General-Purpose AC Servo
Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link IE Field Network Basic)
B
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. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the
servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo
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 power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts
down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker
or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo
amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in
regenerative resistor and wiring from the servo amplifier.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
3. To prevent injury, note the following
CAUTION
Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.
Otherwise, an electric shock, fire, injury, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
A - 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Storage -20 °C to 65 °C (non-freezing)
Ambient
humidity
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with the Instruction Manual.
Operation 0 °C to 55 °C (non-freezing)
Operation
5 %RH to 90 %RH (non-condensing)
A - 3
r
(2) Wiring
CAUTION
Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
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 amplifie
DOCOM
Control output
signal
For source output interface
24 V DC
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 of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected
restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.
(3) Test run and adjustment
CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
A - 4
CAUTION
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may
occur. Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric
shock, fire, injury, etc. may occur.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and
the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.
To ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A - 5
CAUTION
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
Contacts must be opened
with the emergency stop switch.
Servo motor
B
Electromagnetic brake
To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,
ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before
switching the power on.
RA
U
24 V DC
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 6
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
Compliance with global standards
For the compliance with global standards, refer to app. 3 of "MR-JE-_C Servo Amplifier Instruction Manual".
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.
MELSERVO MR-JE-_C Servo Amplifier Instruction Manual SH(NA)030257ENG
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG
MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode) SH(NA)030254ENG
MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
«Cables used for 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. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6
1.1 Outline of CC-Link IE Field Network Basic ....................................................................................... 1- 1
1.1.1 Features ..................................................................................................................................... 1- 1
1.2 Function List ...................................................................................................................................... 1- 2
1.3 Communication specifications .......................................................................................................... 1- 5
1.3.1 Communication specifications of CC-Link IE Field Network Basic .......................................... 1- 5
1.3.2 SLMP communication specifications ......................................................................................... 1- 6
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2- 1 to 2- 4
2.1 Summary ........................................................................................................................................... 2- 1
2.2 Message format ................................................................................................................................ 2- 1
2.3 Link device ........................................................................................................................................ 2- 2
2.4 Mapping data details of link device ................................................................................................... 2- 3
3. SLMP 3- 1 to 3- 8
3.1 Summary ........................................................................................................................................... 3- 1
3.2 Message format ................................................................................................................................ 3- 2
3.3 Command ......................................................................................................................................... 3- 4
3.4 CiA 402 read/write command ........................................................................................................... 3- 4
3.4.1 SDO Upload (CiA 402 object read) ............................................................................................ 3- 5
3.4.2 SDO Download (CiA 402 object write) ....................................................................................... 3- 5
3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read) ............................. 3- 6
3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write) ........................ 3- 7
3.5 Error codes ....................................................................................................................................... 3- 8
4. STARTUP 4- 1 to 4- 2
4.1 CC-Link IE Field Network Basic initial communication setting ......................................................... 4- 1
4.2 IP address setting ............................................................................................................................. 4- 2
5. PARAMETERS 5- 1 to 5- 8
5.1 List of communication-related parameters ....................................................................................... 5- 1
5.2 Detailed list of communication-related parameters .......................................................................... 5- 3
6. MANUFACTURER FUNCTIONS 6- 1 to 6- 6
6.1 Stroke end ......................................................................................................................................... 6- 1
6.2 One-touch tuning .............................................................................................................................. 6- 2
6.3 Machine diagnosis function .............................................................................................................. 6- 4
6.4 Servo amplifier life diagnosis function .............................................................................................. 6- 5
