Mitsubishi Electric MELSERVO-J4, MR-J4-TM 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.

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

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CAUTION

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 power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, 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 when transporting the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads. When you keep or use the equipment, please fulfill the following environment.

Items 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 Max. 2000 m above sea level Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)

When the equipment has been stored for an extended period of time, consult your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in the metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).Additionally, disinfect and protect wood from insects before packing products.

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

Operation

90 %RH or less (non-condensing)

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(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. 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 emergency stop and other protective circuits may not operate.

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 cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. Never adjust or change the parameter values extremely as it will make operation unstable. Do not close to moving parts at servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Do not disassemble, repair, or modify the equipment. 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.

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CAUTION

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor. 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 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.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.

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

Contacts must be opened with the EMG stop switch.

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years when it is used in general environment. Please contact your local sales office. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and 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

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 appendix 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".

Compliance with global standards

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

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«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)030193 MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113 MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110 MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112 MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111 EMC Installation Guidelines IB(NA)67310

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.

«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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MEMO

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1. EtherCAT COMMUNICATION 1- 1 to 1-10

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

1.2 Function list ....................................................................................................................................... 1- 3

1.3 Communication specifications .......................................................................................................... 1- 6

1.4 EtherCAT State Machine (ESM) ....................................................................................................... 1- 7

1.4.1 Communication status ................................................................................................................ 1- 7

1.4.2 EtherCAT state ........................................................................................................................... 1- 8

1.4.3 Startup ........................................................................................................................................ 1- 9

1.4.4 Network disconnection procedure .............................................................................................. 1- 9

1.5 Summary of object dictionary (OD).................................................................................................. 1-10

1.5.1 Section definition of object dictionary ........................................................................................ 1-10

1.5.2 Saving object dictionary data to EEP-ROM .............................................................................. 1-10

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- 3

2.3.1 LED indication definition ............................................................................................................. 2- 3

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- 8

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

3.2 PDO setting-related object ................................................................................................................ 3- 2

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

3.4 PDO variable mapping ...................................................................................................................... 3- 5

3.5 Mapping-necessary objects .............................................................................................................. 3- 6

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 5-60

5.1 FSA state .......................................................................................................................................... 6- 1

5.2 Controlword/Control DI ..................................................................................................................... 6- 4

5.2.1 Bit definition of Controlword ....................................................................................................... 6- 4

5.2.2 Bit definition of Control DI .......................................................................................................... 6- 5

5.3 Statusword/Status DO ...................................................................................................................... 6- 7

5.3.1 Bit definition of Statusword ......................................................................................................... 6- 7

5.3.2 Bit definition of Status DO .......................................................................................................... 6- 8

5.4 Control mode ................................................................................................................................... 6-11

5.4.1 Selecting control mode (Modes of operation) ........................................................................... 6-11

5.4.2 Control switching ....................................................................................................................... 6-12

5.4.3 Cyclic synchronous position mode (csp) .................................................................................. 6-13

5.4.4 Cyclic synchronous velocity mode (csv) ................................................................................... 6-15

5.4.5 Cyclic synchronous torque mode (cst) ...................................................................................... 6-17

5.4.6 Profile position mode (pp) ......................................................................................................... 6-19

5.4.7 Profile velocity mode (pv) .......................................................................................................... 6-22

5.4.8 Profile torque mode (tq) ............................................................................................................ 6-25

5.4.9 Homing mode (hm) ................................................................................................................... 6-27

5.5 Touch probe ..................................................................................................................................... 6-54

5.6 Quick stop ........................................................................................................................................ 6-57

5.7 Halt ................................................................................................................................................... 6-58

5.8 Software position limit ...................................................................................................................... 6-59

5.9 Torque limit ...................................................................................................................................... 6-59

6. MANUFACTURER FUNCTIONS 6- 1 to 6- 6

6.1 Object for status monitor ........................................................................................................................ 1

6.2 Incremental counter ............................................................................................................................... 3

6.3 Stroke end .............................................................................................................................................. 3

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

6.5 Parameter object .................................................................................................................................... 5

6.5.1 Definition of parameter objects ....................................................................................................... 5

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

7. OBJECT DICTIONARY 7- 1 to 7-56

7.1 Store Parameter ................................................................................................................................ 7- 1

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

7.3 Object dictionary ............................................................................................................................... 7- 5

7.3.1 General Objects ......................................................................................................................... 7- 5

7.3.2 PDO Mapping Objects ............................................................................................................... 7- 9

7.3.3 Sync Manager Communication Objects .................................................................................... 7-13

7.3.4 Parameter Objects .................................................................................................................... 7-18

7.3.5 Alarm Objects ............................................................................................................................ 7-21

7.3.6 Monitor Objects ......................................................................................................................... 7-23

7.3.7 Manufacturer Specific Control Objects ..................................................................................... 7-34

7.3.8 PDS Control Objects ................................................................................................................. 7-38

7.3.9 Position Control Function Objects ............................................................................................. 7-41

7.3.10 Profile Velocity Mode Objects ................................................................................................. 7-43

7.3.11 Profile Torque Mode Objects .................................................................................................. 7-45

7.3.12 Profile Position Mode Objects ................................................................................................. 7-47

7.3.13 Homing Mode Objects............................................................................................................. 7-49

7.3.14 Factor Group Objects .............................................................................................................. 7-53

7.3.15 Touch Probe Function Objects ............................................................................................... 7-54

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.

(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) of this section.

Control mode Symbol Description

Cyclic synchronous position mode

Cyclic synchronous velocity mode csv

Cyclic synchronous torque mode cst

Profile position mode

Profile velocity mode

Profile torque mode

Homing mode

This is a position control mode where a position command is received at a constant period to drive the servo motor in

csp

the synchronous communication with a controller. Use an absolute position address for a command. This is a speed control mode where a speed command is

received at a constant period to drive the servo motor in the synchronous communication with a controller.

This is a torque control mode where a torque command is received at a constant period to drive the servo motor in the synchronous 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 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.

Note. 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 ERR LED of the EtherCAT network module (ABCC-M40-ECT) may blink. To operate the servo amplifier in the asynchronous mode, set the servo parameter [Pr. PA01] to Profile mode (_ _ _ 2).

Synchronous

mode

Available

Asynchronous

mode

Unavailable

(Note)

Available

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1. EtherCAT COMMUNICATION

(3) Synchronous mode (DC mode) /asynchronous mode (Free-run mode) in each control mode

Since the cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic torque mode are designed under the assumption that these modes are used in the cyclic synchronous mode with the DC (Distributed Clock) function specified in the EtherCAT standard, use these modes in the synchronous mode (DC mode). When setting the synchronous mode, set Sync0 and Sync1 as follows.

The profile position mode, profile velocity mode, profile torque mode, and homing mode can be used in both the synchronous mode and asynchronous mode.

(4) 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 Specificaation – Part2 Physical Layer service definition and protocol specification ETG.1000.3 EtherCAT Specificaation – Part3 Data Link Layer service definition ETG.1000.4 EtherCAT Specificaation – Part4 Data Link Layer protocol specification ETG.1000.5 EtherCAT Specificaation – Part5 Application Layer service definition ETG.1000.6 EtherCAT Specificaation – 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

Sync0 Sync1

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

Cycle time

Shift time 0 -

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

1 - 2

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.

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.

High-resolution encoder

Absolute position detection system

Gain switching function

Advanced vibration suppression control II

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression control

Electronic gear

S-pattern acceleration/deceleration time constant

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

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.

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.

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.

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.

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.

Section

5.4

MR-J4-

_TM_ Servo

Amplifier

Instruction

Manual

1 - 3

1. EtherCAT COMMUNICATION

Function Description Reference Alarm history clear This function clears alarm histories. Torque limit Limits the servo motor torque. Speed limit This function limits the servo motor speed. Status display Shows servo status on the 3-digit, 7-segment LED display 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

Drive recorder function

STO function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

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 liner 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.

MR Configurator2 is necessary for this function. 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.

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.

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.

MR Configurator2 is necessary for this function. 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.

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.

MR Configurator2 is necessary for this function.

MR-J4-

_TM_

Servo

Amplifier

Instruction

Manual

Section

5.5

MR-J4-

_TM_

Servo

Amplifier

Instruction

Manual

MR-J4-

_TM_

Servo

Amplifier

Instruction

Manual

1 - 4

1. EtherCAT COMMUNICATION

Function Description Reference

Model adaptive control disabled Lost motion compensation function

Super trace control

Limit switch

Software limit

This function drives the servo motor with PID control without using the model adaptive control. 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 forward rotation stroke end (LSP) and reverse rotation stroke end (LSN).

