a constant period

Command data (RxPDO)

Status data (TxPDO)

Slave

(servo amplifier)

The same cycle is applied to communication of RxPDOs and TxPDOs of the MR-J4-_TM_ servo amplifier. The communication cycle can be changed via a network through rewriting the sub object Cycle time (Sub index = 2) of SM output parameter (1C32h) with SDO download in the Pre Operational state.

3.2 PDO setting-related object

The following table lists the objects related to the PDO setting.

Index Sub Object Name

1C32h

1C33h

1 Synchronization type U16 rw 0

2 Cycle time U32 rw 250000

3 Shift time U32 rw (Note) 222222

RECORD

5 Minimum cycle time U32 ro 250000

6 Calc and copy time U32 ro 222722

9 Delay time U32 ro 0

12 Cycle time too small U16 ro 0

1 Synchronization type U16 rw 0

2 Cycle time U32 ro 250000

3 Shift time U32 rw (Note) 27778

RECORD

5 Minimum cycle time U32 ro 250000

6 Calc and copy time U32 ro 306055

9 Delay time U32 ro 0

12 Cycle time too small U16 ro 0

SM output parameter U8 ro 12

Synchronization types

supported

SM input parameter U8 ro 12

Synchronization types

supported

Data Type

U16 ro 0025h

Access Default Description

Refer to section 7.3.3 (4).

Refer to section 7.3.3 (5).

Note. No value can be written because Shift time (1C32: 3, 1C33: 3) is set automatically. Writing any value causes SDO Abort Code

(0609 0030h Value range of parameter exceeded).

3 - 1

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.3 PDO default mapping

POINT

The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function, which can select objects transferred in the PDO communication. Refer to section

3.4 for changing the PDO mapping.

(1) RxPDO default mapping

In the default mapping setting, command data is sent from the master (controller) to slaves (servo amplifier) with RxPDO in the following array. In the MR-J4-_TM_ servo amplifier, the mapping objects of 1600h to 1603h can be used as the RxPDO default mapping table.

Map number Mapping initial setting Expected application of the initial map

1st RxPDO map (1600h) Modes of operation (6060h)

Controlword (6040h) Control DI 1 (2D01h) Control DI 2 (2D02h) Control DI 3 (2D03h) Target position (607Ah) Target velocity (60FFh) Velocity limit value (2D20h) (Note 1) Target torque (6071h) Positive torque limit value (60E0h) (Note 2) Negative torque limit value (60E1h) (Note 2) Touch probe function (60B8h)

2nd RxPDO map (1601h) Modes of operation (6060h)

Controlword (6040h) Control DI 1 (2D01h) Control DI 2 (2D02h) Control DI 3 (2D03h) Target position (607Ah) Target velocity (60FFh) Velocity limit value (2D20h) (Note 1) Target torque (6071h) Profile velocity (6081h) Profile acceleration (6083h) Profile deceleration (6084h) Torque slope (6087h) Positive torque limit value (60E0h) (Note 2) Negative torque limit value (60E1h) (Note 2) Touch probe function (60B8h)

3rd RxPDO map (1602h) Modes of operation (6060h)

Controlword (6040h) Control DI 1 (2D01h) Control DI 2 (2D02h) Control DI 3 (2D03h) Target point table (2D60h) (Note 3) Profile velocity (6081h) Profile acceleration (6083h) Profile deceleration (6084h) Touch probe function (60B8h)

4th RxPDO map (1603h) Unassigned

Note 1. The Velocity limit value (2D20h) is a speed limit value for the torque control. Be sure to set a correct value because setting 0

will limit the speed to 0.

2. Positive torque limit value (60E0h)/Negative torque limit value (60E1h) are torque limit values of forward/reverse rotation.

Setting 0 will not generate torque. Be sure to set a correct value.

3. This is available with servo amplifiers with software version B2 or later.

Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode (csv) Cyclic synchronous torque mode (cst) Homing mode (hm)

Mapping for an application in which the modes above are switched

The following functions can be used together.

Speed limit function (in cst) Torque limit function Touch probe function

Map size: 29 bytes

Profile position mode (pp) Profile velocity mode (pv) Profile torque mode (tq) Homing mode (hm)

Mapping for an application in which the modes above are switched

The following functions can be used together.

Speed limit function (in tq) Torque limit function Touch probe function

Map size: 45 bytes

Point table mode (pt) or indexer mode (idx) Jog mode (jg) Homing mode (hm)

Mapping for an application in which the modes above are switched.

Map size: 25 bytes

3 - 2

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

(2) TxPDO default mapping

In the default mapping setting, status data of the MR-J4-_TM_ servo amplifier is sent to the master (controller) with TxPDO in the following array. In the MR-J4-_TM_ servo amplifier, the mapping objects of 1A00h to 1A03h can be used as the TxPDO default mapping table.

Note. This is available with servo amplifiers with software version B2 or later.

Map number Mapping initial setting Expected application of the initial map

1st TxPDO map (1A00h) Modes of operation display (6061h)

Statusword (6041h) Status DO 1 (2D11h) Status DO 2 (2D12h) Status DO 3 (2D13h) Position actual value (6064h) Velocity actual value (606Ch) Following error actual value (60F4h) Torque actual value (6077h) Touch probe status (60B9h) Touch probe pos1 pos value (60BAh) Touch probe pos1 neg value (60BBh) Touch probe pos2 pos value (60BCh) Touch probe pos2 neg value (60BDh)

2nd TxPDO map (1A01h) Modes of operation display (6061h)

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) Velocity actual value (606Ch) Following error actual value (60F4h) Torque actual value (6077h) Point demand value (2D68h) (Note) Point actual value (2D69h) (Note) M code actual value (2D6Ah) (Note) Touch probe status (60B9h) Touch probe pos1 pos value (60BAh) Touch probe pos1 neg value (60BBh) Touch probe pos2 pos value (60BCh) Touch probe pos2 neg value (60BDh)

3rd TxPDO map (1A02h) Unassigned

4th TxPDO map (1A03h) Unassigned

Cyclic synchronous position mode (csp) Cyclic synchronous velocity mode (csv) Cyclic synchronous torque mode (cst) Homing mode (hm)

Mapping for an application in which the modes above are switched

Mapping for an application in which the modes below are switched

Profile position mode (pp) Profile velocity mode (pv) Profile torque mode (tq) Homing mode (hm)

The latched position by the touch probe function can be monitored.

Map size: 41 bytes

Point table mode (pt) or indexer mode (idx) Jog mode (jg) Homing mode (hm)

Mapping for an application in which the modes above are switched.

Map size: 54 bytes

3 - 3

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.4 PDO variable mapping

POINT

The PDO mapping can be changed only in the Pre Operational state.

The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function, which can arrange objects in any array for the data transferred with RxPDO or TxPDO. The following table shows the specifications of the PDO variable mapping.

The following table lists the PDO mapping objects.

Index Sub Object Name

1600h

1601h

1602h

1603h

1A00h

1A01h

1A02h

1A03h

1C12h

1C13h

1 to 32

RECORD

ARRAY

Receive PDO Mapping U8 rw 12

Mapped Object 001

Mapped Object 032

Receive PDO Mapping U8 rw 16

Mapped Object 001

Mapped Object 032

Receive PDO Mapping U8 rw 10

Mapped Object 001

Mapped Object 032

Receive PDO Mapping U8 rw 0

Mapped Object 001

Mapped Object 032

Transmit PDO Mapping U8 rw 14

Mapped Object 001

Mapped Object 032

Transmit PDO Mapping U8 rw 19

Mapped Object 001

Mapped Object 032

Transmit PDO Mapping U8 rw 0

Mapped Object 001

Mapped Object 032

Transmit PDO Mapping U8 rw 0

Mapped Object 001

Mapped Object 032

Sync Manager 2 PDO

PDO Mapping object

index of assigned

Sync Manager 3 PDO

PDO Mapping object

index of assigned

Communication

RxPDO

TxPDO 4 (1A00h to 1A03h)

Assignment

RxPDO

Assignment

TxPDO

Maximum number of

objects

32 64

Data Type

U32 rw

U16 rw 1600h

U16 rw 1A00h

Access Default Description

U8 ro 1

Maximum size [byte]

60600008h

00000000h

60600008h

00000000h

60600008h

00000000h

60610008h

00000000h

60610008h

00000000h

Number of mapping

settings

4 (1600h to 1603h)

Refer to section 7.3.2 (1).

Refer to section 7.3.2 (2).

Refer to section 7.3.2 (3).

Refer to section 7.3.2 (4).

Refer to section 7.3.2 (5).

Refer to section 7.3.2 (6).

Refer to section 7.3.2 (7).

Refer to section 7.3.2 (8).

Refer to section 7.3.3 (2).

Refer to section 7.3.3 (3).

3 - 4

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.5 Mapping-necessary objects

The following table lists the objects which are required for each mode.

(1) RxPDO

Mode (Note 1)

Object name (Index)

csp csv cst pp pv tq

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) - - -

Profile acceleration (6083h) - - -

Profile deceleration (6084h) - - -

Torque slope (6087h) - - - - -

Velocity limit value (2D20h) - -

Positive torque limit value (60E0h)

Negative torque limit value (60E1h)

Touch probe function (60B8h)

Watch dog counter DL (2D23h)

Target point table (2D60h) (Note 2) - - - - - -

- -

- - - - - -

- -

- - -

- -

- - - - - - - -

Note 1. : Mapping required

: Mapping recommended

-: Mapping not required

2. This is available with servo amplifiers with software version B2 or later.

(Note 2)

- -

(Note 2)

- - - - -

- - - -

- -

- - - -

idx

(Note 2)

Function

(Note 1)

Touch

probe

3 - 5

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

(2) TxPDO

Mode (Note 1)

Object name (Index)

csp csv cst pp pv tq

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)

Touch probe status (60B9h)

Touch probe pos1 pos value (60BAh)

Touch probe pos1 neg value (60BBh)

Touch probe pos2 pos value (60BCh)

Touch probe pos2 neg value (60BDh)

Watch dog counter UL (2D24h)

Point actual value (2D69h) (Note 2) - - - - - -

M code actual value (2D6Ah) (Note 2) - - - - - -

Point demand value (2D68h) (Note 2) - - - - - -

- -

- - - - - - - -

Note 1. : Mapping required

: Mapping recommended

-: Mapping not required

2. This is available with servo amplifiers with software version B2 or later.

(Note 2)

- - -

- -

- - - -

- -

idx

(Note 2)

Function

(Note 1)

Touch

probe

3 - 6

4. SDO (SERVICE DATA OBJECT) COMMUNICATION

The SDO (service data object) communication can transfer object data between a master (controller) and slaves (servo amplifier) asynchronously.