7. OBJECT LIBRARY 7- 1 to 7-44
7.1 Object library list ............................................................................................................................... 7- 1
7.2 Object library details (objects in the 1000s) ..................................................................................... 7-17
7.2.1 Writing command to EEP-ROM (1010h) ................................................................................... 7-17
1
7.2.2 Restore default EEP-ROM parameters (1011h) ....................................................................... 7-18
7.2.3 Response message mapping (1A00h) ..................................................................................... 7-19
7.3 Object library details (objects in the 2000s) ..................................................................................... 7-20
7.3.1 External input pin status (2C10h) .............................................................................................. 7-20
7.3.2 External output pin status (2C11h) ........................................................................................... 7-21
7.3.3 Input device status (2C12h) ...................................................................................................... 7-21
7.3.4 Control input (2D01h to 2D0Ah) ................................................................................................ 7-23
7.3.5 Control output (2D11h to 2D1Ah) ............................................................................................. 7-28
7.4 Object library details (objects in the 6000s) ..................................................................................... 7-34
7.4.1 Control status (6041h) ............................................................................................................... 7-34
7.4.2 Quick stop option code (605Ah) ................................................................................................ 7-35
7.4.3 Halt option code (605Dh) .......................................................................................................... 7-36
7.4.4 Control mode display (6061h) ................................................................................................... 7-37
7.4.5 Software limit (607Dh) ............................................................................................................... 7-37
7.4.6 Polarity (607Eh) ........................................................................................................................ 7-38
7.4.7 Degree (60F2h) ......................................................................................................................... 7-38
7.4.8 Touch probe (60B8h to 60BBh) ................................................................................................ 7-40
7.4.9 Touch probe function setting (60B8h) ....................................................................................... 7-41
7.4.10 Touch probe function status (60B9h) ...................................................................................... 7-42
7.4.11 Rising edge position of touch probe (60BAh) ......................................................................... 7-42
7.4.12 Falling edge position of touch probe (60BBh) ......................................................................... 7-42
7.4.13 Supported control mode (6502h) ............................................................................................ 7-43
2
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Outline of CC-Link IE Field Network Basic
CC-Link IE Field Network Basic is a standard Ethernet-based protocol used to perform cyclic communication
by the installed software without using a dedicated ASIC. You can establish a highly flexible system because
CC-Link IE Field Network Basic can be used together with TCP/IP communications.
Up to 64 axes of servo amplifiers (up to 16 axes of servo amplifiers per group) can be monitored by the
controller.
In the profile position mode, positioning operation can be performed based on the position data (target
position) given via the controller.
1.1.1 Features
(1) High-speed communication
High-speed communication can be established by cyclic transmission of not only bit data but also word
data.
The maximum communication speed is 100 Mbps.
(2) General-purpose Ethernet supported
Dedicated control wiring is unnecessary, and Ethernet network can be integrated.
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function List
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Function Description
Position control mode (P)
(pulse train input)
Speed control mode (S)
(Analog input/DI input)
Torque control mode (T)
(Analog input)
Position/speed control
switching mode (P/S)
Speed/torque control switch
mode (S/T)
Torque/position control switch
mode (T/P)
Profile position mode (pp) The servo amplifier operates in the profile position mode.
Profile velocity mode (pv) The servo amplifier operates in the profile velocity mode.
Profile torque mode (tq) The servo amplifier operates in the profile torque mode.
Homing mode (hm) The servo amplifier operates in the home position return mode.
Absolute position detection
system
Model adaptive control
Touch probe function
Command pulse selection Command pulse train form can be selected from among three different types.
High-resolution encoder
Gain switching function
Advanced vibration
suppression control II
Machine resonance
suppression filter
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
This servo amplifier is used as a position control servo.
This servo amplifier is used as a speed control servo.
This servo amplifier is used as a torque control servo.
Using an input device, control can be switched between position control and speed
control.
Using an input device, control can be switched between speed control and torque
control.
Using an input device, control can be switched between torque control and position
control.
Setting a home position once makes home position return unnecessary at every
power-on.
This function achieves a high response and stable control following the ideal model.
The two-degrees-of-freedom model adaptive control enables you to set a response
to the command and a response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to section
7.4 of "MR-JE-C_ Servo Amplifier Instruction Manual".
The touch probe function is available only in the profile mode. When the touch probe
1 signal turns on, the current position latch function will latch the current position.
The latched data can be read with communication commands.
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
motor compatible with the MELSERVO-JE series.
You can switch gains during rotation and during stop, and can use an
input device to switch gains during operation.