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

MR-J4-

_TM_ Servo

Amplifier

Instruction

Manual

Section 5.8

MR-J4-

_TM_ Servo

Amplifier

Instruction

Manual

1 - 5

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

Transmission speed between stations

Number of nodes

SDO communication

PDO 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

100 Mbps (Full duplex)

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.

(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.

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 - 6

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.

This is not supported by MR-J4-_TM_ servo amplifiers. The mailbox communication with the FoE protocol can be performed. Firmware can be updated through

EtherCAT in this state.

1 - 7

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 is not supported by MR-J4-_TM_ servo amplifiers.

(3)

(5)

Safe-Operational

(7)

Operational

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)

(10), (11) These are not supported by MR-J4-_TM_ servo amplifiers.

• 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.

(6)(9)

(8)

(10)

Bootstrap

(Note)

(11)

1 - 8

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

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.

Set the node address of EtherCAT with the rotary switch on the display or [Pr. PN01 Node address setting] as necessary. The node address is set with the setting value of the rotary switch and a parameter as shown in the following table. After the node address setting is changed, cycle the power.

Rotary switch Pr. PN01 Node address setting value

00h 0000h The node address is not used. 00h 0001h to FFFFh The value of [Pr. PN01] is set as the node address.

01h to FFh 0000h to FFFFh The setting value of the rotary switch is set as the node address.

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.

1 - 9

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

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

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

6000h to 6FFFh CiA 402 Drive profile area

CoE communication area Chapter 1, Chapter 3,

1.5.2 Saving object dictionary data to EEP-ROM

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 chapter 7 for the availability and details of save for each object.

(1) Not saved to EEP-ROM

The value of the data written from the controller returns to the initial value when the power is shut off. Target: Target position (607Ah) or other objects

(2) Saved to EEP-ROM

The data can be saved to EEP-ROM with Store Parameters (1010h). It is saved in the parameter corresponding to the object. Target: Profile acceleration (6083h) or other objects Profile acceleration (6083h) corresponds to [Pr. PC01]. If the data is written to the object dictionary, it is not automatically saved to EEP-ROM. The data is saved with Store Parameters (1010h). Refer to section 7.1 for Store Parameters (1010h).

1 - 10

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

POINT

The EtherCAT Network module (ABCC-M40-ECT) is only for the Mitsubishi 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

(1) External appearance

(2) Specifications

Product name ABCC-M40-ECT (Anybus Compact Com M40 ECT) Model AB6916-B Manufacturer HMS Industrial Networks

External interface

Dimensions

Mass Approx. 30 g

Item Description

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)

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.

Detailed

No. Name/Application

(1)

EtherCAT Network module (ABCC-M40-ECT)

ERROR LED

(2)

(1)

(2)

(3)

(4)

(5)

Indicates an error of the EtherCAT communication. RJ45 EtherCAT communication port (OUT port)

(3)

Used to connect the next axis servo amplifier. Link/Activity (OUT port) LED

(4)

Indicates the link status of each EtherCAT communication port.

RJ45 EtherCAT communication port (IN port)

(5)

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

Link/Activity (IN port) LED

(6)

Indicates the link status of each EtherCAT communication port.

RUN LED

(7)

Indicates the EtherCAT communication status (ESM).

explanatio

This

chapter 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)

(6)

(7)

2 - 2

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

2.3 LED indication

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.

2.3.2 LED indication list

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.

(1) RUN LED

The RUN LED indicates the EtherCAT communication status (ESM status). Refer to section 1.4 for the communication status (ESM status).

LED

Status Color

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

Blinking

Single flash Indicates the Safe-Operational state.

Lit Indicates the Operational state.

Lit Red

Green

Indicates the Pre-Operational state.

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

Description

(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.

LED

Status Color

Extinguished No error

Blinking

Single flash

Double flash Indicates a watchdog error in the Sync manager.

Lit

Flickering Indicates an error at start-up of the EtherCAT Network module (ABCC-M40-ECT).

Red

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).

Description

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

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

LED

Status Color

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

Lit

Flickering Indicates that the link is established with traffic.

Green

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.

Controller

Ethernet cable

The first axis

servo amplifier

OUT port

IN port

Ethernet cable

The second axis

servo amplifier

OUT port

IN port

Ethernet cable

The final axis

servo amplifierr

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 subobject Cycle time (Sub index = 2) of Sync manager2 synchronization (1C32h) with SDO download in the Pre Operational state.

3 - 1

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

3.2 PDO setting-related object

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

Index Sub Object Name

2 Cycle time U32 rw 4000000

3 Shift time U32 ro 222222

Sync manager2 synchronization Synchronization

type

Data

Access Default Description

Type

U8 ro 9

U16 rw 0

1C32h

1C33h

9 Delay time U32 ro 0

12 Cycle time too small U16 ro 0

2 Cycle time U32 ro 4000000 3 Shift time U32 ro 27778

9 Delay time U32 ro 0

12 Cycle time too small U16 ro 0

RECORD

Synchronization types supported

Minimum cycle

time

Calc and copy

time

Sync manager3 synchronization Synchronization

type

Synchronization types supported

Minimum cycle

time

Calc and copy

time

U16 ro 0025h

U32 ro 100000

U32 ro 222722

U8 ro 9

U16 rw 0

U16 ro 0025h

U32 ro 100000

U32 ro 306055

Refer to section 7.3.3 (4).

Refer to section 7.3.3 (5).

3 - 2

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) (Note1) Target torque (6071h) Positive torque limit value (60E0h) (Note2) Negative torque limit value (60E1h) (Note2) 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) (Note1) Target torque (6071h) Profile velocity (6081h) Profile acceleration (6083h) Profile deceleration (6084h) Torque slope (6087h) Positive torque limit value (60E0h) (Note2) Negative torque limit value (60E1h) (Note2)

Touch probe function (60B8h) 3rd RxPDO map (1602h) Unassigned 4th RxPDO map (1603h) 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

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 cst) Torque limit function Touch probe function

Map size: 45 bytes

Note1.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 - 3

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.

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) Unassigned 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

3 - 4

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.

Communication

RxPDO

TxPDO 4 (1A00h to 1A03h)

Maximum number of

objects

32 64

Maximum size [byte]

Number of mapping

settings

4 (1600h to 1603h)

The following table lists the PDO mapping objects.

Index Sub Object Name

1st receive PDO

Mapping

Mapping entry 1

Mapping entry 32

2nd receive PDO

Mapping

Mapping entry 1

Mapping entry 32

3rd receive PDO

Mapping

Mapping entry 1

Mapping entry 32

4th receive PDO

Mapping

Mapping entry 1

Mapping entry 32

1st transmit PDO

Mapping

Mapping entry 1

to Mapping entry 32 2nd transmit PDO

Mapping

Mapping entry 1

to Mapping entry 32 3rd transmit PDO

Mapping

Mapping entry 1

to Mapping entry 32

1600h

1601h

1602h

1603h

1A00h

1A01h

1A02h

ARRAY

1 to 32

ARRAY

1 to 32

ARRAY

1 to 32

ARRAY

1 to 32

ARRAY

1 to 32

ARRAY

1 to 32

ARRAY

1 to 32

Data Type

Access Default Description

U8 rw 12

60600008h

U32 rw

U8 rw 16

U32 rw

U8 rw 0

U32 rw

U8 rw 0

U32 rw

U8 rw 16

U32 rw

U8 rw 0

U32 rw

U8 rw 0

U32 rw

00000000h

60600008h

00000000h

60610008h

00000000h

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).

3 - 5

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

Index Sub Object Name

4th transmit PDO

Mapping

Mapping entry 1

to Mapping entry 32

Sync Manager 2 PDO

Assignment

PDO Mapping object

index of assigned

RxPDO

Sync Manager 3 PDO

Assignment

PDO Mapping object

index of assigned

TxPDO

1A03h

1C12h

1C13h

ARRAY

1 to 32

ARRAY

Data Type

3.5 Mapping-necessary objects

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

(1) RxPDO

Object name (Index)

csp csv cst pp pv tq hm

Controlword (6040h) Control DI 1 (2D01h) Gain switching Control DI 2 (2D02h) Proportional control Control DI 3 (2D03h) - - - - - - - Target position (607Ah) Target velocity (60FFh) Target torque (6071h) - Profile velocity (6081h) - - 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)

Note. : Mapping required

: Mapping recommended

-: Mapping not required

Access Default Description

U8 rw 0

Refer to section 7.3.2 (8).