Object data

(SDO Download Expedited)

(SDO Download Normal)

(Download SDO Segment)

Master

(controller)

Object data

(SDO Upload Expedited)

(SDO Upload Normal)

(Upload SDO Segment)

(Abort SDO Transfer)

(Get OD List)

(Get Object Description)

(Get Entry Description)

(Emergency)

Slave

(servo amplifier)

4.1 SDO communication-related service

The MR-J4-_TM_ servo amplifier supports the following services relating to the SDO communication.

Service Description

SDO Download Expedited Writes data of up to 4 bytes to a slave.

SDO Download Normal Writes data of the specified bytes to a slave.

Download SDO Segment Writes additional data when the object size is larger than the specified byte size.

SDO Upload Expedited Reads data of up to 4 bytes from a slave.

SDO Upload Normal (Note) Reads data of the specified bytes from a slave.

Upload SDO Segment Reads additional data when the object size is larger than the specified number of octets.

Abort SDO Transfer Sends SDO Abort Code when an error occurs in a service.

Get OD List Reads a list of available object indexes.

Get Object Description Reads the detail of an index.

Get Entry Description Reads the detail of Sub Index.

Emergency Notifies an alarm.

Note. Complete Access is not supported.

4 - 1

4. SDO (SERVICE DATA OBJECT) COMMUNICATION

4.2 SDO Abort Code

When an error occurs in the SDO communication, the following error messages are returned with the Abort SDO Transfer service.

SDO Abort Code Meaning Cause

0504 0005h Out of memory. The memory is out of the range.

0601 0001h Attempt to read to a write only object Reading is attempted to a write-only object.

0601 0002h Attempt to write to a read only object Writing is attempted to a read-only object.

0601 0006h

0602 0000h The object does not exist in the object dictionary A non-existent index is specified.

0604 0043h General parameter incompatibility reason. An unsupported command is issued.

0607 0012h

0607 0013h

0609 0011h Subindex does not exist A non-existent Sub Index is specified.

0609 0030h Value range of parameter exceeded A parameter value outside the range is specified.

0609 0031h Value of parameter written too high The value of the parameter written is too large.

0609 0032h Value of parameter written too low The value of the parameter written is too small.

0800 0000h Generic error. General error

0800 0021h

0800 0022h

Object mapped to RxPDO, SDO download blocked. SDO Download is executed to an object mapped to

RxPDO.

Data type does not match, length of service parameter too high.

Data type does not match, length of service parameter too short.

Data cannot be transferred or stored to the application because of local control.

Data cannot be transferred or stored to the application because of the present device state.

The data type does not match. The data length is too long.

The data type does not match. The data length is too short.

Writing is limited in the device.

Data cannot be read or written due to the current device status.

4 - 2

5. CiA 402 DRIVE PROFILE

5.1 FSA state

The inside state of the MR-J4-_TM_ servo amplifier is controlled based on the FSA state, defined in the CiA 402 drive profile standard. Figure 5.1 and Table 5.1 show the transition conditions between the FSA states. The states are switched when the master sends a command following the table (sets Controlword) with the PDO communication established (the AL state Operational reached). When the state has transitioned from Not ready to switch on, which is right after the power on, to Operation enabled with the predetermined procedure, the servo motor becomes ready to operate.

5 - 1

5. CiA 402 DRIVE PROFILE

Power on

(0)

Power of

(A): Ready-off, Servo-off

Fault

(14)

(B): Ready-on, Servo-off

active

(C): Ready-on, Servo-on

(2)

(12)

Quick stop

(10)

(3) (6)

(4) (5)

(16)

active

(11)

Transition by slave

Transition by master

Transition by slave or master

Not ready to

switch on

(1)

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

(15)

(7)

(8) (9)

Fault reaction

(13)

Error occurs

Figure 5.1 Transition between the FSA states

Table 5.1 State transition

Transition

No.

(0) The control circuit power supply is turned on. Initialization

The state automatically transitions when the control circuit power

(1)

supply is turned on.

(2) The state transitions with the Shutdown command from the master.

(3) The state transitions with the Switch on command from the master. RA turns on.

The state transitions with the Enable operation command from the

(4)

master.

The state transitions with the Disable operation command from the

(5)

master.

(6) The state transitions with the Shutdown command from the master. RA turns off.

The state transitions with the Disable Voltage command or Quick

(7)

Stop command from the master.

(a) The state transitions with the Shutdown command from the

(8)

master.

(b) The state transitions when the main circuit power supply is

turned off.

The state transitions with the Disable Voltage command from the

(9)

master.

The state transitions with the Disable Voltage command or Quick

(10)

Stop command from the master.

(11) The state transitions with the Quick Stop command from the master. Quick Stop starts.

(a) The state automatically transitions after Quick Stop is completed.

(12)

(If the Quick Stop option code is 1, 2, 3, or 4)

(b) The state transitions with the Disable Voltage command from the

master.

(13) Alarm occurrence Processing against the alarm is executed.

Event Remark

Communication setting

The operation becomes ready after servo-on.

The operation is disabled after servo-off.

Operation is disabled after servo-off or RA-off.

RA turns off.

Operation is disabled after servo-off or RA-off.

5 - 2

5. CiA 402 DRIVE PROFILE

Transition

No.

(14) Automatic transition

(15) The state transitions with the Fault Reset command from the master.

(16)

(Not

supported)

(Note)

The state transitions with the Enable Operation command from the master.

(If the Quick Stop option code is 5, 6, 7, or 8)

Note. This is not supported by the MR-J4-_TM_ servo amplifier.

The following table lists the commands issued to the servo amplifier. Turn on the bits according to the command.

Command

Shutdown 0 1 1 0 (2)/(6)/(8)

Switch On 0 0 1 1 1 (3)

Disable Voltage 0 0 (7)/(9)/(10)/(12)

Quick Stop 0 0 1 (7)/(10)/(11)

Disable Operation 0 0 1 1 1 (5)

Enable Operation 0 1 1 1 1 (4)/(16)

Fault Reset 0 → 1 (Note) (15)

Bit 7

Fault Reset

Note. In faulty communication, hold the state of Bit 7 = 1 for at least 10 ms for the Fault Reset command to prevent the command from

failing to be recognized.

Figure 5.1 and Table 5.1 show the FSA state transition conditions of the EtherCAT standard. The transition from the Switch on disabled state to the Operation enabled state requires Shutdown, Switch on, and Enable operation to be issued in this order. However, with the MR-J4-_TM_ servo amplifier, transition to the target state skipping the states in between is possible.

Switch on disabled Switch on Switched on

Switch on disabled Enable operation Operation enabled

Ready to switch on Enable operation Operation enabled

Event Remark

After processing against the alarm has been completed, servo-off or RA-off is performed and the operation is disabled.

Alarms are reset. Alarms that can be reset are reset.

The operation becomes ready.

Command bit setting of Controlword

Bit 3

Enable

Operation

Current state Command State after transition

Bit 2

Quick Stop

Bit 1

Enable Voltage

Bit 0

Switch On

Transition No.

5 - 3

5. CiA 402 DRIVE PROFILE

5.2 Controlword/Control DI

The FSA state can be switched and control commands for the functions of the drive can be issued by rewriting the objects of Controlword (6040h) and Control DI (2D01h to 2D03h) from the master (controller). Use 6040h to issue control commands defined with CiA 402. Use 2D01h to 2D03h to issue control commands of the other manufacturer functions.

Index Sub Object Name

6040h VAR Controlword U16 rw

2D01h

2D02h Control DI 2

2D03h Control DI 3

VAR

Control DI 1

5.2.1 Bit definition of Controlword

Controlword (6040h) can control the FSA state and issue control commands. Use Bit 0 to Bit 3 and Bit 7 for the FSA state. The following table shows the bit definition of Controlword (6040h).

Bit Symbol Description

0 SO Switch-on

1 EV Enable voltage

2 QS Quick stop

3 EO Enable operation

7 FR Fault reset

8 HALT

9 OMS Differs depending on Modes of operation (6060h). (Refer to section 5.4.)

OMS Differs depending on Modes of operation (6060h). (Refer to section 5.4.)

0: Operation ready 1: Temporary stop

The value at reading is undefined. Set "0" at writing.

Data Type

U16 rw

Access Description

Control commands to control the servo amplifier can be set.

5 - 4

5. CiA 402 DRIVE PROFILE

5.2.2 Bit definition of Control DI

Control DI can control the FSA state and issue control commands. The following table shows the bit definition of Control DI.

(1) Control DI 1

(2) Control DI 2

Bit Symbol Description

0 The value at reading is undefined. Set "0" at writing.

Gain switching

4 C_CDP

5 C_CLD

6 The value at reading is undefined. Set "0" at writing.

Bit Symbol Description

8 C_PC

15 C_ORST

Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.

Fully closed loop control switching Use this bit when the semi closed loop control/fully closed loop control switching is enabled

with [Pr. PE01]. Turn off C_CLD to select the semi closed loop control, and turn on C_CLD to select the

fully closed loop control.

The value at reading is undefined. Set "0" at writing.

Proportional control Turn C_PC on to switch the speed amplifier from the proportional integral type to the

proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it

generates torque to compensate for a position mismatch. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the C_PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position mismatch. When the shaft is to be locked for a long time, use the C_PC and torque limit at the same time to make the torque less than the rated torque.

The value at reading is undefined. Set "0" at writing.

Operation alarm reset Turn on C_ORST from off to reset [AL. F4 Positioning warning].

5 - 5

5. CiA 402 DRIVE PROFILE

(3) Control DI 3

Bit Symbol Description

8 C_ABS2

The value at reading is undefined. Set "0" at writing.

Home position return completion (for scale measurement) When C_ABS2 is turned on with the scale measurement function, the absolute position

erased status of a scale measurement encoder can be canceled. S_ABSV2 turns off. This is used with servo amplifiers with software version B0 or later.

The value at reading is undefined. Set "0" at writing.

5 - 6

5. CiA 402 DRIVE PROFILE

5.3 Statusword/Status DO

The objects of Statusword or Status DO notify the master (controller) of the FSA state of the MR-J4-_TM_ servo amplifier and other drive status. Use 6041h to notify the status defined with CiA 402. Use 2D11h to 2D13h, 2D15h and 2D17h for the other Vendor-specific statuses.

Index Sub Object Name

6041h VAR Statusword U16 ro

2D11h

2D12h Status DO 2

2D13h Status DO 3

2D15h Status DO 5

2D17h Status DO 7

VAR

Status DO 1

5.3.1 Bit definition of Statusword

The following table shows the bit definition of Statusword.