This function suppresses vibration or residual vibration at an arm end.
This filter function (notch filter) decreases the gain of the specific frequency to
suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
driving may generate a mechanical vibration of high frequency. The shaft resonance
suppression filter suppresses the vibration.
The servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as the servo system response is
increased.
explanation
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
"MR-JE-_C
Servo Amplifier
Instruction
Manual (Profile
Mode)"
"MR-JE-_C
Servo Amplifier
Instruction
Manual" /
"MR-JE-_C
Servo Amplifier
Instruction
Manual (Profile
Mode)"
Section 7.4.8
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
Detailed
1 - 2
1. FUNCTIONS AND CONFIGURATION
Function Description
Analyzes the frequency characteristic of the mechanical system by simply
Machine analyzer function
Robust filter
Slight vibration suppression
control
Electronic gear
S-pattern
acceleration/deceleration time
constant
Auto tuning
Regenerative option
Alarm history clear Clears alarm histories.
Input signal selection (device
settings)
Output signal selection
(device settings)
Output signal (DO) forced
output
Torque limit Limits the servo motor torque.
Speed limit Servo motor speed can be limited to any value.
Automatic VC offset
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code.
Test operation mode
MR Configurator2
One-touch tuning
Tough drive function
Drive recorder function
connecting an MR Configurator2 installed personal computer and the servo
amplifier.
MR Configurator2 is necessary for this function.
Improves a disturbance response when a response performance cannot be
increased because of a large load to motor inertia ratio, such as a roll feed axis.
Suppresses vibration of ±1 pulse generated at a servo motor stop.
The position control is performed based on a value obtained by multiplying the
position command from the controller by the set electronic gear ratio.
When the position control mode is used, the input pulses can be multiplied by 1/10
to 4000.
When the profile position mode is used, the position commands can be multiplied by
1/27649 to 8484.
Enables smooth acceleration and deceleration.
Set S-pattern acceleration/deceleration time constants with [Pr. PC03].
As compared with linear acceleration/deceleration, the acceleration/deceleration
time will be longer for the S-pattern acceleration/deceleration time constants
regardless of command speed.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
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.
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and
other input device can be assigned to certain pins of the CN3 connector.
The output devices including MBR (Electromagnetic brake interlock) can be
assigned to certain 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.
Voltage is automatically offset to stop the servo motor if it does not come to a stop
when VC (Analog speed command) is 0 V.
MR Configurator2 is necessary for this function.
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.
Gain adjustment is performed just by one click on MR Configurator2.
This function is available with MR Configurator2 or via a network.
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
by clicking the Waveform-Display button in the drive recorder window of MR
Configurator2.
However, the drive recorder is not available when:
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
Detailed
explanation
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
Section 6.2
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
1 - 3
1. FUNCTIONS AND CONFIGURATION
Function Description
You can check the cumulative energization time and the number of on/off times of the
Servo amplifier life diagnosis
function
Power monitoring function
Machine diagnosis function
Modbus/TCP
CC-Link IE Field Network
Basic
SLMP
IP address filtering function
Operation specification IP
address function
Lost motion compensation
function
Limit switch
Software limit
inrush relay. This function gives an indication of the replacement time for parts of the
servo amplifier including a capacitor and a relay before they malfunction.
This function is available with MR Configurator2 or via a network. (Refer to section
6.4.)
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.
This function is available with MR Configurator2 or via a network. (Refer to section
6.3.)
The Modbus/TCP uses dedicated message frames for the Ethernet communication
between a client (master) and servers (slaves). The dedicated message frames have
functions for reading and writing data, you can set the parameters of servo amplifiers
and monitor it by using this function. In the profile mode, driving the servo motor is
also possible. This function is used with servo amplifiers with software version A3 or
later.
CC-Link IE Field Network Basic enables fixed cycle communication between the
master and slave stations using a general-purpose Ethernet connector. The
parameters of servo amplifiers can be set (read/written) and monitored. In the profile
mode, driving the servo motor is also possible.