U32 rw

U8 ro 1

Refer to section 7.3.3 (2).

U16 rw 1600h

U8 ro 1

Refer to section 7.3.3 (3).

U16 rw 1A00h

Mode (Note)

- -

- - -

- -

- - -

- -

- - - - -

- -

Function

(Note) Touch

probe

3 - 6

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

(2) TxPDO

Mode (Note)

Object name (Index)

csp csv cst pp pv tq hm

Statusword (6041h) Status DI 1 (2D11h) Status DI 2 (2D12h) Status DI 3 (2D13h) 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)

Note. : Mapping required

: Mapping recommended

-: Mapping not required

- -

- - - - -

- - -

Function

(Note) Touch

probe

3 - 7

3. PDO (PROCESS DATA OBJECT) COMMUNICATION

MEMO

3 - 8

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 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 ength of service parameter too short.

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.

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

(15)

(8) (9)

Power of

Fault reaction

(13)

Error occurs

(A): Ready-off, Servo-off

Fault

(14)

(B): Ready-on, Servo-off

active

(C): Ready-on, Servo-on

(12)

Quick stop

(10)

(16)

active

(11)

Transition by slave Transition by master Transition by slave or master

Power on

(0)

Not ready to

switch on

(1)

Switch on

disabled

(2)

Ready to

switch on

(3) (6)

Switched on

(4) (5)

Operation

enabled

(7)

Figure 5.1 Transition between the FSA states

Table 5.1 State transition

Transition No. Event Remark

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

(1)

(2)

(3)

(4)

(5)

(6)

(7)

The state automatically transitions when the control circuit power supply is turned on.

The state transitions with the Shutdown command from the master.

The state transitions with the Switch on command from the master.

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

The state transitions with the Disable operation command from the master.

The state transitions with the Shutdown command from the master.

The state transitions with the Disable Voltage command or Quick Stop command from the master.

Communication setting

RA turns on.

The operation becomes ready after servo-on.

The operation is disabled after servo-off.

RA turns off.

(a) The state transitions with the Shutdown command

(8)

from the master.

(b) The state transitions when the main circuit power

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

supply is turned off.

(9)

(10)

(11)

The state transitions with the Disable Voltage command from the master.

The state transitions with the Disable Voltage command or Quick Stop command from the master.

The state transitions with the Quick Stop command from the master.

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

RA turns off.

Quick Stop starts.

(a) The state automatically transitions after Quick Stop is

completed. (If the Quick Stop option code is 1, 2, 3,

(12)

or 4)

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

(b) The state transitions with the Disable Voltage

command from the master.

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

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5. CiA 402 DRIVE PROFILE

Transition No. Event Remark

After processing against the alarm has been completed,

(14) Automatic transition

(15)

(16)

(Not supported)

(Note)

The state transitions with the Fault Reset command from the master.

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 bit setting of Controlword

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)

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.

Bit 7

Fault Reset

Bit 3

Enable

Operation

Bit 2

Quick Stop

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.

Current state Command State after transition (B) Switch on disabled Switch on (D) Switched on (B) Switch on disabled Enable operation (E) Operation enabled (C) Ready to switch on Enable operation (E) Operation enabled

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.

Bit 1

Enable Voltage

Bit 0

Switch On

Transition No.

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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

to to

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 4 5 6 7 FR Fault reset

8 HALT

9 OMS Differs depending on Mode of operation (6060h). (Refer to section 5.4.) 10 11 12 13 14 15

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

0: Operation ready 1: Temporary stop

Data Type

U16 rw

R/W Description

Control commands to control the servo amplifier can be set.

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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 1 2 3

Gain switching

4 C_CDP

5 C_CLD

6 7 8

9 10 11 12 13 14 15

Bit Symbol Description

8 C_PC

9 10 11 12 13 14

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.

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.

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

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5. CiA 402 DRIVE PROFILE

(3) Control DI 3

Bit Symbol Description

9 10 11 12 13 14 15

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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 for the other Vendor-specific statuses.

Index Sub Object Name

6041h VAR Statusword U16 rw

2D11h

2D13h Status DO 3

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

9 RM

10 TR

11 ILA

12 13 14 15

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

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 Mode 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, or hm mode)

Data Type

U16 rw The servo status is returned. to to

R/W Description

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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

9 10 11

12 S_INP

13 S_TLC

14 S_ABSV

15 S_BWNG

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.

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

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5. CiA 402 DRIVE PROFILE

(2) Status DO 2

Bit Symbol

Z-phase already passed

0 S_ZPAS

1 2

3 S_ZSP

4 S_VLC

6 S_IPF

8 S_PC

10 S_DB

11 12 13 14

15 S_ZP2

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

Under zero speed 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 During 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.

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

on unless the home position is erased. In the incremental system, it turns off with one of the following conditions.

1) Servo alarm [AL. 69 Command error] occurs.

2) LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off in the profile mode.

3) Home position return is not being executed.

4) Software limit is detected in the profile mode.

5) Home position return is in progress. If a home position return completes once in the absolute position detection

system, S_ZP2 is always on. However, it will be off with one of the conditions 1) to

5) or the following.

6) The home position return is not performed after [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] occurred.

7) The home position return is not performed after the electronic gear ([Pr. PA06] or [Pr. PA07]) was changed.

8) The home position return is not performed after the setting of [Pr. PA03 Absolute position detection system selection] was changed from "Disabled" to "Enabled".

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

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

Description

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5. CiA 402 DRIVE PROFILE

(3) Status DO 3

Bit Symbol

0 1 2 3 4

5 S_STO

6 7 8 9

11 S_MTTR

12 13 14 15

During STO S_STO turns on during STO.

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.

Description

5 - 10

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 ○ ○ ○ ○ 1 (pp)

○ ○ ○ ○

The following table shows the objects selected for control modes.

Index Sub Object Name

Data

Type

Access Default Description

6060h/6061h Default value

8 (csp)

6060h VAR Modes of operation I8 rw

6061h VAR

6502h VAR

Modes of operation

display

Supported drive

mode

I8 ro

U32 ro 000003A1h Refer to section 7.3.8 (8).

Differs

depending on

[Pr. PA01].

Differs

depending on

[Pr. PA01].

Refer to section 7.3.8 (6).

Refer to section 7.3.8 (7).

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5. CiA 402 DRIVE PROFILE

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).

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.

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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)

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)

Position

[Pos units]

limit function

[Pos units] +

[Pos units]

Position trajectry

[Enc inc]

Generator

Position actual internal value (6063h)

Position control

Control effort (60FAh)

Velocity control

Torque control

Motor

Encoder

(1) Related object

Index Sub Object Name

60FFh VAR Target velocity I32 rw

6085h VAR

605Ah VAR

Quick stop

deceleration

Quick stop option

code

6080h VAR Max motor speed U32 rw

6063h VAR

6064h VAR

606Ch VAR

Position actual

internal value

Position actual

value

Velocity actual

value

6077h VAR Torque actual value I32 ro

60E0h VAR

60E1h VAR

6091h

1 Motor revolutions

ARRAY

Positive torque limit

value

Negative torque

limit value Gear ratio U8 ro 2 Gear ratio

2 Shaft revolutions 1

607Eh VAR Polarity U8 rw 0

Data Type

Access Default Description

Command speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Deceleration at deceleration to a stop by

U32 rw 100

Quick stop Unit: ms

I16 rw 2

Refer to

chapter 7.

Operation setting for Quick stop Refer to section 5.6. Servo motor maximum speed Unit: r/min

I32 ro Current position (after electronic gear)

I32 ro Current position (command unit)

I32 ro

Current speed Unit: 0.01 r/min or 0.01 mm/s (linear) Current torque Unit: 0.1% (rated torque of 100%)

U16 rw 1000

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) Number of revolutions of the drive axis

(denominator) (Note) Polarity selection

Bit 7: Position POL Bit 6: Velocity POL

Note. In the cyclic synchronous mode, setting Motor revolutions (6091h: 1) or Shaft revolutions (6091h: 2) to anything other than "1"

will trigger [AL. 37].