Bit Symbol Description

0 RTSO Ready-to-switch-on

1 SO Switch-on

2 OE Operation-enabled

3 F Fault

Voltage-enabled

4 VE

5 QS

6 SOD Switch on disabled

7 W

8 The value at reading is undefined.

9 RM

10 TR

11 ILA

OMS

0: The bus voltage is lower than the certain (RA) level. 1: The bus voltage is equal to or higher than the certain level.

Quick stop 0: During a quick stop 1: No during a quick stop (including during the test mode)

Warning 0: No warning has been occurred. 1: A warning has occurred.

Remote 0: Not following the Controlword command 1: In operation following the Controlword command

Target reached Differs depending on Modes of operation (6060h). (Refer to section 5.4.)

Internal limit active 0: The forward rotation stroke end, reverse rotation stroke end, and software position limit

have not been reached

1: The forward rotation stroke end, reverse rotation stroke end, or software position limit

has been reached. (Enabled in the csp, csv, pp, pv, hm, pt, jg, or idx mode)

Differs depending on Modes of operation (6060h). (Refer to section 5.4.)

The value at reading is undefined.

Data Type

U16 ro The servo status is returned.

Access Description

5 - 7

5. CiA 402 DRIVE PROFILE

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the FSA state (internal state of the MR-J4-_TM_ servo amplifier). Refer to the following table for details.

Note. Statusword is not sent in the Not ready to switch on state.

5.3.2 Bit definition of Status DO

The following table shows the bit definition of Status DO.

(1) Status DO 1

Bit Symbol Description

2 S_SA

3 S_MBR

4 S_CDPS

5 S_CLD

12 S_INP

13 S_TLC

14 S_ABSV

15 S_BWNG

The value at reading is undefined.

Speed reached S_SA turns off during servo-off. When the servo motor speed reaches the following range,

S_SA turns on. Preset speed ± ((Preset speed × 0.05) + 20) r/min When the preset speed is 20 r/min or slower, S_SA always turns on.

Electromagnetic brake interlock When a servo-off status or alarm occurs, S_MBR turns off.

Variable gain selection S_CDPS will turn on during variable gain.

During fully closed loop control switching S_CLD turns on during fully closed loop control.

The value at reading is undefined.

In-position When the number of droop pulses is in the in-position range, S_INP turns on. The in-

position range can be changed with [Pr. PA10]. When the in-position range is increased, S_INP may be always on during low-speed rotation.

The Status DO cannot be used in the velocity mode or torque mode.

Limiting torque When the torque reaches the torque limit value during torque generation, S_TLC turns on.

When the servo is off, S_TLC will be turned off. This Status DO cannot be used in the torque mode.

Absolute position undetermined When the absolute position is erased, S_ABSV turns on. The Status DO cannot be used in the velocity mode or torque mode.

Battery warning When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has

occurred, S_BWNG turns on. When the battery warning is not occurring, turning on the power will turn off S_BWNG after 2.5 s to 3.5 s.

Statusword (bin) FSA state

x0xx xxx0 x0xx 0000 Not ready to switch on (Note)

x0xx xxx0 x1xx 0000 Switch on disabled

x0xx xxx0 x01x 0001 Ready to switch on

x0xx xxx0 x01x 0011 Switched on

x0xx xxx0 x01x 0111 Operation enabled

x0xx xxx0 x00x 0111 Quick stop active

x0xx xxx0 x0xx 1111 Fault reaction active

x0xx xxx0 x0xx 1000 Fault

5 - 8

5. CiA 402 DRIVE PROFILE

(2) Status DO 2

Bit Symbol

Z-phase already passed

0 S_ZPAS

3 S_ZSP

4 S_VLC

5 The value at reading is undefined.

6 S_IPF

8 S_PC

9 The value at reading is undefined.

10 S_DB

15 S_ZP2

0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up

The value at reading is undefined.

Zero speed detection When the servo motor speed is at zero speed or slower, S_ZSP turns on. Zero speed can

be changed with [Pr. PC07].

Limiting speed When the speed reaches the speed limit value in the torque mode, S_VLC turns on. When

the servo is off, S_TLC will be turned off. The Status DO cannot be used in the position mode or velocity mode.

During IPF S_IPF turns on during an instantaneous power failure.

Under proportional control S_PC turns on under proportional control.

External dynamic brake output When the dynamic brake needs to operate, S_DB turns off.

The value at reading is undefined.

Home position return completion 2 (incremental system) When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on

unless the home position is erased. It will be off with the following conditions.

1) [AL. 69 Command error] occurs.

2) Home position return is not being executed.

3) Home position return is in progress.

Home position return completion 2 (absolute position detection system) If a home position return completes once, S_ZP2 is always on. However, it will be off with

the following conditions.

1) [AL. 69 Command error] occurs.

2) Home position return is not being executed.

3) Home position return is in progress.

4) The home position return is not performed after [AL. 25 Absolute position erased] or

[AL. E3 Absolute position counter warning] occurred.

5) The home position return is not performed after the electronic gear ([Pr. PA06] or [Pr.

PA07]) was changed.

6) The home position return is not performed after the setting of [Pr. PA03 Absolute

position detection system selection] was changed from "Disabled" to "Enabled".

7) [Pr. PA14 Rotation direction selection/travel direction selection] was changed.

8) [Pr. PA01 Operation mode] was changed.

Description

5 - 9

5. CiA 402 DRIVE PROFILE

(3) Status DO 3

(4) Status DO 5

Bit Symbol Description

5 S_STO

8 S_ABSV2

11 S_MTTR

Bit Symbol

5 S_CPO

6 S_MEND

The value at reading is undefined.

During STO S_STO turns on during STO.

The value at reading is undefined.

Absolute position undetermined 2 (for scale measurement) When the absolute position is erased from a scale measurement encoder with the scale

measurement function, S_ABSV2 turns on. This is used with servo amplifiers with software version B0 or later.

The value at reading is undefined.

Transition to tough drive mode in process When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure

tough drive will turn on S_MTTR.

The value at reading is undefined.

Rough match When a command remaining distance is lower than the rough match output range set with

[Pr. PT12], S_CPO turns on. This is available with servo amplifiers with software version B2 or later.

Travel completion When the droop pulses are within the in-position output range set with [Pr. PA10] and the

command remaining distance is "0", S_MEND turns on. S_MEND turns on with servo-on. S_MEND is off at servo-off status. However, S_MEND will not be off in the indexer method. This is available with servo amplifiers with software version B0 or later.

The value at reading is undefined.

Description

5 - 10

5. CiA 402 DRIVE PROFILE

(5) Status DO 7

Bit Symbol Description

2 S_POT

The value at reading is undefined.

Position range output When an actual current position is within the range set with [Pr. PT19] to [Pr. PT22],

S_POT turns on. This will be off when a home position return is not completed or base circuit shut-off is in progress.

This is available with servo amplifiers with software version B2 or later.

The value at reading is undefined.

5 - 11

5. CiA 402 DRIVE PROFILE

5.4 Control mode

5.4.1 Selecting control mode (Modes of operation)

Specify a control mode with Modes of operation (6060h). Modes of operation (6060h) can be rewritten with PDO or SDO. Note that usable control modes are limited depending on the setting of [Pr. PA01], as shown in the following table.

Pr. PA01 setting value pp pv tq hm csp csv cst

_ _ _ 0: Automatic selection by each network _ _ _ 1: Cyclic synchronous mode

_ _ _ 2: Profile mode

_ _ _ 6: Positioning mode (point table method)

(Note)

_ _ _ 8: Positioning mode (indexer method)

(Note)

1 (pp)

Note. This is available with servo amplifiers with software version B2 or later.

The following table shows the objects selected for control modes.

Index Sub Object Name

6060h VAR Modes of operation I8 rw

6061h VAR

6502h VAR

Modes of operation

display

Supported drive

mode

Data Type

U32 ro

Access Default Description

I8 ro

5.4.2 Control switching

POINT

Changes to the OMS bit of Controlword (6040h) are not accepted until control switching is completed. Before inputting commands, check that the control mode has been switched referring to Modes of operation display (6061h).

Differs

depending on

[Pr. PA01].

Differs

depending on

[Pr. PA01].

Refer to

section 7.3.8

(Note)

8 (csp)

(8).

idx

(Note)

-101 (pt)

Refer to section 7.3.8 (6).

Refer to section 7.3.8 (7).

Refer to section 7.3.8 (8).

-103 (idx)

6060h/6061h Default value

Because control switching has a delay, the controller must keep sending command values corresponding to the control mode before and after the switching. After the completion of control switching has been checked with Modes of operation display (6061h), update of the command value before the switching can be stopped. Before switching the mode from or to the position mode, check that the servo motor speed is zero speed. Zero speed can be obtained with Bit 3 (S_ZSP) of Status DO 2 (2D12h). If the servo motor speed is not zero speed, the control will not be switched and Modes of operation display (6061h) will not change.

5 - 12

5. CiA 402 DRIVE PROFILE

5.4.3 Cyclic synchronous position mode (csp)

The following shows the functions and related objects of the cyclic synchronous position mode (csp).

Torque limit value (60E0h, 60E1h)

Torque offset (60B2h)

Quick stop deceleration (6085h)

Quick stop option code (605Ah)

Target position (607Ah)

Software position limit (607Dh)

Gear ratio (6091h)

Polarity (607Eh) Following error actual value

(60F4h)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Position

limit

function

[Pos units] +

[Pos units]

Index Sub Object Name

[Enc inc]

×××

××

Position trajectry

generator

Position ac tual internal value

(6063h)

Data Type

Access Default Description

607Ah VAR Target position I32 rw Command position (Pos units)

607Bh

(Note 2)

607Dh

ARRAY

1 Min position limit I32 rw 0

ARRAY

Position range limit U8 ro 2 Number of entries

Min position range

limit

Max position range

limit

I32 rw

Software position limit U8 ro 2 Number of entries

2 Max position limit I32 rw 0

6085h VAR

605Ah VAR

Quick stop

deceleration

Quick stop option

code

U32 rw 100

I16 rw 2

6080h VAR Max motor speed U32 rw

6063h VAR

Position actual

internal value

I32 ro

6064h VAR Position actual value I32 ro Current position (command unit)

606Ch VAR Velocity actual value I32 ro

Position

control

chapter 7.

Control

effort

(60FAh)

Refer to

control

Torque control

Velocity

Minimum value of the position range limit

The value is automatically set according to the setting of "Position data unit" in [Pr. PT01].

pulse: -2147483648 degree: 0 The cyclic synchronous mode

supports pulses only.

