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.
A - 1
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.
A - 2
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)
A - 3
(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
U
V
W
Servo motor
U
V
W
Servo motorServo amplifier
U
M
V
W
U
V
W
M
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
RA
Servo amplifier
24 V DC
DOCOM
Control output
signal
For source output interface
RA
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.
A - 4
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
B
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.
RA
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.
A - 5
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".
A - 6
«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]
A - 7
MEMO
A - 8
CONTENTS
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
1
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
2
1. EtherCAT COMMUNICATION
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
pp
controller.
Use an absolute position address for a command.
This is a mode where a target speed command is received
pv
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
tq
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
hm
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
1 - 1
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
V1.0.3
V1.0.3
V1.0.3
V1.0.3
Edition 1.0
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)
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
n
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
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
0
1
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
4
5
6
9 Delay time U32 ro 0
12 Cycle time too small U16 ro 0
0
1
2 Cycle time U32 ro 4000000
3 Shift time U32 ro 27778
4
5
6
9 Delay time U32 ro 0
12 Cycle time too small U16 ro 0
RECORD
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
to
Mapping entry 32
2nd receive PDO
Mapping
Mapping entry 1
to
Mapping entry 32
3rd receive PDO
Mapping
Mapping entry 1
to
Mapping entry 32
4th receive PDO
Mapping
Mapping entry 1
to
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
0
ARRAY
1 to 32
0
ARRAY
1 to 32
0
ARRAY
1 to 32
0
ARRAY
1 to 32
0
ARRAY
1 to 32
0
ARRAY
1 to 32
0
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
to
00000000h
60600008h
to
00000000h
60610008h
to
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
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