SLMP (SeamLess Message Protocol) is a protocol to access SLMP-compatible
devices from external devices (such as a personal computer and an HMI) or
programmable controller CPU via Ethernet. The parameters of servo amplifiers can
be set (read/written) and monitored. In the profile mode, driving the servo motor is
also possible.
Register the range of IP addresses in advance to limit the network devices allowed
to be connected to the servo amplifier.
In Ethernet communication (CC-Link IE Field Network Basic, SLMP, or
Modbus/TCP), to limit the network devices to which the operation right is given, set
the range of the device IP addresses.
Monitoring/parameter reading can be performed with the network devices having no
operation right.
This function improves the response delay generated when the machine moving
direction is reversed.
Limits travel intervals using LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
Limits travel intervals by address using parameters.
Enables the same function with the limit switch by setting parameters.
Detailed
explanation
"MELSERVO
MR-JE-_C
Servo Amplifier
Instruction
Manual
(Modbus/TCP)"
Chapter 2
Chapter 3
Chapter 5
"MR-JE-_C
Servo Amplifier
Instruction
Manual"
Section 7.4.5
1 - 4
1. FUNCTIONS AND CONFIGURATION
1.3 Communication specifications
1.3.1 Communication specifications of CC-Link IE Field Network Basic
Function Description
Communication protocol UDP
Port No.
Cyclic data 32 points (64 bytes)
IP address
Subnet mask Default value: 255.255.255.0
Message format Refer to chapter 2.
Physical layer 1000BASE-T
Communication connector RJ45, 1 port (CN1)
Communication cable CAT5e, shielded twisted pair (4 pair) straight cable
Network topology Star
Variable communication
speed
Transmission speed between
stations
Number of nodes
Standard response time
(Note 1)
(Link scan time/timeout time
(Note 2, 3))
Note 1. Standard response time refers to the time from when the servo amplifier receives a command from the master station until
when it returns a response to the master station.
2. Calculate the link scan time as follows. Also, use the standard response time for Ns.
MELSEC iQ-R/MELSEC-Q/L: Ls = Ns + Nm
MELSEC iQ-F: Ls = SM + {(Ns + Nm)/SM}
Ls: Link scan time, Ns: Response time of slave station, Nm: Request time of master station, SM: Sequence scan time
3. Check the current link scan time (when all the slave stations are in a normal state) using the CC-Link IE Field Network Basic
diagnosis function. Then, set the timeout time approximately 5 times the link scan time (example: 50 ms when the current link
scan time is 10 ms).
No. 61450 (cyclic data)
No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only)
IPv4 range: 0.0.0.1 to 223.255.255.254
Use the same network address for both the master and slave stations.
Default value: 192.168.3.0
100 Mbps
Max. 100 m
Max. 64 stations (max. number of connections per group: 16 stations)
Number of usable stations: 1 station per MR-JE-_C servo amplifier
10 ms
1 - 5
1. FUNCTIONS AND CONFIGURATION
1.3.2 SLMP communication specifications
Function Description
Communication protocol UDP/TCP (Note)
iQSS No. 45237 (NodeSearch and IPAddressSet only)
Port No.
IP address
Subnet mask Default value: 255.255.255.0
Message format Refer to chapter 3.
Physical layer 1000BASE-T
Communication connector RJ45, 1 port (CN1)
Communication cable CAT5e, shielded twisted pair (4 pair) straight cable
Network topology Star
Variable communication
speed
Transmission speed between
stations
Maximum number
of connections
Note. TCP is supported by servo amplifiers with software version A3 or later.
UDP No. 5010
TCP
(Note)
UDP No limit
TCP
(Note)
No. 5012
IPv4 range: 0.0.0.0 to 255.255.255.255
Use the same network address for both the master and slave stations.
Default value: 192.168.3.0
100 Mbps
Max. 100 m
1
1 - 6
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2.1 Summary
In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations
(servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers)
send back to the master station (controller) is called a response message.
