Mitsubishi Electric MELSEC iQ-F Series

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9 PROGRAMMING

9.4 Communication Example Between the Master Station and Servo Amplifier

191

Program examples

The following is an example of a program that controls a servo amplifier (MR-J5-10G) in profile position mode (pp).

PDO communication (positioning operation)

Classification Label name Description Device

Module label FX5CCLGN_1.bIn_ModuleReady_D Module READY Un\G34.F

FX5CCLGN_1.bIn_DataLink_D Own station data link status Un\G34.1

Label to be defined Define global labels as shown below:

(0) Check startup and prepare for operation.

(25)Perform homing.

Main Page

WHEN USING AN INDUSTRIAL SWITCH WITH CC- Link IE TSN3
SAFETY PRECAUTIONS3
INTRODUCTION9
CONTENTS10
RELEVANT MANUALS14
TERMS14
GENERIC TERMS AND ABBREVIATIONS14
1 OVERVIEW15
2 SPECIFICATIONS17
- 2.1 General Specifications17
- 2.2 Power Supply Specifications17
- 2.3 Performance Specifications of CC-Link IE TSN17
- 2.4 Performance Specifications of Ethernet19
- 2.5 Part Names20
  - LED indication21
3 PROCEDURES BEFORE OPERATION22
4 FUNCTIONS24
- 4.1 Function List24
- 4.2 Cyclic Transmission28
- 4.3 Transient Transmission48
- 4.4 Ethernet Connection50
  - Connection with MELSOFT products50
  - Connection with SLMP-compatible devices53
- 4.5 Security54
  - IP filter54
  - Remote password56
- 4.6 RAS61
- 4.7 Others64
  - Device station parameter automatic setting64
5 SYSTEM CONFIGURATION66
- 5.1 Structure of CC-Link IE TSN Class B Devices and Ethernet Devices68
- 5.2 Structure of CC-Link IE TSN Class B/A Devices (CC-Link IE TSN Protocol Version 2.0 Only) and Ethernet Devices78
- 5.3 Structure of CC-Link IE TSN Class B/A Devices (Mixture of CC-Link IE TSN Protocol Version 1.0 and 2.0) and Ethernet Devices94
  - Connection configuration of CC-Link IE TSN-compatible devices98
- 5.4 Structure of CC-Link IE TSN Class B/A Devices (CC-Link IE TSN Protocol Version 1.0 Only) and Ethernet Devices99
- 5.5 Connection Examples115
- 5.6 Precautions for System Configuration126
6 WIRING127
- 6.1 Power Supply Wiring127
  - Grounding127
- 6.2 CC-Link IE TSN Wiring128
7 PARAMETER SETTINGS131
- 7.1 Setting Parameters131
- 7.2 Required Settings131
- 7.3 Basic Settings134
- 7.4 Application Settings139
- 7.5 "CC-Link IE TSN Configuration" Window142
8 DEDICATED INSTRUCTION153
- 8.1 Precautions for Dedicated Instructions154
9 PROGRAMMING155
- 9.1 Precautions for Programming155
- 9.2 Communication Example Between the Master Station and Local Station156
- 9.3 Examples of Communication with CC-Link IE TSN Class A Remote Stations172
- 9.4 Communication Example Between the Master Station and Servo Amplifier183
10 TROUBLESHOOTING197
- 10.1 Checking with LED197
- 10.2 Checking the Module Status200
  - Module diagnostics200
  - Module communication test202
- 10.3 Checking the Network Status203
- 10.4 Troubleshooting by Symptom212
- 10.5 List of Error Codes223
- 10.6 List of Parameter Numbers245
- 10.7 Event List247
APPENDICES248
- Appendix 1 External Dimensions248
- Appendix 2 Standard Compliant Model249
- Appendix 3 Buffer Memory251
  - List of buffer memory addresses251
  - Details of buffer memory addresses257
- Appendix 4 List of Link Special Relay (SB)271
- Appendix 5 List of Link Special Register (SW)277
- Appendix 6 Processing Time283
  - Cyclic transmission delay time284
  - Communication cycle intervals288
- Appendix 7 Port Number305
- Appendix 8 Connection Method for MR-J5(W)-G306
- Appendix 9 Added and Enhanced Functions310
- Appendix 10 Software Licenses and Copyrights311
INDEX312
REVISIONS314
WARRANTY315
TRADEMARKS316

Mitsubishi Electric MELSEC iQ-F Series - Program examples

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