Maximum value of the position range limit

The value is automatically set according to the setting of "Position data unit" in [Pr. PT01].

pulse: 2147483647 degree: 359999 The cyclic synchronous mode

supports pulses only.

Minimum position address (Pos units)

Maximum position address (Pos units)

Deceleration at deceleration to a stop by Quick stop

Unit: ms

Operation setting for Quick stop Refer to section 5.6.

Servo motor maximum speed Unit: r/min

Current position (after electronic gear)

Current speed Unit: 0.01 r/min or 0.01 mm/s

(linear)

Motor

Encoder

5 - 13

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

60F4h VAR

60FAh VAR Control effort I32 ro

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

60A8h

(Note 2)

60A9h

(Note 2)

60B2h

(Note 3)

1 Feed

2 Shaft revolutions

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

VAR Torque offset I16 rw 0

Feed constant U8 ro 2

Following error actual

value

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

Data Type

U32 rw

U16 rw 10000

U32 rw

Note 1. In the cyclic synchronous mode of the software version B2 or earlier, setting Motor revolutions (6091h: 1) or Shaft revolutions

(6091h: 2) to anything other than "1" will trigger [AL. 37].

2. This is used with servo amplifiers with software version B0 or later.

3. This is available with servo amplifiers with software version B2 or later.

Access Default Description

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

I32 ro Droop pulses (Pos units)

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

Position control loop output (speed command)

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator) (Note 1)

Number of revolutions of the drive axis (denominator) (Note 1)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL

Bit 5: Torque POL (Note 2) Refer to section 5.10.

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

Torque offset Unit: 0.1% (rated torque of 100%) This can be set within -32768 to

32767. When this is set to a value exceeding the maximum torque of the servo amplifier, the value is clamped at the maximum torque.

Refer to section 5.12.

5 - 14

5. CiA 402 DRIVE PROFILE

(2) Electronic gear function (unit conversion for position data)

The unit system of position data used inside and outside the MR-J4-_TM_ servo amplifier can be mutually converted with the Gear ratio value used as a coefficient.

External position information (position information exchanged with the controller)

Internal position information (position information in the servo amplifier)

The following shows the equation.

Position actual value (6064h) =

(3) OMS bit of Controlword (csp mode)

Bit Symbol Description

(4) OMS bit of Statusword (csp mode)

Bit Symbol Description

10 (reserved) The value at reading is undefined.

13 Following error

Outside/inside Applicable object example Unit notation

Current position (Position actual value (6064h)) Command position (Target position (607Ah))

Internal current position (Position actual internal value (6063h))

Position actual internal value (6063h) × Feed constant (6092h)

Position encoder resolution (608Fh) × Gear ratio (6091h)

Position actual internal value (6063h) ×

4 (reserved) The value at reading is undefined. Set "0" at writing.

5 (reserved)

6 (reserved)

8 (reserved)

9 (reserved)

Target position

ignored

0: Target position (607Ah) is being discarded. 1: Target position (607Ah) is being used as a position control loop input.

0: No following error 1: Following error Judgment condition for Following error When the time set with Following error time out (6066h) has elapsed with the number of

droop pulses exceeding the set value of the Following error window (6065h), this bit becomes "1".

Shaft revolutions (6091h: 2)

Motor revolutions (6091h: 1)

Pos units

Enc inc

5 - 15

5. CiA 402 DRIVE PROFILE

5.4.4 Cyclic synchronous velocity mode (csv)

The following shows the functions and related objects of the cyclic synchronous velocity mode (csv).

Torque limit value (60E0h, 60E1h)

Torque offset (60B2h)

Quick stop deceleration (6085h)

Quick stop option code (605Ah)

Max motor speed (6080h)

Target velocity (60FFh)

Gear ratio (6091h)

Polarity (607Eh)

Velocity demand

limit

value

(606Bh)

Velocity

control

Torque

control

Velocity

function

Motor

Encoder

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Index Sub Object Name

Position actual internal value

××

Data Type

Access Default Description

(6063h)

Command speed

60FFh VAR Target velocity I32 rw

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Deceleration at deceleration to a stop by Quick stop

Unit: ms

Operation setting for Quick stop Refer to section 5.6.

Servo motor maximum speed Unit: r/min

Command speed (after limit)

Current position (after electronic gear)

6085h VAR

605Ah VAR

Quick stop

deceleration

Quick stop option

code

U32 rw 100

I16 rw 2

6080h VAR Max motor speed U32 rw

606Bh VAR

6063h VAR

Velocity demand

value

Position actual

internal value

I32 ro

6064h VAR Position actual value I32 ro Current position (command unit)

Current speed

606Ch VAR Velocity actual value I32 ro

Unit: 0.01 r/min or 0.01 mm/s

(linear)

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

1 Feed

ARRAY

Feed constant U8 ro 2

U32 rw

2 Shaft revolutions

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

60E0h VAR

60E1h VAR

Positive torque limit

value

Negative torque limit

value

U16 rw 10000

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

5 - 16

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

6091h

607Eh VAR Polarity U8 rw 0

60A8h

(Note 2)

60A9h

(Note 2)

60B2h

(Note 3)

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

VAR Torque offset I16 rw 0

Gear ratio U8 ro 2 Gear ratio

Data Type

U32 rw

Note 1. In the cyclic synchronous mode of the software version B2 or earlier, setting Motor revolutions (6091h: 1) or Shaft revolutions

(6091h: 2) to anything other than "1" will trigger [AL. 37].

2. This is used with servo amplifiers with software version B0 or later.

3. This is available with servo amplifiers with software version B2 or later.

(2) OMS bit of Controlword (csv mode)

Bit Symbol Description

4 (reserved) The value at reading is undefined. Set "0" at writing.

5 (reserved)

6 (reserved)

8 (reserved)

9 (reserved)

(3) OMS bit of Statusword (csv mode)

Bit Symbol Description

10 (reserved) The value at reading is undefined.

13 (reserved) The value at reading is undefined.

Target velocity

ignored

0: Target velocity (60FFh) is being discarded. 1: Target velocity (60FFh) is being used as a speed control loop input.

Access Default Description

Number of revolutions of the servo motor axis (numerator) (Note 1)

Number of revolutions of the drive axis (denominator) (Note 1)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL (Note 2) Refer to section 5.10.

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

Torque offset Unit: 0.1% (rated torque of 100%) This can be set within -32768 to

32767. When this is set to a value exceeding the maximum torque of the servo amplifier, the value is clamped at the maximum torque.

Refer to section 5.12.

5 - 17

5. CiA 402 DRIVE PROFILE

5.4.5 Cyclic synchronous torque mode (cst)

The following shows the functions and related objects of the cyclic synchronous torque mode (cst).

Max torque (6072h)

Torque limit value (60E0h, 60E1h)

Target torque (6071h)

Torque offset (60B2h)

Gear ratio (6091h)

Polarity (607Eh)

Torque

function

limit

Torque

demand

value

(6074h)

Torque

control

Motor

Encoder

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Index Sub Object Name

Data Type

Access Default Description

6071h VAR Target torque I16 rw

6072h VAR Max torque U16 rw

6074h VAR Torque demand I16 ro

6063h VAR

Position actual

internal value

I32 ro Current position (Enc inc)

Position actual internal value

××

(6063h)

Command torque Unit: 0.1% (rated torque of 100%)

Maximum torque Unit: 0.1% (rated torque of 100%)

Command torque (after limit) Unit: 0.1% (rated torque of 100%)

6064h VAR Position actual value I32 ro Current position (Pos units)

Current speed

606Ch VAR Velocity actual value I32 ro

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

1 Feed

ARRAY

Feed constant U8 ro 2

U32 rw

2 Shaft revolutions

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

60E0h VAR

60E1h VAR

6091h

1 Motor revolutions

ARRAY

2 Shaft revolutions 1

Positive torque limit

value

Negative torque limit

value

U16 rw 10000

Gear ratio U8 ro 2 Gear ratio

U32 rw

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator) (Note 1)

Number of revolutions of the drive axis (denominator) (Note 1)

Polarity selection Bit 7: Position POL

607Eh VAR Polarity U8 rw 0

Bit 6: Velocity POL Bit 5: Torque POL (Note 2) Refer to section 5.10.

5 - 18

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

2D20h VAR Velocity limit value I32 rw 50000

60A8h

(Note 2)

60A9h

(Note 2)

60B2h

(Note 3)

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

VAR Torque offset I16 rw 0

Data Type

Note 1. In the cyclic synchronous mode of the software version B2 or earlier, setting Motor revolutions (6091h: 1) or Shaft revolutions

(6091h: 2) to anything other than "1" will trigger [AL. 37].

2. This is used with servo amplifiers with software version B0 or later.

3. This is available with servo amplifiers with software version B2 or later.

(2) OMS bit of Controlword (cst mode)

Bit Symbol Description

4 (reserved) The value at reading is undefined. Set "0" at writing.

5 (reserved)

6 (reserved)

8 (reserved)

9 (reserved)

(3) OMS bit of Statusword (cst mode)

Bit Symbol Description

10 (reserved) The value at reading is undefined.

12 Target torque ignored

13 (reserved) The value at reading is undefined.

0: Target torque (6071h) is being discarded. 1: Target torque (6071h) is being used as a torque control loop input.

Access Default Description

Speed limit value Unit: Vel unit (0.01 r/min or 0.01

mm/s)

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

Torque offset Unit: 0.1% (rated torque of 100%) This can be set within -32768 to

32767. When this is set to a value exceeding the maximum torque of the servo amplifier, the value is clamped at the maximum torque.

Refer to section 5.12.

5 - 19

5. CiA 402 DRIVE PROFILE

5.4.6 Profile position mode (pp)

The following shows the functions and related objects of the profile position mode (pp).

Torque limit value (60E0h, 60E1h)

Motion profile type (6086h)

Profile acceleration (6083h)

Profile deceleration (6084h)

Quick stop deceleration (6085h)

Quick stop option code (605Ah)

Profile velocity (6081h)

Max profile velocity (607Fh)

Max motor speed (6080h)

Target position (607Ah)

Software position limit (607Dh)

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Acceleration

limit

function

Velocity

limit

function

Position

limit

function

×××

Position trajectry

generator

Position actual internal value (6063h)×

Position

control

Control

effort

(60FAh)

Velocity

control

Torque control

Motor

Encoder

(1) Related object

Index Sub Object Name

Data Type

Access Default Description

607Ah VAR Target position I32 rw Command position (Pos units)

Position range limit U8 ro 2 Number of entries

Minimum value of the position range limit

The value is automatically set

Min position range

limit

I32 rw

according to the setting of "Position data unit" in [Pr. PT01].

mm/inch/pulse: -2147483648 degree: 0

607Bh

(Note 2)

ARRAY

The cyclic synchronous mode supports pulses only.