5 - 13

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) = Position actual internal value (6063h) ×

(3) OMS bit of Controlword (csp mode)

Bit Symbol Description

(4) OMS bit of Statusword (csp mode)

Bit Symbol Description 10 (reserved) reserved

12 Target

13 Following

Note. If Following error actual value (60F4h) is equal to or larger than Following error window (6065h) for the

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))

Shaft revolutions (6091h: 2)

Motor revolutions (6091h: 1

4 (reserved) reserved 5 (reserved) reserved 6 (reserved) reserved 8 (reserved) reserved 9 (reserved) reserved

0: Target position (607Ah) is being discarded.

position

ignored

error

time (unit: ms) set in the Following error time out (6066h) or more, 1 is set.

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

0: No following error 1: Following error (Note)

Pos units

Enc inc

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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)

Quick Stop Deceleration (6085h)

Quick stop option code (605Ah)

Max motor speed (6080h)

Target velocity (60FFh)

Gear ratio (6091h)

Polarity (607Eh)

Position actual value (6064h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Velocity limit function

Position actual internal value (6063h)

Velocity demand value (606Bh)

Velocity control

Torque control

Motor

Encoder

(1) Related object

Index Sub Object Name

60FFh VAR Target velocity I32 rw

6085h VAR

605Ah VAR

Quick stop

deceleration

Quick stop option

code

6080h VAR Max motor speed U32 rw

606Bh VAR

6063h VAR

6064h VAR

606Ch VAR

Velocity demand

value

Position actual

internal value

Position actual

value

Velocity actual

value

6077h VAR Torque actual value I32 ro

60E0h VAR

60E1h VAR

6091h

1 Motor revolutions

ARRAY

Positive torque limit

value

Negative torque

limit value Gear ratio U8 ro 2 Gear ratio

2 Shaft revolutions 1

607Eh VAR Polarity U8 rw 0

Data Type

Access Default Description

U32 rw 100

I16 rw 2

I32 ro

U16 rw 1000

U32 rw

Command speed 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 7.13. Servo motor maximum speed Unit: r/min Command speed (after limit)

Current position (after electronic gear)

Current position (command unit)

Current speed Unit: 0.01 r/min or 0.01 mm/s (linear) Current torque Unit: 0.1% (rated torque of 100%) 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)

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

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

Note. In the cyclic synchronous mode, setting Motor revolutions (6091h: 1) or Shaft revolutions (6091h: 2) to anything other than "1"

will trigger [AL. 37].

5 - 15

5. CiA 402 DRIVE PROFILE

(2) OMS bit of Controlword (csv mode)

(3) OMS bit of Statusword (csv mode)

Bit Symbol Description

4 (reserved) reserved 5 (reserved) reserved 6 (reserved) reserved 8 (reserved) reserved 9 (reserved) reserved

Bit Symbol Description 10 (reserved) reserved

Target

13 reserved

velocity ignored

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

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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)

Gear ratio (6091h)

Polarity (607Eh)

Position actual value (6064h) Position actual internal value (6063h)

Velocity actual value (606Ch)

Torque actual value (6077h)

Torque limit function

Torque demand value (6074h)

Torque control

Motor

Encoder

(1) Related object

Index Sub Object Name

6071h VAR Target torque I16 rw

6074h VAR Torque demand I16 ro

6063h VAR

6064h VAR

606Ch VAR

6077h VAR Torque actual value I32 ro

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

2D20h VAR Velocity limit value I32 rw 50000

1 Motor revolutions

ARRAY

2 Shaft revolutions 1

Position actual

internal value

Position actual

value

Velocity actual

value

Positive torque limit

value

Negative torque

limit value Gear ratio U8 ro 2 Gear ratio

Data Type

U16 rw 1000

U32 rw

Access Default Description

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

I32 ro Current position (Enc inc)

I32 ro Current position (Pos units)

I32 ro

Current speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Current torque Unit: 0.1% (rated torque of 100%) 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) Number of revolutions of the drive axis

(denominator) (Note) Polarity selection Bit 7: Position POL Bit 6: Velocity POL Speed limit value Unit: Vel unit (0.01 r/min or 0.01 mm/s)

Note. In the cyclic synchronous mode, setting Motor revolutions (6091h: 1) or Shaft revolutions (6091h: 2) to anything other than "1"

will trigger [AL. 37].

5 - 17

5. CiA 402 DRIVE PROFILE

(2) OMS bit of Controlword (csv mode)

(3) OMS bit of Statusword (csv mode)

Bit Symbol Description

4 (reserved) reserved 5 (reserved) reserved 6 (reserved) reserved 8 (reserved) reserved 9 (reserved) reserved

Bit Symbol Description 10 (reserved) reserved

13 reserved

Target torque

ignored

0: Target torque is being discarded. 1: Target torque is being used as a torque control loop input.

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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 motor speed (6080h)

Target position (607Ah)

Software position limit (607Dh)

Gear ratio (6091h)

Polarity (607Eh)

Acceleration limit Function

Velocity limit function

Position limit function

Position trajectry Generator

Position control

Control effort (60FAh)

Velocity control

Torque control

Motor

Encoder

Following error actual value (60F4h)

Position actual value (6064h) Position actual internal value (6063h)

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Index Sub Object Name Data Type Access Default Description

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

607Dh

ARRAY

1 Min position limit U32 rw 0 Minimum position address (Pos units)

Software position limit U8 rw 2 Number of entries

2 Max position limit U32 rw 0 Maximum position address (Pos units)

6080h VAR Max motor speed U32 rw

6081h VAR Profile velocity U32 rw

Servo motor maximum speed Unit: r/min Speed after acceleration completed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Acceleration at start of movement to target

6083h VAR Profile Acceleration U32 rw 0

position Unit: ms

6084h VAR Profile deceleration U32 rw 0

6085h VAR

Quick stop

deceleration

U32 rw 100

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

6086h VAR Motion profile type I16 rw 0

0: Linear ramp

1: Sin

ramp (not supported) (Note 1) 2: Jerk-free ramp (not supported) (Note 1) 3: Jerk-limited ramp (not supported) (Note 1)

605Ah VAR

Quick stop option

code

I16 rw 2

Operation setting for Quick stop Refer to section 5.6.

5 - 19

5. CiA 402 DRIVE PROFILE

Index Sub Object Name Data Type Access Default Description

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

60F4h VAR

60FAh VAR Control effort I32 ro

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

1 Motor revolutions

ARRAY

2 Shaft revolutions 1

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

vailable in the future.

(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.

5 Change set immediately

6 abs/rel

8 HALT

9 Change on set-point

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

Bit Symbol Description

10 Target reached

12 Set-point acknowledge

13 Following error

Position actual

internal value

Following error actual

value

Positive torque limit

value

Negative torque limit

value

Gear ratio U8 ro 2 Gear ratio

0: Set of set-points 1: Single set-point 0: Absolute position command 1: Relative position command 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).

1: The next positioning starts after positioning is executed with Profile velocity

(6081h) held up to the current set-point (gray line).

0 (Halt (Bit 8) = 0) : Target position not reached. 0 (Halt (Bit 8) = 1) : Axis decelerates 1 (Halt (Bit 8) = 0) : Target position reached. 1 (Halt (Bit 8) = 1) : Velocity of axis is 0 judgement condition for Target position reached If the error between Actual position and Target position (607Ah) has stayed within

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

Although the function is similar to INP, the judgement condition differs. 0: Positioning completed (wait for next command) 1: Positioning being executed (The set-point can be overwritten.) 0: No following error 1: Following error

I32 ro Current position (Enc inc)

I32 ro Droop pulses (Pos units)

U16 rw 1000

U32 rw

Current speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Current torque Unit: 0.1 % (rated torque of 100 %)

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

5 - 20

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 - 21

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)

Acceleration limit Function

Velocity limit function

Velocity trajectry Generator

Velocity demand value (606Bh)

Velocity control

Torque control

Motor

Encoder

Position actual value (6064h) Position actual internal value (6063h)

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Index Sub Object Name

60FFh VAR Target velocity I32 rw

607Fh VAR Max profile velocity U32 rw 2000000

6080h VAR Max motor speed U32 rw

6083h VAR Profile Acceleration U32 rw 0

6084h VAR Profile deceleration U32 rw 0

6085h VAR

Quick stop

deceleration

6086h VAR Motion profile type I16 rw 0

605Ah VAR

6063h VAR

6064h VAR

Quick stop option

code

Position actual

internal value

Position actual

value

Data Type

Access Default Description

U32 rw 100

I16 rw 2

I32 ro Current position (Enc inc)

I32 ro Current position (Pos units)

Command speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) maximum speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Servo motor maximum speed Unit: r/min 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

1: Sin

ramp (not supported) (Note) 2: Jerk-free ramp (not supported) (Note) 3: Jerk-limited ramp (not supported) (Note) Operation setting for Quick stop Refer to section 5.6.