The master station (controller) sends the request message using the directed broadcast to all slave stations
(servo amplifiers). When the servo amplifier receives the request message, it acquires data for own station
and returns the response message to the master station (controller) using the unicast after the servo
amplifier response time. The servo amplifier response time differs depending on the command to send.
Use link devices (RWr, RWw, RX, and RY) for data communications. Sending and receiving the request
message and response message at a constant cycle allow the master station (controller) to perform link
refresh.
The servo amplifier reads the received data as an object library to drive a servo motor and return monitor
data.
Constant cycle
Request message (directed broadcast)
Master station
(controller)
Response message (unicast)
Slave station
(servo amplifier)
2.2 Message format
The following shows the request message format to be used when the master station (controller) sends a
message, and the response message format to be used when the slave stations (servo amplifiers) return a
message.
Messages are sent by using UDP/IP.
(1) Request message format
Ethernet
header
IP
header
UDP
header
CCIEF
Basic
header
Command,
etc.
Link device (for 16 stations)
(RY, RWw)
(2) Response message format
Ethernet
header
IP
header
UDP
header
CCIEF
Basic
header
Slave
station
notification
information
Link device
(RX, RWr)
2 - 1
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2.3 Link device
In cyclic communication, communication data of the request message and response message is read as
object data (RWwn, RWrn, RYn, RXn) of the servo amplifier. Table 2.1 and 2.2 list initial settings.
The setting of the response message can be changed. When changing it from the initial setting, refer to
section 7.2.3.
Table 2.1 RYn/RXn mapping (supporting the position/speed/torque control mode, profile mode, and home
position return mode)
(Note)
Device No.
RYn0 to RY
(n + 3) E
RY (n + 3) F
Note. "n" depends on the station No. setting.
Master station → Servo amplifier (RYn) Servo amplifier → Master station (RXn)
Device Symbol Remark
Not used
Cyclic communication ready
command
CSR
(Note)
Device No.
RXn0 to RX
(n + 3) E
RX (n + 3) F Cyclic communication ready SSR
Not used
Device Symbol Remark
2 - 2
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and
home position return mode)
Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn)
(Note)
Device No.
RWwn00 6060 Control mode
RWwn01 6040 Control command Controlword RWrn01
RWwn02 2D01 Control input 1 Control DI 1 RWrn02 6041 Control status Statusword
RWwn03 2D02 Control input 2 Control DI 2 RWrn03
RWwn04 2D03 Control input 3 Control DI 3 RWrn04
RWwn05
RWwn06 RWrn06
RWwn07
RWwn08 RWrn08
RWwn09
RWwn0A
RWwn0B 6071
RWwn0C
RWwn0D RWrn0D 2A42 Alarm No. Current alarm 2
RWwn0E
RWwn0F
RWwn10
RWwn11 RWrn10
RWwn12
RWwn13 RWrn12
RWwn14 60E0
RWwn15 60E1
RWwn16 RWrn17
RWwn17 60B8
RWwn18 60F2
RWwn19 2D05 Control input 5 Control DI 5 RWrn1C
RWwn1A RWrn1D
RWwn1B RWrn1E
RWwn1C RWrn1F
RWwn1D
RWwn1E
RWwn1F
Index Device
Modes of
operation
607A
60FF
2D20 Speed limit value (tq) Velocity limit value RWrn09 6077 Current torque
6081
6083
6084
6087
Position command
(pp)
Speed command
(pv)
Torque command
(tq)
Command speed
(pp)
Acceleration time
constant (pp, pv)
Deceleration time
constant (pp, pv)
Amount of torque
command change
(per second) (tq)
Torque limit value
(forward)
Torque limit value
(reverse)
Touch probe
function setting
Positioning
operation setting
Target position
Target velocity
Target torque
Profile velocity
Profile acceleration RWrn0E 60B9
Profile deceleration
Torque slope
Positive torque
limit value
Negative torque
limit value
Touch probe
function
Positioning option
code
Note. "n" depends on the station No. setting.
2.4 Mapping data details of link device
(Note)
Device No.