Maximum value of the position range limit

The value is automatically set

Max position range

limit

I32 rw

according to the setting of "Position data unit" in [Pr. PT01].

mm/inch/pulse: 2147483647 degree: 359999 The cyclic synchronous mode

supports pulses only.

607Dh

1 Min position limit I32 rw 0

ARRAY

2 Max position limit I32 rw 0

Software position limit U8 ro 2 Number of entries

Minimum position address (Pos units)

Maximum position address (Pos units)

maximum speed

607Fh VAR Max profile velocity U32 rw 2000000

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

6080h VAR Max motor speed U32 rw

Servo motor maximum speed Unit: r/min

5 - 20

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

6081h VAR Profile velocity U32 rw 10000

6083h VAR Profile Acceleration U32 rw 0

6084h VAR Profile deceleration U32 rw 0

6085h VAR

6086h VAR Motion profile type I16 rw 0

605Ah VAR

6063h VAR

6064h VAR Position actual value I32 ro Current position (Pos units)

606Ch VAR Velocity actual value I32 ro

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

60F4h VAR

60FAh VAR Control effort I32 ro

60E0h VAR

60E1h VAR

6091h

1 Feed

2 Shaft revolutions

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

Quick stop

deceleration

Quick stop option

code

Position actual

internal value

Feed constant U8 ro 2

Following error actual

value

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

Data Type

U32 rw 100

U32 rw

U16 rw 10000

U32 rw

Access Default Description

Speed after acceleration completed Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Acceleration at start of movement to target position

Unit: ms

Deceleration at arrival at target position

Unit: ms

Deceleration at deceleration to a stop by Quick stop

Unit: ms

Acceleration/deceleration type selection

-1: S-pattern 0: Linear ramp (not supported)

(Note 1)

ramp (not supported) (Note

1: Sin

2: Jerk-free ramp (not supported)

(Note 1)

3: Jerk-limited ramp (not supported)

(Note 1)

I16 rw 2

I32 ro Current position (Enc inc)

I32 ro Droop pulses (Pos units)

Operation setting for Quick stop Refer to section 5.6.

Current speed Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

Position control loop output (speed command)

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator)

Number of revolutions of the drive axis (denominator)

5 - 21

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

607Eh VAR Polarity U8 rw 0

60A8h

(Note 2)

60A9h

(Note 2)

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

Data Type

Note 1. This is not supported by the MR-J4-_TM_ servo amplifier.

2. This is used with servo amplifiers with software version B0 or later.

(2) Details on the OMS bit of Controlword (pp mode)

Bit Symbol Description

4 New set-point New positioning parameters are obtained when this bit turns on.

6 abs/rel

8 HALT

9 Change on set-point

Change set

immediately

0: Set of set-points 1: Single set-point

0: Absolute position command 1: Relative position command When the unit is set to degree, relative position commands are disabled. When the relative

position command is specified and positioning is started, [AL. F4.8] occurs and positioning cannot be started.

0: Positioning is executed. 1: The servo motor stops according to Halt option code (605Dh).

Enabled only for Set of set-points (Bit 5 = 0). 0: The next positioning starts after the current positioning is completed (stopped). (black

line (Refer to (5) in this section.)). 1: The next positioning starts after positioning is executed with Profile velocity (6081h)

held up to the current set-point. (gray line (Refer to (5) in this section.)).

(3) Details on the OMS bit of Statusword (pp mode)

Bit Symbol Description

0 (Halt (Bit 8) = 0): Target position not reached. 0 (Halt (Bit 8) = 1): Axis decelerates 1 (Halt (Bit 8) = 0): Target position reached.

10 Target reached

13 Following error

Set-point

acknowledge

1 (Halt (Bit 8) = 1): Velocity of axis is 0 Judgment condition for Target position reached If the error between Position actual value (6064h) and Target position (607Ah) has stayed

within Position window (6067h) for Position window time (6068h) or more, Target position reached is stored.

0: Positioning completed (wait for next command) 1: Positioning being executed (The set-point can be overwritten.)

0: No following error 1: Following error Judgment condition for Following error When the time set with Following error time out (6066h) has elapsed with the number of

droop pulses exceeding the set value of the Following error window (6065h), this bit becomes "1".

Access Default Description

Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL (Note 2) Refer to section 5.10.

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

5 - 22

5. CiA 402 DRIVE PROFILE

(4) Single Set-point

Update of positioning parameters during a positioning operation is immediately accepted. (The current positioning operation is cancelled and the next positioning is started.)

ctual

speed

New set-point (bit 4)

arge position (set-point)

Profile velocity

Current targe position processed

Set-point acknowledge (bit 12)

arge reached (bit 10)

(5) Set of set-points

After the current positioning operation is completed, the next positioning is started. Whether positioning is stopped at the first positioning point when at an update of the positioning parameter before completion of the positioning can be switched. To switch the setting, use Change on set-point (Bit 9 of Controlword).

ctual

speed

New set-point (bit 4)

arget position

(set-point)

Profile

elocity

Current

arget position processed

Set-point acknowledge (bit 12)

arge reached (bit 10)

5 - 23

5. CiA 402 DRIVE PROFILE

5.4.7 Profile velocity mode (pv)

The following shows the functions and related objects of the profile velocity mode (pv).

Torque limit value (60E0h, 60E1h)

Motion profile type (6086h)

Profile acceleration (6083h)

Profile deceleration (6084h)

Quick stop deceleration (6085h)

Quick stop option code (605Ah)

Target velocity (60FFh)

Max profile velocity (607Fh)

Max motor speed (6080h)

Gear ratio (6091h)

Polarity (607Eh)

Velocity demand value (606Bh)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Acceleration

limit

function

Velocity

limit

function

Velocity trajectry

generator

××××Position actual internal value (6063h)

Velocity

control

Torque

control

Motor

Encoder

(1) Related object

Index Sub Object Name

Data Type

Access Default Description

Command speed

60FFh VAR Target velocity I32 rw

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

maximum speed

607Fh VAR Max profile velocity U32 rw 2000000

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

6080h VAR Max motor speed U32 rw

Servo motor maximum speed Unit: r/min

Acceleration at start of movement to

6083h VAR Profile Acceleration U32 rw 0

target position Unit: ms

Deceleration at arrival at target

6084h VAR Profile deceleration U32 rw 0

position Unit: ms

Deceleration at deceleration to a stop by Quick stop

Unit: ms

6085h VAR

Quick stop

deceleration

U32 rw 100

Acceleration/deceleration type selection

-1: S-pattern 0: Linear ramp (not supported)

(Note 1)

6086h VAR Motion profile type I16 rw 0

ramp (not supported) (Note

1: Sin

2: Jerk-free ramp (not supported)

(Note 1)

3: Jerk-limited ramp (not supported)

(Note 1)

605Ah VAR

6063h VAR

Quick stop option

code

Position actual

internal value

I16 rw 2

I32 ro Current position (Enc inc)

Operation setting for Quick stop Refer to section 5.6.

6064h VAR Position actual value I32 ro Current position (Pos units)

5 - 24

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

606Bh VAR

606Ch VAR Velocity actual value I32 ro

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

606Dh VAR Velocity window U16 rw 2000

606Eh VAR Velocity window time U16 rw 0

606Fh VAR Velocity threshold U16 rw 5000

6070h VAR

60A8h

(Note 2)

60A9h

(Note 2)

1 Feed

2 Shaft revolutions

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

Velocity demand

value

Feed constant U8 ro 2

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

Velocity threshold

time

Data Type

U32 rw

U16 rw 10000

U32 rw

U16 rw 10

Note 1. This is not supported by the MR-J4-_TM_ servo amplifier.

2. This is used with servo amplifiers with software version B0 or later.

(2) Details on the OMS bit of Controlword (pv mode)

Bit Symbol Description

4 (reserved) The value at reading is undefined. Set "0" at writing.

5 (reserved)

6 (reserved)

8 HALT

9 (reserved) The value at reading is undefined. Set "0" at writing.

0: The servo motor is driven. 1: The servo motor is stopped according to Halt option code (605Dh).

Access Default Description

I32 ro

Speed command (after trajectory generation)

Current speed Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator)

Number of revolutions of the drive axis (denominator)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL (Note 2) Refer to section 5.10.

Speed error threshold for judging Target reached

Unit: 0.01 r/min or 0.01 mm/s

Target reached judgment time Unit: ms

Zero speed threshold for judging Speed

Unit: 0.01 r/min or 0.01 mm/s

Speed judgment time Unit: ms

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

5 - 25

5. CiA 402 DRIVE PROFILE

(3) Details on the OMS bit of Statusword (pv mode)

(4) pv mode operation sequence

Bit Symbol Description

0 (Halt (Bit 8) = 0): Target velocity not reached. 0 (Halt (Bit 8) = 1): Axis decelerates 1 (Halt (Bit 8) = 0): Target velocity reached.

10 Target reached

12 Speed

13 Max slippage error

Note. This is not supported by the MR-J4-_TM_ servo amplifier.

1 (Halt (Bit 8) = 1): Velocity of axis is 0 Judgment condition for Target velocity reached If the error between Velocity actual value (606Ch) and Target velocity (60FFh) has stayed

within Velocity window (606Dh) for Velocity window time (606Eh) or more, Target velocity reached is stored.

0: Speed is not equal 0 1: Speed is equal 0 Judgment condition for Speed is not equal 0 If the absolute value of Velocity actual value (606Ch) has exceeded Velocity threshold

(606Fh) for Velocity threshold time (6070h) or more, Speed is not equal 0 is stored.

0: Maximum slippage not reached 1: Maximum slippage reached (not supported) (Note) Max slippage is a maximum slippage of the asynchronous servo motor.

elocity Actual Value

(606Ch)

arget Velocit

(60FFh)

arget reached Statusword (6041h) bit 10

Speed Statusword (6041h) bit 12

Decelerates with Profile deceleration (6084h)

Accelerates with Profile acceleration (6083h)

Velocity window time (606Eh)

Velocity threshold time (6070h)

5 - 26

5. CiA 402 DRIVE PROFILE

5.4.8 Profile torque mode (tq)

The following shows the functions and related objects of the profile torque mode (tq).