5 - 22

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

606Bh VAR

606Ch VAR

6077h VAR Torque actual value I32 ro

60E0h VAR

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

606Dh VAR Velocity window U16 rw 2000

606Eh VAR

606Fh VAR Velocity threshold U16 rw 5000

6070h VAR

1 Motor revolutions

ARRAY

2 Shaft revolutions 1

Velocity demand

value

Velocity actual

value

Positive torque limit

value

Negative torque

limit value Gear ratio U8 ro 2 Gear ratio

Velocity window

time

Velocity threshold

time

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

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

Bit Symbol Description

4 (reserved) reserved 5 (reserved) reserved 6 (reserved) reserved

8 HALT

9 (reserved) reserved

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 (pv mode)

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

1 (Halt (Bit 8) = 1) : Velocity of axis is 0 judgement condition for Target velocity reached If the error between Actual velocity 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 judgement condition for Speed is not equal 0 If the absolute value of Actual velocity 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.

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

Data Type

U16 rw 1000

U32 rw

U16 rw 0

U16 rw 10

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 %) 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 Speed error threshold for judging Target

reached Unit: 0.01 r/min or 0.01 mm/s Target reached judgement time Unit: ms Zero speed threshold for judging Speed Unit: 0.01 r/min or 0.01 mm/s Speed judgement time Unit: ms

5 - 23

5. CiA 402 DRIVE PROFILE

(4) pv mode operation sequence

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 - 24

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)

Target 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)

Trajectry Generator

Torque demand (6074h)

Torque Control and Power Stage

Position actual internal value (6063h)

Motor

Encoder

Velocity actual value (606Ch)

Torque actual value (6077h)

(1) Related object

Index Sub Object Name

6071h VAR Target torque I16 rw

6074h VAR Torque demand I16 ro

6087h VAR Torque slope U32 rw 0

6088h VAR Torque profile type U32 rw 0

6063h VAR

6064h VAR

606Ch VAR

6077h VAR Torque actual value I32 ro

60E0h VAR

Position actual

internal value

Position actual

value

Velocity actual

value

Positive torque limit

value

Data Type

U16 rw 1000

Access Default Description

I32 ro

Command 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 0002h to 7FFFh: reserved 8000h to FFFFh: Manufacturer specific Current position (Enc inc)

Current position (Pos units)

Current speed Unit: Vel unit (0.01 r/min or 0.01 mm/s) Current torque Unit: 0.1 % (rated torque of 100 %) Torque limit value (forward) Unit: 0.1 % (rated torque of 100 %)

ramp (not supported) (Note)

5 - 25

5. CiA 402 DRIVE PROFILE

Index Sub Object Name

60E1h VAR

6091h

607Eh VAR Polarity U8 rw 0

2D20h VAR Velocity limit value I32 rw 5000

1 Motor revolutions

ARRAY

2 Shaft revolutions 1

Negative torque

limit value Gear ratio U8 ro 2 Gear ratio

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

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

Bit Symbol Description

4 (reserved) reserved 5 (reserved) reserved 6 (reserved) reserved

8 HALT

9 (reserved) reserved

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) reserved 13 (reserved) reserved

Target reached

(not supported) (Note)

1 (Halt (Bit 8) = 0) : Target torque reached. 1 (Halt (Bit 8) = 1) : Velocity of axis is 0 judgement condition for Target torque reached If the error between Auctual torque 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.

(4) tq mode operation sequence

Data Type

U16 rw 1000

U32 rw

Access Default Description

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

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

orque demand (6074h)

Changed with Torque slope (6087h)

arget torque (6071h)

Halt Controlword (6040h) Bit 8

Changed with Torque slope (6087h)

5 - 26

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)

Homing method

Statusword (6041h)

Position demand internal value (60FCh) or Position demand value (6062h)

(1) Related object

Index Sub Object Name Data Type Access Default Description

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

If a home position return is executed in the

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

U32 rw 10000

U32 rw 1000

U8 ro 39

I8 ro 37

I8 ro -43

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 (3) 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 home position return type that uses the

current position as a home position is supported.

The dogless Z-phase reference home position return type (reverse rotation) is supported.

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 - 27

5. CiA 402 DRIVE PROFILE

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

Bit Symbol Description

Homing operation start

4 HOS

5 reserved 6 reserved

8 HALT

9 (reserved) reserved

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

Bit Symbol Description 10 Target reached 12 Homing attained 13 Homing error

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

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

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)

Refer to the following table for the definition.

5 - 28

5. CiA 402 DRIVE PROFILE

(4) List of Homing method

POINT

In the following cases, make sure that the Z-phase has been passed through

once before the home position return.

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 linear servo motor to the opposite stroke end with CSV or PV from the controller and others.

When changing the mode after the home position return completion, set 0 to the

Target position (607Ah) and change the control mode.

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

-1

-33 Reverse rotation

-3

-4 Stopper type

-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

Dog type

(Rear end detection, Z-

phase reference)

Data set type home

position return

(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

Homing on positive home

switch and index pulse

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

Forward rotation A workpiece is pressed against a mechanical stopper, and the position

Forward rotation At the front end of the proximity dog, deceleration starts. After the front

Forward rotation Deceleration starts from the front end of the proximity dog. After the

Forward rotation Deceleration starts from the front end of the proximity dog. The

Forward rotation A position, which is specified by the first Z-phase signal after the front

Forward rotation After the front end of the proximity dog is detected, the position is

Forward rotation Starting from the front end of the proximity dog, the position is shifted

Forward rotation The position specified by the first Z-phase signal, or the position of the

Forward rotation

The current position is set as the home position.

where it is stopped is set as the home position.

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.

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.

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.

end of the proximity dog is detected, is set as the home position.

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.

by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

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

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 - 29

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

Homing on positive home

switch and index pulse

Homing on negative home

switch and index pulse

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

Homing on current

position

Homing on current

position

Forward rotation

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. 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.

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. Although this type is the same as the dog cradle type 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.

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.

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 Operational enabled state.

5 - 30

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 - 31

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.

Positive Limit Switch

4) Method 17 to 30: Homing without index pulse

Index Pulse

Home Switch

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 - 32

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.

5 - 33

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

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

3 ms or shorter

Home position shift distance

Home position return speed

Creep speed

Deceleration time constant

Home position return position data

Proximity dog

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Home position return direction

0 r/min Reverse rotation

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

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Stroke limit

Servo motor speed

Forward rotation

0 r/min

Home position return start position

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

When the stroke end is detected

5 - 34

5. CiA 402 DRIVE PROFILE

2) Method 4 (Homing on positive home switch and index pulse) and Method 4 (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

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

Home position

Forward rotation

0 r/min Reverse rotation

shift distance

return direction

Proximity dog

Home position return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position return direction

Stroke limit

Servo motor speed

Forward rotation

0 r/min

Home position return start position

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

When the stroke end is detected

5 - 35

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 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

3 ms or shorter

Home position shift distance

Home position return speed

Creep speed

Deceleration time constant

Home position return position data

Proximity dog

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF ON OFF

Home position return direction

0 r/min Reverse rotation

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

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 limit (Note)

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

When the movement is returned at the stroke end

5 - 36

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

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

Home position

Forward rotation

0 r/min Reverse rotation

shift distance

return direction

Proximity dog

Home position return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position return direction

Home position return start position

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Proximity dog

Home position return position data

Stroke limit

(Note)

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

When the movement is returned at the stroke end

5 - 37

5. CiA 402 DRIVE PROFILE

5) Method 19 and Method 21 (Homing on home switch and 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

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

Creep speed

Deceleration time constant

Travel distance after proximity dog

Home position shift distance

Proximity dog

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF

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

When a home position return is started from the proximity dog

Servo motor speed

Home position return direction

0 r/min Reverse rotation

Home position return direction

Forward rotation

0 r/min

Home position return start position

Proximity dog

Home position return start position

Stroke limit

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

When the stroke end is detected

5 - 38

5. CiA 402 DRIVE PROFILE

6) Method 20 and Method 22 (Homing on home switch and 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

Proximity dog

Home position shift distance

Travel distance after proximity dog

Home position

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

Home position return direction

Forward rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

Proximity dog

Home position return position data

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Stroke limit

Servo motor speed

Forward rotation

0 r/min

Home position return start position

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

When the stroke end is detected

5 - 39

5. CiA 402 DRIVE PROFILE

7) Method 23 and Method 27 (Homing on home switch and 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

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

Creep speed

Deceleration time constant

Travel distance after proximity dog

Home position shift distance

Proximity dog

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF

Home position return direction

0 r/min Reverse rotation

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

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

return direction

Forward rotation

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke limit (Note)

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

When the movement is returned at the stroke end

5 - 40

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 (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

Home position shift distance

Home position

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

Home position

return direction

Proximity dog

Stroke limit (Note)

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

When the movement is returned at the stroke end

5 - 41

5. CiA 402 DRIVE PROFILE

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

Home position return speed

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. 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.