RWrn00 6061
RWrn05
RWrn07
RWrn0A 2D11 Control output 1 Status DO 1
RWrn0B 2D12 Control output 2 Status DO 2
RWrn0C 2D13 Control output 3 Status DO 3
RWrn0F
RWrn11
RWrn13
RWrn14
RWrn15
RWrn16
RWrn18
RWrn19
RWrn1A
RWrn1B
Index Device
Control mode
display
6064
606C Current speed
60F4 Droop pulses
60BA
60BB
2C12 Input device status 1
Current position
(command unit)
Touch probe
function status
Touch probe 1
Position latched at
the rising edge
Touch probe 1
Position latched at
the falling edge
Modes of
operation display
Position actual
value
Velocity actual
value
Following error
actual value
Torque actual
value
Touch probe status
Touch probe pos1
pos value
Touch probe pos1
neg value
External Input
signal display1
Refer to chapter 7.
2 - 3
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
MEMO
2 - 4
3. SLMP
3. SLMP
3.1 Summary
POINT
SLMP (UDP) is supported by servo amplifiers with software version A0 or later.
SLMP (TCP) is supported by servo amplifiers with software version A3 or later.
In SLMP (TCP), if connection with a client disconnects during establishment, the
connection may not close and this may cause reconnection failure. In case you
cannot reconnect, cycle the power of the servo amplifier.
SLMP (SeamLess Message Protocol) is a common protocol which allows applications to communicate
seamlessly regardless of different types of networks and network layers. SLMP communications can be
performed for the connection with external devices, such as a programmable controller, a personal
computer, and HMI, that can send and receive messages by using SLMP control procedures. The MR-JE_C servo amplifier is compatible only with the binary code. It is not compatible with the ASCII code.
For the compatibility of SLMP with external devices, refer to manuals for external devices.
In SLMP, a command that a master station (external device) sends to slave stations (servo amplifiers) is
called a request message, and a command that the slave stations (servo amplifiers) send back to the master
station (external device) is called a response message.
When the servo amplifier receives the request message, it returns the response message to the external
device after the servo amplifier response time.
The external device cannot send the next request message until it completes receiving the response
message.
Master station (external device)
Slave station (servo amplifier)
Request
message
Response
message
Servo amplifier response time (Note)
Request
message
Response
message
Note. The servo amplifier response time differs depending on the command to send.
3 - 1
3. SLMP
3.2 Message format
The following shows the request message format to be used when the master station (external device)
sends a message, and the response message formats to be used when the slave stations (servo amplifiers)
return a message.
(1) Request message format
SLMP
Ethernet
header
IP
header
UDP
header
Subheader
Request
destination
network No.
Request
destination
station No.
Request
destination
module
I/O No.
(2) Response message format
The response message has two different formats for normal completion and abnormal completion.
(a) At normal completion
SLMP
Ethernet
header
IP
header
UDP
header
Subheader
Request
destination
network No.
Request
destination
station No.
Request
destination
module
I/O No.
Request
destination
multi-drop
station No.
Request
destination
multi-drop
station No.
Request
data
length
Response
data
length
Monitoring
timer
End code
Request data
Response data
Footer
Footer
(b) At abnormal completion
UDP
Ethernet
header
IP
header
header
SLMP
Subheader
Request
destination
network No.
Request
destination
station No.
Request
destination
module
I/O No.
Request
destination
multi-drop
station No.
Response
data
length
SLMP
End code Command
Network No.
(responding
station)
Station No.
(responding
station)
Request
destination
module
I/O No.
Request
destination
multi-drop
station No.
Error information
Sub
command
Footer
3 - 2
3. SLMP
Item Size Endian Description
Header This header is for TCP/IP and UDP/IP. Add the header on the external device
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.
Subheader
(QnA compatible 3E
frame)
Subheader
(QnA compatible 4E
frame)
Request destination
network No.
Request destination
station No.
Request destination unit
I/O No.
Request destination
multi-drop station No.