Target torque (6071h)

Torque slope (6087h)

Torque profile type (6088h)

Controlword (6040h)

Max torque (6072h)

Torque limit value (60E0h, 60E1h)

Gear ratio (6091h)

Polarity (607Eh)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Trajectry

generator

Torque demand (6074h)

× ×

Position actual internal

value (6063h)

Torque

control

and

power

stage

Motor

Encoder

(1) Related object

Index Sub Object Name

Data Type

Access Default Description

6040h VAR Controlword U16 rw Common control command

6071h VAR Target torque I16 rw

6072h VAR Max torque U16 rw

6074h VAR Torque demand I16 ro

6087h VAR Torque slope U32 rw 0

Command torque Unit: 0.1% (rated torque of 100%)

Maximum torque Unit: 0.1% (rated torque of 100%)

Command torque (after limit) Unit: 0.1% (rated torque of 100%)

Torque variation Unit: 0.1%/s (rated torque of 100%)

Torque variation pattern 0000h: Linear ramp

0001h: Sin

6088h VAR Torque profile type U32 rw 0

ramp (not supported)

(Note 1) 0002h to 7FFFh: reserved 8000h to FFFFh: Manufacturer

specific

6063h VAR

Position actual

internal value

I32 ro

Current position (Enc inc)

6064h VAR Position actual value I32 ro Current position (Pos units)

Current speed

606Ch VAR Velocity actual value I32 ro

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

6077h VAR Torque actual value I32 ro

6092h

(Note 2)

1 Feed

ARRAY

Feed constant U8 ro 2

U32 rw

2 Shaft revolutions

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

5 - 27

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

2D20h VAR Velocity limit value I32 rw 5000

60A8h

(Note 2)

60A9h

(Note 2)

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

VAR SI unit position U32 rw 0

VAR SI unit velocity U32 rw 0

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

Data Type

U16 rw 10000

U32 rw

Note 1. This is not supported by the MR-J4-_TM_ servo amplifier.

2. This is used with servo amplifiers with software version B0 or later.

(2) Details on the OMS bit of Controlword (tq mode)

Bit Symbol Description

4 (reserved) The value at reading is undefined. Set "0" at writing.

5 (reserved)

6 (reserved)

8 HALT

9 (reserved) The value at reading is undefined.

0: The servo motor is driven. 1: The servo motor is stopped according to Halt option code (605Dh).

(3) Details on the OMS bit of Statusword (tq mode)

Bit Symbol Description

0 (Halt (Bit 8) = 0): Target torque not reached. 0 (Halt (Bit 8) = 1): Axis decelerates

12 (reserved) The value at reading is undefined.

13 (reserved)

Target reached

(not supported) (Note)

1 (Halt (Bit 8) = 0): Target torque reached. 1 (Halt (Bit 8) = 1): Velocity of axis is 0 Judgment condition for Target torque reached If the error between Torque actual value (6077h) and Target torque (6071h) has stayed

within Torque window for Torque window time or more, Target torque reached is stored.

Note. This is not supported by the MR-J4-_TM_ servo amplifier.

Access Default Description

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator)

Number of revolutions of the drive axis (denominator)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL

Bit 5: Torque POL (Note 2) Refer to section 5.10.

Speed limit value Unit: Vel unit (0.01 r/min or 0.01

mm/s)

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

5 - 28

5. CiA 402 DRIVE PROFILE

(4) tq mode operation sequence

orque demand

(6074h)

arget torque

(6071h)

Halt Controlword (6040h) Bit 8

Changed with Torque slope (6087h)

5 - 29

5. CiA 402 DRIVE PROFILE

5.4.9 Homing mode (hm)

The following shows the function and related objects of the homing mode (hm).

Controlword (6040h)

Homing method (6098h)

Homing speeds (6099h)

Homing acceleration (609Ah)

Home offset (607Ch)

(1) Related object

Index Sub Object Name

607Ch 0 VAR Home offset I32 ro

6098h 0 VAR Homing Method I8 rw -1

6099h

609Ah 0 VAR Homing acceleration U32 rw 0

60E3h

ARRAY

Homing Speeds U8 rw 2

Speed during search

for switch

Speed during search

for zero

Supported Homing

Method

supported homing

method

supported

homing method

Homing

method

Data Type

U32 rw 10000

U32 rw 1000

Access Default Description

U8 ro 39

I8 ro

Statusword (6041h)

Refer to

section 7.3.13

(5).

Refer to

section 7.3.13

(5).

The home position saved in EEPROM is stored at power-on.

If a home position return is executed in the homing mode (hm), the home position will be updated.

If [Pr. PA03 Absolute position detection system] is disabled, 0 is always stored.

Specify a home position return type. Refer to (4) in this section for

supported home position return types.

Number of entries of the home position return speed

Specify the travel speed until dog detection.

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Range: 0 to servo motor maximum

speed

Specify the travel speed up to the home position after dog detection. (Note)

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Range: 0 to servo motor maximum

speed

Acceleration/deceleration time constant at home position return

Unit: ms

Number of entries of the supported home position return type

The supported home position return type is returned.

Note. In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the

stroke end is detected. Set the home position return speed carefully.

5 - 30

5. CiA 402 DRIVE PROFILE

(2) Details on the OMS bit of Controlword (hm mode)

(3) Details on the OMS bit of Statusword (hm mode)

Bit Symbol Description

Homing operation start

4 HOS

5 (reserved) The value at reading is undefined. Set "0" at writing.

6 (reserved)

8 HALT

9 (reserved) The value at reading is undefined. Set "0" at writing.

POINT

0: Do not start homing procedure 1: Start or continue homing procedure

Halt 0: Bit 4 enable 1: Stop axis according to halt option code (605Dh) In the indexer method, this bit is disabled.

When the mode is switched to the hm mode after home position return completion, Statusword is "Homing procedure is completed successfully" unless "0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12. For incremental system

At power-on At communication shut-off by controller reset At home position return start At home position erasure

For absolute position detection system

At home position return start

At home position erasure To check the home position return status with Statusword, note the following. (when the communication cycle of 4 ms or less is set)

When the mode is switched to the hm mode, Modes of operation display is

changed to 6 (hm) and Statusword changes at the same time. The status change of Statusword may take 50 ms at a maximum after Bit 4 of Controlword (Homing operation start) is set. To obtain the status of

Statusword without any fault, wait 50 ms or more. Before updating the position after a home position return completion, check that both Bit 12 and Bit 10 of Statusword are changed to "1" and then wait 8 ms. If 8 ms has not elapsed, the position information may not be updated correctly depending on the communication cycle setting.

Bit Symbol Description

10 Target reached Refer to the following table for the definition.

12 Homing attained

13 Homing error

5 - 31

5. CiA 402 DRIVE PROFILE

The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword in the hm mode.

(4) List of Homing method

Bit 13 Bit 12 Bit 10 Definition

0 0 0 Homing procedure is in progress

0 0 1 Homing procedure is interrupted or not started

0 1 0 Homing is attained, but target is not reached

0 1 1 Homing procedure is completed successfully

1 0 0 Homing error occurred, velocity is not 0

1 0 1 Homing error occurred, velocity is 0

1 1 reserved

POINT

In the following cases, make sure that the Z-phase has been passed through once before the home position return. Z-phase unpassed will trigger [AL. 90.5 Zphase unpassed].

When using an incremental linear encoder in the linear servo motor control

mode

When using an incremental external encoder in the fully closed loop control

mode

For the use in the DD motor control mode To execute a home position return securely, start a home position return after moving the servo motor to the opposite stroke end with csv or pv from the controller and others. Whether the servo motor has reached the stroke end can be checked with Digital inputs (60FDh). When changing the mode after the home position return completion, set 0 to the Target position (607Ah) and change the control mode. The Method numbers which can be used in indexer method are only -1, -33, -3, 35 and 37.

5 - 32

5. CiA 402 DRIVE PROFILE

To specify the home position return type in the homing mode (hm), use Homing Method (6098h). The MR-J4-_TM_ servo amplifier supports Homing method in the following table.

Method No. Home position return type Rotation direction Description

Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal,

-1

-33 Reverse rotation

-3

-4

-36 Reverse rotation

-2

-34 Reverse rotation

-6

-38 Reverse rotation

-7

-39 Reverse rotation

-8

-40 Reverse rotation

-9

-41 Reverse rotation

-10

-42 Reverse rotation

-11

-43 Reverse rotation

Homing on negative home

Dog type

(Rear end detection Z-

phase reference)/

torque limit changing dog

type

(Front end detection Z-

phase reference)

Data set type home

position return/

torque limit changing data

set type

Stopper type

(Stopper position

reference)

Count type

(Front end detection Z-

phase reference)

Dog type

(Rear end detection rear

end reference)

Count type

(Front end detection front

end reference)

Dog cradle type

Dog type last Z-phase

reference

Dog type front end

reference

Dogless Z-phase

reference

No homing method

assigned

Homing on positive home

switch and index pulse

Homing on positive home

switch and index pulse

Forward rotation

Reverse rotation

or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.

In the indexer method, deceleration starts at the front end of the proximity dog, and then the first Z-phase signal at which a deceleration to a stop is possible or the position of the Z-phase signal shifted by the specified home position shift distance is used as the home position. The torque limit values in Positive torque limit value (60E0h) and Negative torque limit value (60E1h) are enabled during execution of home position return, and the torque limit value in Torque limit value2 (2D6Bh) is enabled when the home position return is stopped.

The current position is set as the home position. In the indexer method, the current position is set as the home

position. The torque limit value becomes 0 when switched to the homing mode (hm).

A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position.

At the front end of the proximity dog, deceleration starts. After the front end is passed, the position specified by the first Z-phase signal after the set distance or the position of the Z-phase signal shifted by the set home position shift distance is set as a home position.

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position.

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.

Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.

Home position return cannot be performed. Starting home position return causes "Homing error".

Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

5 - 33

5. CiA 402 DRIVE PROFILE

Method No. Home position return type Rotation direction Description

33 Homing on index pulse Reverse rotation

34 Homing on index pulse Forward rotation

35 Homing on current position

37 Homing on current position

Homing on negative home

switch and index pulse

Homing on home switch

and index pulse

Homing on home switch

and index pulse

Homing on home switch

and index pulse

Homing on home switch

and index pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Homing without index

pulse

Reverse rotation

Forward rotation

Reverse rotation

Forward rotation

Reverse rotation

Forward rotation

Reverse rotation

Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

Same as the dog type last Z-phase reference home position return.

Same as the dog cradle type home position return.

Same as the dog type last Z-phase reference home position return.

Same as the dog cradle type home position return.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return,

[AL. 90 Home position return incomplete warning] occurs.

If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return.

Although this type is the same as the dogless Z-phase reference home position return, the creep speed is applied as the movement start speed.

The current position is set as the home position. This type can be executed not in the Operation enabled state.

5 - 34

5. CiA 402 DRIVE PROFILE

(5) CiA 402-type homing method

(a) Home position return type in CiA 402 type

The following shows the CiA 402-type home position return.

1) Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position. Method 3 has the operation of the dog type last Z-phase reference home position return, and Method 4 has the operation of the dog cradle type home position return at a forward rotation start. However, if the stroke end is detected during home position return, [AL. 90] occurs.

Index Pulse

Home Switch

2) Method 5 and 6: Homing on negative home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position. Method 5 and 6 differ from Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the reversed direction.

5 - 35

5. CiA 402 DRIVE PROFILE

3) Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return. Method 8 has the operation of the dog cradle type home position return at a forward rotation start. Method 11 and 12 differ from Method 7 and Method 8 only in the starting direction: the starting direction of Method 11 and 12 is the reversed direction.

Index Pulse

Home Switch

Positive Limit Switch

4) Method 17 to 30: Homing without index pulse Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home position not on the Z-phase but on the dog. Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home position not on the Z-phase but on the dog. The following figure shows the operation of the home position return type of Method 19 and Method 20. Method 19 and Method 20 have the operation of Method 3 and Method 4; however, these types set the home position not on the Z-phase but on the dog Method 19 has the operation of the dog type front end reference home position return. Method 20 has the operation of the dog cradle type home position return; however, the stop position is not on the Z-phase but on the dog.

Home Switch

5 - 36

5. CiA 402 DRIVE PROFILE

5) Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start.

Index Pulse

6) Method 35 and 37: Homing on current position These home position return types set the current position as a home position. The operation is the same as that of the data set type home position return; however, these types can be executed even during servo-off.

Statusword bit 12 Homing attained

ON OFF

Servo motor speed

Controlword bit 4 Homing operation start

Forward rotation

0 r/min Reverse rotation

ON OFF

Home position return position data

5 - 37

5. CiA 402 DRIVE PROFILE

(b) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing method.

1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3. The operation direction of Homing method 5 is opposite to that of Homing method 3.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

Acceleration time constant

3 ms or shorter

Home position shift distance

Servo motor speed

Home position return speed

Creep speed

Home position return direction

0 r/min Reverse rotation

After retracting to before proximity dog, the home position return starts from here.

Deceleration time constant

Proximity dog

Home position return position data

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

5 - 38

5. CiA 402 DRIVE PROFILE

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF ON OFF

Forward rotation

Servo motor speed

0 r/min Reverse rotation

When a home position return is started from the proximity dog

Servo motor speed 0 r/min

Home position return direction

shift distance

Home position return direction

Forward rotation

Home position return start position

Proximity dog

Home position return position data

Home position return start positionHome position

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

5 - 39

5. CiA 402 DRIVE PROFILE

3) Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

Acceleration time constant

3 ms or shorter

Home position shift distance

Servo motor speed

Home position return speed

Creep speed

Home position return direction

0 r/min Reverse rotation

After retracting to before proximity dog, the home position return starts from here.

Deceleration time constant

Proximity dog

Home position return position data

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 40

5. CiA 402 DRIVE PROFILE

4) Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Servo motor speed

When a home position return is started from the proximity dog

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Home position return direction

Forward rotation

0 r/min Reverse rotation

shift distance

Proximity dog

Home position return position data

Proximity dog

Home position return direction

Home position return start position

Home position return position data

Home position return start positionHome position

Stroke end (Note)

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end

5 - 41

5. CiA 402 DRIVE PROFILE

5) Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Acceleration time constant

Home position return position data

3 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

5 - 42

5. CiA 402 DRIVE PROFILE

6) Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF ON OFF

Forward

Servo motor speed

rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

When a home position return is started from the proximity dog

Forward

Servo motor speed 0 r/min

rotation

Home position return direction

Home position return start position

Proximity dog

Home position return position data

Home position return start position

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

5 - 43

5. CiA 402 DRIVE PROFILE

7) Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Acceleration time constant

Home position return position data

3 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 44

5. CiA 402 DRIVE PROFILE

8) Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Servo motor speed

Home position shift distance

Travel distance after proximity dog

When a home position return is started from the proximity dog

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Home position return direction

Forward rotation

0 r/min Reverse rotation

Proximity dog

Home position return position data

Proximity dog

Home position return direction

Home position return start position

Home position return position data

Home position return start position

Stroke end (Note)

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end

5 - 45

5. CiA 402 DRIVE PROFILE

9) Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Servo motor speed

Z-phase

Controlword bit 4 Homing operation start

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These methods can be performed in the servo-off status.

Statusword bit 12 Homing attained

Forward rotation

0 r/min Reverse rotation

OFF ON OFF

ON OFF

Acceleration time constant

3 ms or shorter

Home position return position data

Home position shift distanceON

Servo motor speed 0 r/min

Creep speed

Home position return direction

Forward rotation

Home position return start position

When the stroke end is detected

Deceleration time constant

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

Servo motor speed

Controlword bit 4 Homing operation start

Forward rotation

0 r/min Reverse rotation

ON OFF

Home position return position data

5 - 46

5. CiA 402 DRIVE PROFILE

(6) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home return.

(a) Method -1 and -33

1) Dog type home position return The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Proximity dog(Note)

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return speed to the

creep speed.

ON OFF ON OFF ON OFF

5 - 47

5. CiA 402 DRIVE PROFILE

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward

Servo motor speed

Note. The software limit cannot be used with these functions.

rotation

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 48

5. CiA 402 DRIVE PROFILE

2) Torque limit changing dog type home position return

POINT

Torque limit changing dog type home position return is available with servo amplifiers with software version B2 or later.

The following figure shows the operation of Homing method -1 in the indexer method. The operation direction of Homing method -33 is opposite to that of Homing method -1.

Power supply

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF ON OFF

Point actual value

Forward rotation

Servo motor speed

Z-phase

Controlword bit 4 Homing operation start

DOG (Proximity dog)

Enabled torque limit value

Note. A delay time can be set with [Pr. PT39].

0 r/min Reverse rotation

ON OFF

Torque limit

value2

Hold the previous value

Home position

return speed

Set time in [Pr. PT56]

Positive torque limit value

Negative torque limit value

Set time in [Pr. PT56] or [Pr. PT57]

Creep speed

Home position shift distance

Position where the station home position shift distance is added

(Note)

Torque limit value2

5 - 49

5. CiA 402 DRIVE PROFILE

(b) Method -2 and -34 (Count type home position return)

Home position return speed

Travel distance after proximity dog

The following figure shows the operation of Homing method -2. The operation direction of Homing method -34 is opposite to that of Homing method -2.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

POINT

For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog. Then, the first Z-phase is set as the home position. Therefore, when the on-time of the proximity dog is 10 ms or more, the length of the proximity dog has no restrictions. Use this home position return type when the dog type home position return cannot be used because the length of the proximity dog cannot be reserved or other cases.

Acceleration time constant

3 ms or shorter

Deceleration time constant

Proximity dog(Note)

Creep speed

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return speed to the

creep speed.

ON OFF ON OFF ON OFF

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

return direction

0 r/min Reverse rotation

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

5 - 50

5. CiA 402 DRIVE PROFILE

Home position return direction

Proximity dog

Stroke end (Note)

Servo motor speed

Note. The software limit cannot be used with these functions.

1) Data set type home position return The following figure shows the operation of Homing method -3. This type cannot be executed during servo-off.

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF

Forward rotation

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

When the movement is returned at the stroke end

Home position return position data

2) Torque limit changing data set type home position return

Torque limit changing data set type home position return is available with servo amplifiers with software version B2 or later.

The following figure shows the operation of Homing method -3 in the indexer method. This type cannot be executed during servo-off.

Modes of operation

Statusword bit 12 Homing attained

Point actual value

Servo motor speed 0 r/min

Controlword bit 4 Homing operation start

ON OFF

Forward rotation

Reverse rotation

ON OFF

POINT

Homing mode (hm)

Hold the previous value 0

Home position return position data

Enabled torque limit value

Torque limit

value2

0% Torque limit value2

5 - 51

5. CiA 402 DRIVE PROFILE

(d) Method -4 and -36 (stopper type home position return)

Home position return speed

3 ms or shorter

5 ms or longer

The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to that of Homing method -4.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

Controlword bit 4 Homing operation start

TLC (Limiting torque)

Torque limit value

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough.

Acceleration time constant

[Pr. PT10 Stopper type home position return stopper time]

Torque limit value (Note 1)

Home position return position data

Stopper

(Note 2)

[Pr. PT11] Torque limit value (Note 1)

Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the

torque limit value of Negative torque limit value (60E1h) is applied.

2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

When the stroke end is detected

5 - 52

5. CiA 402 DRIVE PROFILE

(e) Method -6 and -38 (dog type rear end reference home position return)

Home position return speed

Deceleration time constant

Proximity dog(Note)

The following figure shows the operation of Homing method -6. The operation direction of Homing method -38 is opposite to that of Homing method -6.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The higher the creep speed, the greater the error of the home position.

Acceleration time constant

3 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

Home position return position data

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 53

5. CiA 402 DRIVE PROFILE

(f) Method -7 and -39 (count type front end reference home position return)

Home position return speed

Deceleration time constant

The following figure shows the operation of Homing method -7. The operation direction of Homing method -39 is opposite to that of Homing method -7.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The faster home position return speed sets a larger error in the home position.

Acceleration time constant

3 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

Proximity dog

Home position return position data

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 54

5. CiA 402 DRIVE PROFILE

(g) Method -8 and -40 (dog cradle type home position return)

The following figure shows the operation of Homing method -8. The operation direction of Homing method -40 is opposite to that of Homing method -8.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return speed

3 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position return position data

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Servo motor speed

When a home position return is started from the proximity dog

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Home position return direction

Forward rotation

0 r/min Reverse rotation

shift distance

Proximity dog

Home position return position data

Proximity dog

Home position return direction

Home position return start position

Home position return position data

Home position return start positionHome position

Stroke end (Note)

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end

5 - 55

5. CiA 402 DRIVE PROFILE

(h) Method -9 and -41 (dog type last Z-phase reference home position return)

The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to that of Homing method -9.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Acceleration time constant

Forward

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs.

Check the length of the proximity dog or check the home position return speed and creep speed.

rotation

0 r/min Reverse rotation

ON OFF ON OFF ON OFF

3 ms or shorter

Home position shift distance

Servo motor speed

Home position return speed

Creep speed

(Note)

Home position return direction

0 r/min Reverse rotation

Deceleration time constant

Proximity dog

Home position return position data

Proximity dog

Home position return start position

After retracting to before proximity dog, the home position return starts from here.