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

Travel distance after proximity dog

Deceleration time constant

Creep speed

Proximity dog

Home position shift distance

Home position

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

Home position return direction

0 r/min Reverse rotation

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

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

5 - 42

5. CiA 402 DRIVE PROFILE

Home position

return direction

Stroke limit (Note)

Proximity dog

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

When the movement is returned at the stroke end

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

Statusword bit 10 Target reached

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

Home position return position data

5 - 43

5. CiA 402 DRIVE PROFILE

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

POINT Since the workpiece collides with the mechanical stopper, the home position

return speed must be low enough.

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.

Forward rotation

0 r/min

Reverse rotation

ON OFF ON OFF

ON OFF

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

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

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.

Acceleration time constant

Home position return direction

Home position return speed

3 ms or shorter

5 ms or longer

Stopper time [Pr. PT10]

Stroke limit

Home position return position data

Stopper

(Note 2)

Servo motor speed

Forward rotation

0 r/min

Home position return start position

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

When the stroke end is detected

5 - 44

5. CiA 402 DRIVE PROFILE

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

Deceleration time constant

Proximity dog

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

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

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 a home position return is performed at a creep speed of 100 r/min, 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

Home position return speed

3 ms or shorter

Creep speed

Travel distance

after proximity dog

Home position return position data

Home position

shift distance

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

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

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 limit (Note)

When the movement is returned at the stroke end

5 - 45

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

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

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 a home position return is performed at a creep speed of 100 r/min, 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

Creep speed

Proximity dog

Travel distance

after proximity dog

Home position return position data

Home position

shift distance

DOG (Proximity dog)

Controlword bit 4 Homing operation start

Servo motor speed

ON OFF ON OFF

Home position return direction

0 r/min Reverse rotation

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

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

return direction

Forward rotation

0 r/min Reverse rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke limit (Note)

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

When the movement is returned at the stroke end

5 - 46

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

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

Home position

Forward rotation

0 r/min Reverse rotation

shift distance

return direction

Proximity dog

Home position return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position return direction

Home position return start position

Forward rotation

0 r/min Reverse rotation

Home position

shift distance

Proximity dog

Home position return position data

Stroke limit

(Note)

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

When the movement is returned at the stroke end

5 - 47

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

Servo motor speed

ON OFF ON OFF

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

3 ms or shorter

Home position shift distance

Home position return speed

Creep speed

Deceleration time constant

Home position return position data

Proximity dog

Z-phase

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF ON OFF

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.

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 limit (Note)

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

When the movement is returned at the stroke end

5 - 48

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

Forward rotation

0 r/min Reverse rotation

Acceleration time constant

Home position return position data

3 ms or shorter

Home position return speed

Creep speed

Deceleration time constant

Travel distance after proximity dog

Home position shift distance

Proximity dog

DOG (Proximity dog)

Controlword bit 4 Homing operation start

ON OFF ON OFF

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

Proximity dog

Stroke limit (Note)

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

When the movement is returned at the stroke end

5 - 49

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

Servo motor speed

Home position return position data

3 ms or shorter

Home position shift distance

Home position return direction

Forward rotation

0 r/min

Home position return start position

When the stroke end is detected

Creep speed

Stroke limit

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

5 - 50

5. CiA 402 DRIVE PROFILE

(k) Method 24 and Method 28 (Homing on home switch and 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

Proximity dog

Travel distance after proximity dog

Creep speed

Home position shift distance

Home position

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

Home position return direction

Forward rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

Proximity dog

Home position return position data

Home position return start position

When a home position return is started from the proximity dog

Home position return direction

Home position return start position

Home position return

Forward rotation

0 r/min Reverse rotation

Home position shift distance

Travel distance after proximity dog

position data

Proximity dog

Stroke limit (Note)

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

When the movement is returned at the stroke end

5 - 51

5. CiA 402 DRIVE PROFILE

(l) Method 33 and Method 34 (Homing on home switch and 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

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

Servo motor speed

Home position return position data

3 ms or shorter

Home position shift distance

Home position return direction

Forward rotation

0 r/min

Home position return start position

When the stroke end is detected

Creep speed

Stroke limit

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

5 - 52

5. CiA 402 DRIVE PROFILE

(m) Method 35 and Method 37 (Homing on home switch and index pulse)

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 10 Target reached

ON 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

Home position return position data

5 - 53

5. CiA 402 DRIVE PROFILE

5.5 Touch probe

The touch probe function that executes current position latch by sensor input can be used. With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and TPR2 (touch probe 2) can be memorized and stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function (60B8h). The following shows the touch probe detection resolution. Enabling the high precision touch probe will disable the encoder output pulses.

[Pr. PD37] = _ _ _ 0 (Selection of high-precision touch

Encoder

resolution

probe is disabled) [Pr. PD37] = _ _ _ 1 (Selection of high-precision touch

probe is enabled)

(1) Related object

Index Sub Object Name

60B8h VAR

60B9h VAR Touch probe status U16 ro 0

60BAh VAR

60BBh VAR

60BCh VAR

60BDh VAR

Touch probe1 Touch probe2

Input terminal TPR1 TPR2

55 μs 55 μs

Rising: 2 μs

Falling: 55 μs

Touch probe

function

Touch probe pos1

pos value

Touch probe pos1

neg value

Touch probe pos2

pos value

Touch probe pos2

neg value

55 μs

Data Type

U16 rw

Access Default Description

I32 ro 0

Settings such as enabling/disabling of the touch probe function and trigger conditions

Status information of the touch probe function

Shows the rising edge position of TPR1 (touch probe 1). (Pos units)

Shows the falling edge position of TPR1 (touch probe 1). (Pos units)

Shows the rising edge position of TPR2 (touch probe 2). (Pos units)

Shows the falling edge position of TPR2 (touch probe 2). (Pos units)

5 - 54

5. CiA 402 DRIVE PROFILE

(a) Details of Touch probe function (60B8h)

Bit Definition

0: Touch probe 1 disabled

1: Touch probe 1 enabled 0: Single trigger mode

1: Continuous trigger mode 0: Set input of touch probe 1 as a trigger

1: Set 0 point of the encoder as a trigger (Unsupported) (Note)

3 (Reserved)

0: Stop sampling at the rising edge of touch probe 1

1: Start sampling at the rising edge of touch probe 1 0: Stop sampling at the falling edge of touch probe 1

1: Start sampling at the falling edge of touch probe 1 6 (Reserved) 7 (Reserved)

0: Touch probe 2 disabled 8

1: Touch probe 2 enabled

0: Single trigger mode 9

1: Continuous trigger mode

0: Set input of touch probe 2 as a trigger

1: Set 0 point of the encoder as a trigger (Unsupported) (Note)

11 (Reserved) 12 0: Stop sampling at the rising edge of touch probe 2

1: Start sampling at the rising edge of touch probe 2

13 0: Stop sampling at the falling edge of touch probe 2

1: Start sampling at the falling edge of touch probe 2

14 (Reserved) 15 (Reserved)

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

(b) Details of Touch probe status (60B9h)

Bit Definition

0: Touch probe 1 disabled 0

1: Touch probe 1 enabled

0: The rising edge position of touch probe 1 has not been stored. 1

1: The rising edge position of touch probe 1 has been stored.

0: The falling edge position of touch probe 1 has not been stored. 2

1: The falling edge position of touch probe 1 has been stored. 3 (Reserved) 4 (Reserved) 5 (Reserved) 6 (Reserved) 7 (Reserved)

0: Touch probe 2 disabled 8

1: Touch probe 2 enabled

0: The rising edge position of touch probe 2 has not been stored. 9

1: The rising edge position of touch probe 2 has been stored.

0: The falling edge position of touch probe 2 has not been stored.

1: The falling edge position of touch probe 2 has been stored.