Request data length 2 bytes Little Specify the data length from the monitoring timer to the request data in
Monitoring timer 2 bytes Little Set the waiting time until the servo amplifier that had received a request
Request data Variable Little Specify the command, sub command, and data that indicate the request
Command 2 bytes Little Refer to section 3.3.
Sub command 2 bytes Little Refer to section 3.3.
Response data length 2 bytes Little The data length from the end code to the response data (at normal
End code 2 bytes Little The command processing result is stored. 0 is stored at normal completion. An
Response data Variable Little The read data and others corresponding to the command are stored at normal
Error information 9 bytes The network No. (responding station) (1 byte), station No. (responding station)
Footer This footer is for TCP/IP and UDP/IP. Add the footer on the external device
2 bytes Big At a request: H5000
At a response: HD000
6 bytes Big At a request: H5400 + Serial number + H0000
At a response: HD400 + Serial number + H0000
1 bytes Specify the network No. of the access destination. Specify it in hexadecimal.
Store a value of a request message.
1 bytes Specify the station number of the access destination. Specify it in
hexadecimal.
Store a value of a request message.
2 bytes Little Fixed to H03FF
1 bytes Fixed to H00
hexadecimal.
Example) For 24 bytes: H1800
message from an external device completes read or write processing.
When the servo amplifier cannot return a response message within the
waiting time, the response message will be discarded.
H0000: Waiting until the processing is completed
H0001 to HFFFF (1 to 65535): Waiting time (Unit: 0.25 s)
content.
completion) or error information (at abnormal completion) is stored in
hexadecimal. (Unit: byte)
error code of the servo amplifier is stored at abnormal completion.
Refer to section 3.5 for the error code.
completion.
(1 byte), request destination module I/O No. (2 bytes), and request destination
multi-drop station No. (1 byte) of a station that responds an error are stored at
abnormal completion. Numbers that do not correspond to the content of the
request message may be stored because the information of the station that
responds an error is stored at abnormal completion. The command (2 bytes)
and sub command (2 bytes) in which an error occurs are also stored.
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.
3 - 3
3. SLMP
3.3 Command
The following table lists applicable commands.
Name Command
CiA 402 object
read/write
0002h Writes data specified by using the CiA 402 object from the external
0005h Reads data of consecutive sub commands specified by using the CiA
0006h Writes data of consecutive sub commands specified by using the CiA
NodeSearch 0E30h 0000h Detects the server device in the network.
IPAddressSet 0E31h 0000h Sets the IP address of the server device in the network.
Model code read 0101h 0000h Reads the servo amplifier model.
4020h 0001h Reads data specified by using the CiA 402 object from the servo
3.4 CiA 402 read/write command
The MR-JE-_C servo amplifier supports the CiA 402 read/write command.
Service
SDO Upload 4020h 0001h Reads data specified by using the CiA 402 object from the servo
SDO Download 4020h 0002h Writes data specified by using the CiA 402 object from the external
SDO Object SubID Block Upload 4020h 0005h Reads data of consecutive sub commands specified by using the CiA
SDO Object SubID Block
Download
Sub
command
amplifier to the external device.
device to the servo amplifier.
402 object from the servo amplifier to the external device.
402 object from the external device to the servo amplifier.
SLMP
Command
4020h 0006h Writes data of consecutive sub commands specified by using the CiA
Sub
command
amplifier to the external device.
device to the servo amplifier.
402 object from the servo amplifier to the external device.
402 object from the external device to the servo amplifier.
Description
Description
Detailed
explanation
Section
3.4.1
Section
3.4.2
Section
3.4.3
Section
3.4.4
3 - 4
3. SLMP
3.4.1 SDO Upload (CiA 402 object read)
When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station
(external device), they return a value of the object corresponding to the specified Index or Sub Index.
(1) Request message (command and the following)
Command Sub command Index
L H L H L H - - L H
20h 40h 01h 00h Refer to (3) in this section for details.
(2) Response message
(a) At normal completion (end code and the following)
End code Index
L H L H - - L H L or H (variable)
00h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Command 2 bytes Little H4020
Sub command 2 bytes Little H0001
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Read data: Fixed to H00
Read data Variable Little The response data of the object is stored.