When a home position return is started from the proximity dog

Home position return direction

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the movement is returned at the stroke end

5 - 56

5. CiA 402 DRIVE PROFILE

(i) Method -10 and -42 (dog type front end reference home position return)

The following figure shows the operation of Homing method -10. The operation direction of Homing method -42 is opposite to that of Homing method -10.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return position data

3 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

(Note)

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

ON OFF ON OFF

Proximity dog

Home position

Servo motor speed

After retracting to before proximity dog, the home position return starts from here.

0 r/min Reverse rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Proximity dog

Stroke end (Note)

Forward rotation

Servo motor speed

Note. The software limit cannot be used with these functions.

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

When the movement is returned at the stroke end

5 - 57

5. CiA 402 DRIVE PROFILE

(j) Method -11 and -43 (dogless Z-phase reference home position return)

The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11.

Statusword bit 10 Target reached

Statusword bit 12 Homing attained

ON OFF ON OFF

Acceleration time constant

Home position return speed

Deceleration time constant

Servo motor speed

Z-phase

Controlword bit 4 Homing operation start

Forward rotation

0 r/min Reverse rotation

ON OFF ON OFF

Home position return

position data

3 ms or shorter

Home position shift distance

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

When the stroke end is detected

Creep speed

Home position return direction

Stroke end

The servo motor stops due to the occurrence of [AL. 90].

5 - 58

5. CiA 402 DRIVE PROFILE

5.4.10 Point table mode (pt)

POINT

Point table mode (pt) is available with servo amplifiers with software version B2 or later.

The following shows the functions and related objects of the point table mode (pt).

Torque limit value (60E0h, 60E1h)

Quick stop deceleration (6085h)

Quick stop option code (605Ah)

Target point table (2D60h)

Point table (2801h to 28FFh)

Software position limit (607Dh)

Point demand value (2D68h)

Point actual value (2D69h)

Point table error (2A43h)

M code actual value (2D6Ah)

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Acceleration

limit

function

Point

table

function

Speed (2801h: 2 to 28FFh: 2)

Acceleration (2801h: 3 to 28FFh: 3)

Deceleration (2801h: 4 to 28FFh: 4)

Point data (2801h: 1 to 28FFh: 1)

Control

effort

Position

limit

function

× ×

Position trajectry

generator

Position

control

(60FAh)

Velocity

control

Torque control

Motor

Encoder

×××

Position actual internal value (6063h)

(1) Related object

Index Sub Object Name

607Bh

607Dh

ARRAY

1 Min position limit I32 rw 0

ARRAY

Position range limit U8 ro 2 Number of entries

Min position range

Max position range

Software position limit U8 ro 2 Number of entries

2 Max position limit I32 rw 0

limit

Data Type

Access Default Description

I32 rw

5 - 59

Minimum value of the position range limit

The value is automatically set according to the setting of "Position data unit" of [Pr. PT01].

mm/inch/pulse: -2147483648

Maximum value of the position range limit

The value is automatically set according to the setting of "Position data unit" of [Pr. PT01].

mm/inch/pulse: 2147483647

Minimum position address (Pos units)

Maximum position address (Pos units)

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

6085h VAR

605Ah VAR

6063h VAR

6064h VAR Position actual value I32 ro Current position (Pos units)

606Ch VAR Velocity actual value I32 ro

6077h VAR Torque actual value I32 ro

6092h

60F4h VAR

60FAh VAR Control effort I32 ro

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

60A8h VAR SI unit position U32 rw 0

60A9h VAR SI unit velocity U32 rw 0

2D60h VAR Target point table I16 rw 0

2D68h VAR Point demand value I16 ro

2D69h VAR Point actual value I16 ro

1 Feed

2 Shaft revolutions

1 Motor revolutions

2 Shaft revolutions 1

ARRAY

Quick stop

deceleration

Quick stop option

code

Position actual

internal value

Feed constant U8 ro 2

Following error actual

value

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

Data Type

U32 rw 100

U32 rw

U16 rw 10000

U32 rw

Access Default Description

Deceleration at deceleration to a stop by Quick stop

Unit: ms

I16 rw 2

I32 ro Current position (Enc inc)

I32 ro Droop pulses (Pos units)

Operation setting for Quick stop Refer to section 5.6.

Current speed Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Current torque Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output shaft

Travel distance Refer to section 7.3.14 (4).

Number of servo motor shaft revolutions

Refer to section 7.3.14 (4).

Position control loop output (speed command)

Unit: Vel unit (0.01 r/min or 0.01

mm/s)

Torque limit value (forward) Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse) Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis (numerator)

Number of revolutions of the drive axis (denominator)

Polarity selection Bit 7: Position POL Bit 6: Velocity POL Bit 5: Torque POL Refer to section 5.10.

SI unit position The value is automatically set

according to the setting of "Position data unit" of [Pr. PT01].

Refer to section 7.3.14 (5).

SI unit velocity

0.01 r/min or 0.01 mm/s FB010300h (0.01 mm/s) FEB44700h (0.01 r/min)

0: Not operate 1 to 255: Execute the specified point

table

-1: High-speed home position return

The currently specified point table No. is returned.

While the servo motor is stopped, the value becomes the set value of the Target point table (2D60h).

The completed point table is returned.

5 - 60

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

1 Point data I32 rw

2 Speed I32 rw

2801h

28FFh

2A43h

2D6Ah VAR M code actual value U8 ro

3 Acceleration I32 rw

4 Deceleration I32 rw

5 Dwell I32 rw

6 Auxiliary I32 rw

7 M code I32 rw M code

1 Point table error No. I32 ro Point table error number

ARRAY

Point table 001 to 255 U8 ro 7

Point table error U8 ro 2

Point table error

factor

Data Type

(2) Details on the OMS bit of Controlword (pt mode)

Bit Symbol Description

4 New set-point

5 (reserved) The value at reading is undefined. Set "0" when writing.

6 (reserved)

8 HALT

9 (reserved) The value at reading is undefined. Set "0" when writing.

The operation starts from the point table specified with the Target point table (2D60h) when the Bit turns on.

0: Positioning is executed. 1: The servo motor stops according to Halt option code (605Dh).

(3) Details on the OMS bit of Statusword (pt mode)

Bit Symbol Description

0 (Halt (Bit 8) = 0): Target position not reached. 0 (Halt (Bit 8) = 1): Axis decelerates 1 (Halt (Bit 8) = 0): Target position reached.

10 Target reached

13 Following error

Set-point

acknowledge

1 (Halt (Bit 8) = 1): Velocity of axis is 0 Judgment condition for Target position reached When the current position and the point table command position vary within Position

window (6067h) and this state exceeds Position window time (6068h), this bit becomes Target position reached.

0: Positioning completed (wait for next command) 1: Positioning being executed

0: No following error 1: Following error Judgment condition for Following error When the time set with Following error time out (6066h) has elapsed with the number of

droop pulses exceeding the set value of the Following error window (6065h), this bit becomes "1".

Access Default Description

I32 ro

Number of entries Point table

Position data Unit: pos units

Speed Unit: 0.01 r/min or 0.01 mm/s

Acceleration time constant Unit: ms

Deceleration time constant Unit: ms

Dwell Unit: ms

Auxiliary function Refer to section 7.3.17 (4).

Number of entries Point table error

Point table error factor The error status is indicated when

this bit is turned on. Refer to section 7.3.17 (5).

The completed M code of the point table is returned.

5 - 61

5. CiA 402 DRIVE PROFILE

(4) pt mode operation sequence

(a) Automatic individual positioning operation

While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New setpoint)" starts the automatic positioning operation. The following shows a timing chart.

Controlword bit 4 (New set-point)

ON OFF

(Note)

Target point table

Forward

Servo motor speed

Statusword bit 12 (Set-point acknowledge)

Statusword bit 10 (Target reached)

INP/S_INP (In-position)

Status DO 5 bit 5 (S_CPO (Rough match))

Status DO 5 bit 6 (S_MEND (Travel completion))

Point actual value

Point demand value

M code actual value

rotation

Reverse rotation

0 r/min

ON OFF ON OFF ON OFF ON OFF ON OFF

Point table

No. 1

Point table

No. 2

M code of point table No. 1

M code of point table

No. 2

Note. Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.

5 - 62

5. CiA 402 DRIVE PROFILE

(b) Automatic continuous positioning operation

By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation can be performed in accordance with the point tables having consecutive numbers. The following shows a timing chart.

Controlword bit 4 (New set-point)

ON OFF

(Note)

Target point table

Forward

Servo motor speed

Statusword bit 12 (Set-point acknowledge)

Statusword bit 10 (Target reached)

INP/S_INP (In-position)

Status DO 5 bit 5 (S_CPO (Rough match))

Status DO 5 bit 6 (S_MEND (Travel completion))

Point actual value

Point demand value

M code actual value

rotation

Reverse rotation

0 r/min

ON OFF ON OFF ON OFF ON OFF ON OFF

Point table

No. 1

Point table

No. 2

M code of point table

No. 1

Note. Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.

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Mitsubishi Electric Melservo-J4 MR-J4-_TM, MR-J4-10TM1 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

STO function of the servo amplifier

Compliance with global standards

CONTENTS

1. EtherCAT COMMUNICATION

1.1 Summary

1.2 Function list

1.3 Communication specifications

1.4 EtherCAT State Machine (ESM)

1.4.1 Communication status

1.4.2 EtherCAT state

1.4.3 Startup

1.4.4 Network disconnection procedure

1.5 Summary of object dictionary (OD)

1.5.1 Section definition of object dictionary

1.5.2 Saving object dictionary data to EEP-ROM

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT)

2.1 Specifications

2.2 Parts identification

2.3 LED indication

2.3.1 LED indication definition

2.3.2 LED indication list

2.4 Connecting Ethernet cable

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.1 PDO communication cycle

3.2 PDO setting-related object

3.3 PDO default mapping

3.4 PDO variable mapping

3.5 Mapping-necessary objects

4. SDO (SERVICE DATA OBJECT) COMMUNICATION

4.1 SDO communication-related service

4.2 SDO Abort Code

5. CiA 402 DRIVE PROFILE

5.1 FSA state

5.2 Controlword/Control DI

5.2.1 Bit definition of Controlword

5.2.2 Bit definition of Control DI

5.3 Statusword/Status DO

5.3.1 Bit definition of Statusword

5.3.2 Bit definition of Status DO

5.4 Control mode

5.4.1 Selecting control mode (Modes of operation)

5.4.2 Control switching

5.4.3 Cyclic synchronous position mode (csp)

5.4.4 Cyclic synchronous velocity mode (csv)

5.4.5 Cyclic synchronous torque mode (cst)

5.4.6 Profile position mode (pp)

5.4.7 Profile velocity mode (pv)

5.4.8 Profile torque mode (tq)

5.4.9 Homing mode (hm)

5.4.10 Point table mode (pt)