11 (Reserved) 12 (Reserved) 13 (Reserved) 14 (Reserved) 15 (Reserved)

5 - 55

5. CiA 402 DRIVE PROFILE

(2) Timing chart

ouch probe function

Enable Touch Probe 1

0x60B8 Bit 0

0x60B8 Bit 1

Trigger first event

Enable Sampling at positive edge

Enable Sampling at negative edge

ouch probe status

Touch Probe 1 positive edge stored

Touch Probe 1 negative edge stored

Touch Probe position 1 positive value

Touch Probe position 1 negative value

0x60B8 Bit 4

0x60B8 Bit 5

0x60B9 Bit 0

Touch Probe 1 is enabled

0x60B9 Bit 1

0x60B9 Bit 2

Touch Probe Signal

0x60BA

0x60BB

(Note)

0.5 ms or longer

0000

0.5 ms or longer

yyyy

xxxx

(Note)

12a

uuuu

14a

Note. Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.

Transition

No.

1 60B8h Bit 0, 4, 5 = 1 Enables Touch Probe1. The rising edge and falling edge are enabled. 2 → 60B9h Bit 0 = 1 Turns on the Touch Probe1 enable status. 3 Turns on Touch Probe Signal (TPR1). 4 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 positive edge stored status.

4a → 60BAh Sets the latched position feedback for Touch probe position1 positive value.

5 Turns off Touch Probe Signal (TPR1). 6 → 60B9h Bit 2 = 1 Turns on the Touch Probe1 negative edge stored status.

6a → 60BBh Sets the latched position feedback for Touch probe position1 negative value.

7 60B8h Bit 4 = 0 Turns off Sample positive edge. Rising edge detection is disabled. 8 → 60B9h Bit 1 = 0 Turns off Touch Probe1 positive edge stored status.

8a → 60BAh Touch probe position1 positive value does not change.

9 60B8h Bit 4 = 1 Turns on Sample positive edge. Rising edge detection is enabled. 10 → 60BAh Touch probe position1 positive value does not change. 11 Turns on Touch Probe Signal (TPR1). 12 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 negative edge stored status.

12a → 60BAh Sets the latched position feedback for Touch probe position1 negative value.

13 60B8 Bit 0 = 0 Disables Touch Probe1. 14 → 60B9 Bit 0, 1, 2 = 0 Clears all the status Bit.

14a → 60BAh, 60BBh Touch probe position1 positive/negative value does not change.

Object Description

5 - 56

5. CiA 402 DRIVE PROFILE

(3) High-precision touch probe

TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely startup time of TPR2 (touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set [Pr. PD37] to "_ _ _ 1". While the high-precision touch probe is being used, the encoder pulse output function cannot be used. The precision of rising edge is 55 μs in this case as well.

5.6 Quick stop

Decelerate the servo motor to a stop with the Quick stop command of Controlword (6040h). The following table shows the related objects.

Index Sub Object Name

6085h VAR

605Ah VAR

Quick stop

deceleration

Quick stop option

code

The operation method of deceleration to a stop can be specified with Quick stop option code (605Ah). The following table shows the supported methods and the operations.

Table 5.2 Quick stop option code

Setting value Description

csp/csv: The servo motor decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to the

Switch On Disabled state.

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

cst/pt: The state shifts to the Switch on disabled state and the servo motor is stopped with the dynamic brake. pp/pv: The servo motor decelerates to a stop with Profile deceleration (6084h) and the state shifts to the Switch

On Disabled state.

hm: The servo motor decelerates to a stop with Homing acceleration (609Ah) and the state shifts to the Switch On

Disabled state.

In the cyclic synchronous mode (csp/csv), profile position mode (pp/pv), and homing mode (hm), the servo motor decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to the Switch On Disabled state.

In the cyclic synchronous torque mode (cst) and profile torque mode (tq), the state immediately shifts to the Switch On Disabled state and the servo motor stops with the dynamic brake.

The current is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled state.

The voltage is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled state.

The servo motor decelerates to a stop. The state does not change from the Quick Stop Active state (servo-on).

The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the Quick Stop Active state (servo-on).

The current is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop Active state (servo-on).

The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop Active state (servo-on).

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

Data Type

U32 rw 100

Access Default Description

Deceleration at deceleration to a stop by Quick stop

Unit: ms

I16 rw 2 Refer to table 5.2 for details.

5 - 57

5. CiA 402 DRIVE PROFILE

5.7 Halt

When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration time constant of Homing acceleration (609Ah) or Profile deceleration (6084h) according to the setting of Halt option code (605Dh). The halt function can be used in the profile mode (pp/pv/tq) and homing mode (hm). Operation in other modes can be performed regardless of the Halt Bit status. When Halt Bit is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to the operable state. The following table shows the related object.

Index Sub Object Name

605Dh VAR Halt option code I16 rw 1

The following table shows descriptions of Halt option code (605Dh). However, in the profile torque mode (tq), Torque demand value (6074h) is set to 0 regardless of Halt option code (605Dh). The amount of torque change at this time can be set using Torque slope (6087h).

Setting value Description

(Not supported)

(Note)

(Not supported)

(Note)

(Not supported)

(Note)

For Profile deceleration (6084h) and the homing mode (hm), the servo motor decelerates to a stop according to Homing acceleration (609Ah) and the state does not change from the Operation Enabled state (servo-on).

The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the Operation Enabled state (servo-on).

The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled (servo-on).

The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled (servo-on).

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

Data Type

Access Default Description

Table 5.3 Halt option code

Setting for executing the Halt function Refer to table 5.3 for details.

5 - 58

5. CiA 402 DRIVE PROFILE

5.8 Software position limit

Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit position is specified, the command position is clamped at the limit position. Specify a relative position from the machine home point (position address = 0) as the limit position. This function is enabled when the home position is not erased in the cyclic synchronous position mode (csp) or profile position mode (pp). While the clamp processing is being performed with the command position exceeding the limit value, [AL. 98 Software limit warning] occurs and not cleared. When the position command of the direction opposite to reached Software position limit (607Dh) is given, the operation can be restarted. In the cyclic synchronous position mode (csp), stop a command when the software position limit is detected. When the command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 69 Command error] occurs. When the command position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 69 Command error] also occurs. When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return again. The following table lists the related objects.

Index Sub Object Name

Software position

limit

Min position limit

(Note)

Max position limit

(Note)

607Dh

ARRAY

Note. When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software

position limit (607Dh) is disabled.

5.9 Torque limit

Data Type

Access Default Description

U8 ro 2 Number of entries

Specify a relative position from the machine home point (position address = 0) as the minimum value of the command

I32 rw 0

position and current position. When the value falls below the minimum value, it is clamped and processed as the minimum value.

Specify a relative position from the machine home point (position address = 0) as the maximum value of the command position and current position. When the value exceeds the maximum value, it is clamped and processed as the maximum value.

Generated torque can be limited with the values of Positive torque limit value (60E0h) and Negative torque limit value (60E1h). When 0 is set, torque (thrust) is not generated. The following table lists the related objects.

Index Sub Object Name

60E0h VAR

60E1h VAR

Positive torque

limit value

Negative torque

limit value

Data Type

U16 rw 1000

Access Default Description

[Pr. PA11 Forward rotation torque limit/positive direction thrust limit]

Torque limit value in CCW power running/CW regeneration

Unit: 0.1% (rated torque of 100%) Range: 0 to 1000 [Pr. PA12 Reverse rotation torque

limit/negative direction thrust limit] Torque limit value in CW power

running/CCW regeneration Unit: 0.1% (rated torque of 100%) Range: 0 to 1000

5 - 59

5. CiA 402 DRIVE PROFILE

MEMO

5 - 60

6. MANUFACTURER FUNCTIONS

6.1 Object for status monitor

The monitor data as the manufacturer functions can be checked with the objects in the following table.