Item Size Endian Description
For the response message, the value specified in the request message is
stored.
For the response message, the value specified in the request message is
stored.
3.4.2 SDO Download (CiA 402 object write)
Sub
Index
Number of data
Reserved
value
Number of data
value
Read data
When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station
(external device), they write a specified value to the object corresponding to the specified Index or Sub
Index.
(1) Request message (command and the following)
Command Sub command Index
L H L H L H - - L H L or H (variable)
20h 40h 02h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
Number of data
value
Write data
(2) Response message
(a) At normal completion (end code and the following)
End code Index
L H L H - - L H
00h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
Number of data
value
3 - 5
3. SLMP
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Command 2 bytes Little H4020
Sub command 2 bytes Little H0002
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.
Write data Variable Little Specify the write data of the object.
3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from
the master station (external device), they return a value of the object corresponding to the specified Index or
consecutive Sub Index.
(1) Request message (command and the following)
(2) Response message
(3) Item list
Command 2 bytes Little H4020
Sub command 2 bytes Little H0005
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Read data: Fixed to H00
Read data Variable Little The response data of the object is stored.
Item Size Endian Description
For the response message, the value specified in the request message is
stored.
For the response message, the value specified in the request message is
stored.
Command Sub command Index
L H L H L H - - L H
20h 40h 05h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
Number of data
value
(a) At normal completion (end code and the following)
End code Index
L H L H - - L H L or H (variable)
00h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
Number of data
value
Read data
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
Item Size Endian Description
For the response message, the value specified in the request message is
stored.
For the response message, the value specified in the request message is
stored.
3 - 6
3. SLMP
3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from
the master station (external device), they write a specified value to the object corresponding to the specified
Index or consecutive Sub Index.
(1) Request message (command and the following)
Command Sub command Index
L H L H L H - - L H L or H (variable)
20h 40h 06h 00h Refer to (3) in this section for details.
(2) Response message
(a) At normal completion (end code and the following)
End code Index
L H L H - - L H
00h 00h Refer to (3) in this section for details.
Sub
Index
Reserved
(b) At abnormal completion
The response message is the same as that of 3.2 (2) (b).
(3) Item list
Command 2 bytes Little H4020
Sub command 2 bytes Little H0006
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.
Write data Variable Little Specify the write data of the object.
Item Size Endian Description
For the response message, the value specified in the request message is
stored.
For the response message, the value specified in the request message is
stored.
Sub
Index
Number of data
Reserved
value
Number of data
value
Write data
3 - 7
3. SLMP
3.5 Error codes
The following table lists error codes that are stored in the end code at abnormal completion in SLMP.
Error code Cause
C059h The sub command is specified incorrectly. Or, a command that is not prescribed is received.
C05Ch The request message is incorrect.
C061h The request data length does not correspond to the number of data points.
CCCAh A non-existent Index is specified.
CCD0h Number of data value differs from the prescribed value.
CCD1h Number of data value is greater than the prescribed value.
CCD2h Number of data value is smaller than the prescribed value.
CCD3h A non-existent Sub Index is specified.
CCC8h The Write only object is read.
CCC9h (1) A value is written to the Read only object.
(2) A value is written to an object which is not the Read only object for all AL states but for the present AL state with
Write disabled.
CCC7h (1) A value is written to the object mapped to a response message.
(2) The following writings are performed when the object mapped to a response message is not allowed to be
changed.
A value other than "0" is written to Sub Index0.
A value is written to the corresponding Sub Index 1 to 32.
CCCBh The object that cannot be mapped to response message is written to the object mapped to a response message.
CCCCh The total size of the object mapped to a response message exceeds 64 bytes.
CCD4h A value outside the parameter range was written.
CCD5h A value that is greater than the parameter range is written.
CCD6h A value that is smaller than the parameter range is written.
CCDAh A value is written to a parameter object outside the writing range set in the Parameter block setting.
3 - 8
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