Index Sub Object Name

2B01h VAR

2B02h VAR

2B03h VAR

2B04h VAR

2B05h VAR

2B08h VAR

2B09h VAR

2B0Ah VAR

2B0Bh VAR

2B0Ch VAR

2B0Dh VAR

2B0Eh VAR

2B0Fh VAR

2B10h VAR

2B11h VAR

2B12h VAR

2B13h VAR

2B17h VAR

2B18h VAR

2B19h VAR

2B23h VAR

2B24h VAR

Load side encoder droop pulses

Load side encoder information 1

Load side encoder information 2

Temperature of motor thermistor

Motor side cumulative F/B pulses

Motor/load side position deviation

Motor/load side speed deviation

Cumulative feedback pulses

Cumulative command pulses

Command pulse frequency

Within one-revolution position

Load to motor inertia ratio

Load side encoder cumulative

Monitor 1

Monitor 2

Servo motor speed

Monitor 3

Droop pulse

Monitor 4

Monitor 5

Monitor 8

Regenerative load ratio

Monitor 9

Effective load ratio

Monitor 10

Peak load ratio

Monitor 11

Instantaneous torque

Monitor 12

Monitor 13

ABS counter

Monitor 14

Monitor 15

Bus voltage

Monitor 16

feedback pulses

Monitor 17

Monitor 18

Monitor 19

Monitor 23

Monitor 24

(Before Gear)

Monitor 25

Electrical angle

Monitor 35

Monitor 36

Data

Type

Default Description

I32

U16

I16

I32

U16

I32

I16

I32

Cumulative feedback pulses (Unit: pulse) Cleared by writing "0000 1EA5h". Servo motor maximum speed (Unit: r/min) Droop pulses (Unit: pulse) Cumulative command pulses (Unit: pulse) Cleared by writing "0000 1EA5h". Command pulse frequency (Unit: kpulse/s) Regenerative load ratio (Unit: %) Effective load ratio (Unit: %) Peak load ratio (Unit: %) Instantaneous torque (Unit: %) Position within one-revolution (Unit: pulse) ABS counter (Unit: rev) Load to motor inertia ratio (Unit: 0.1 times) Bus voltage (Unit: V) Load-side encoder cumulative

feedback pulses (Unit: pulse) Load-side encoder droop pulses (Unit: pulse) Load-side encoder information 1 (Unit: pulse) Load-side encoder information 2 (Unit: rev) Temperature of servo motor thermistor (Unit: °C)

Servo motor-side cumulative feedback

pulses (before gear)

(Unit: pulse)

Electrical angle

(Unit: pulse)

Servo motor-side/load-side position

deviation

(Unit: pulse)

Servo motor-side/load-side speed

deviation

(Unit: r/min)

6 - 1

6. MANUFACTURER FUNCTIONS

Index Sub Object Name

2B25h VAR

2B26h VAR

2B27h VAR

2B28h VAR

2B2Dh VAR

2B2Eh VAR

Oscillation detection frequency

Number of tough drive operations

Unit total power consumption

Monitor 37

Encoder inside temperature

Monitor 38

Settling time

Monitor 39

Monitor 40

Monitor 45

Unit power consumption

Monitor 46

Data

Type

Default Description

I16

U32

I16

I32

Encoder inside temperature

(Unit: °C)

Settling time

(Unit: ms)

Oscillation detection frequency

(Unit: Hz)

Number of tough drive operations

(Unit: time)

Unit power consumption

(Unit: W)

Unit total power consumption

(Unit: Wh)

6 - 2

6. MANUFACTURER FUNCTIONS

6.2 Incremental counter

To protect the operation when a PDO communication error occurs, the incremental counter can be used in the DC mode. When an incremental counter object has been mapped in the PDO communication, the detection of [AL. 86.2 Network communication error 2] is enabled. Increment the incremental counter (download) on the master (controller) per communication cycle. When incremental counter objects are mapped to RxPDO and TxPDO, the slave (servo amplifier) sends the sum of the received incremental counter value and 1. Detect an incremental counter update error on the master side (controller) as necessary. The incremental counter value is an unsigned integer from 0 to 255 and added per send/receive of the PDO communication. The value returns to 0 when exceeding 255.

Index Sub Object Name

2D23h VAR Watch dog counter DL U8

2D24h VAR Watch dog counter UL U8

6.3 Stroke end

Data

Type

Default Description

Incremental counter (download)

Incremental counter (upload)

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is performed by either of the following stop methods. In the profile mode, the home position is erased. In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the command position exceeds by 30 bits from the position where the stroke end is detected, [AL. 69 Command error] occurs. When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return again.

Operation status

During rotation at constant speed During deceleration to a stop

No S-pattern acceleration deceleration With S-pattern acceleration/ deceleration

Servo motor speed

LSP or LSN

0 r/min (0 mm/s)

ON OFF

Part of droop pulses

No S-pattern acceleration deceleration With S-pattern acceleration/ deceleration

Servo motor speed

LSP or LSN

0 r/min (0 mm/s)

ON OFF

Part of droop pulses

Remark

Travels for the droop pulse portion and stops the servo motor.

In the profile position mode (pp), the home position is erased.

A difference will be generated between the command position and the current position.

Perform a home position return again.

Perform a return as follows when the stroke end is detected.

Mode Return method

Cyclic synchronous position mode (csp)

After following up Target position (607Ah) with Position actual value (6061h), change the direction opposite to the limit.

Check that Bit 12 of Statusword (6041h) is 0 before performing the return.

Cyclic synchronous velocity mode (csv)

Input the speed command of the direction opposite to the limit to Target velocity (60FFh).

Check that Bit 12 of Statusword (6041h) is 0 before performing the return. Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (607Ah). Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (60FFh).

6 - 3

6. MANUFACTURER FUNCTIONS

6.4 Definition of alarm-related objects

Whether an alarm occurs or not in the slave (servo amplifier) can be detected on the master (controller) with Bit 3 and Bit 7 of Statusword in the PDO communication. The alarm history of the latest alarm and 15 alarms that have occurred can be referred to by acquiring the following related object values in the SDO communication.

Data

Index Sub Object Name

2A00h

2A01h

: : : : : :

2A0Fh

2A40h VAR Clear alarm history U16 wo Refer to section 7.3.5 (3). 2A41h VAR Current alarm U32 ro Refer to section 7.3.5 (4). 2A44h 0 VAR Parameter error number U16 ro Refer to section 7.3.5 (5).

2A45h

ARRAY 2 Alarm time (Hour) U32 ro 0

ARRAY

1 Alarm No. U32 ro 2 Alarm time (Hour) U32 ro

ARRAY

1 Alarm No. U32 ro 2 Alarm time (Hour) U32 ro

0 1 (No.1) U16 ro

ARRAY

: : : :

254 (No.254) U16 ro

Alarm history newest U8 ro

Alarm history 1 U8 ro

Alarm history 15 U8 ro

Parameter error list U8 ro

Access Description

Type

Refer to section 7.3.5 (1). 1 Alarm No. U32 ro

Refer to section 7.3.5 (2).

Refer to section 7.3.5 (6).

6 - 4

6. MANUFACTURER FUNCTIONS

6.5 Parameter object

6.5.1 Definition of parameter objects

The parameter of the servo amplifier can be changed on the master (controller) by writing values to the following objects in the SDO communication. However, once the power supply is shut off, the changed setting is not held at the next startup. To hold the changed setting even after the power supply is shut-off, save the parameter setting value to EEP-ROM using Store Parameter (1010h). To change the setting of the parameters where the changes are reflected by cycling the power (parameters whose symbols are preceded by **), change the value of the corresponding object and execute Store Parameter (1010h) before cycling the power. The following table lists the related objects.

Index Sub Object Name

2001h VAR PA01 I32 rw

: : : : : : 2020h VAR PA32 I32 rw 2081h VAR PB01 I32 rw

: : : : : : 20C0h VAR PB64 I32 rw 2101h VAR PC01 I32 rw

: : : : : : 2150h VAR PC80 I32 rw 2181h VAR PD01 I32 rw

: : : : : : 21B0h VAR PD48 I32 rw 2201h VAR PE01 I32 rw

: : : : : : 2240h VAR PE64 I32 rw 2281h VAR PF01 I32 rw

: : : : : : 22C0h VAR PF48 I32 rw 2401h VAR PL01 I32 rw

: : : : : : 2430h VAR PL48 I32 rw 2481h VAR PT01 I32 rw

: : : : : : 24D0h VAR PT80 I32 rw 2581h VAR PN01 I32 rw

: : : : : : 25A0h VAR PN32 I32 rw

Data

Type

Access Description

[Pr. PA_ _] group

[Pr. PB_ _] group

[Pr. PC_ _] group

[Pr. PD_ _] group

[Pr. PE_ _] group

[Pr. PF_ _] group

[Pr. PL_ _] group

[Pr. PT_ _] group

[Pr. PN_ _] group

6 - 5

Mitsubishi Electric MELSERVO-J4, MR-J4-TM 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)

5.5 Touch probe

5.6 Quick stop

5.7 Halt

5.8 Software position limit

5.9 Torque limit

6. MANUFACTURER FUNCTIONS

6.1 Object for status monitor

6.2 Incremental counter

6.3 Stroke end

6.4 Definition of alarm-related objects

6.5 Parameter object

6.5.1 Definition of parameter objects