Mitsubishi Electric MELSERVO-J4 series User manual

SH(NA)030240-A(1606)MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (PROFINET)
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-J4-_TM_
Multi-network Interface AC Servo
SERVO AMPLIFIER
INSTRUCTION MANUAL
(PROFINET)

A - 1
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 Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
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 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 - 2
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 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.
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 - 3
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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a 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
Operation 0 °C to 55 °C (non-freezing)
Storage -20 °C to 65 °C (non-freezing)
Ambient
humidity
Operation 90 %RH or less (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 2000 m above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
When the equipment 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 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.

A - 4
(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.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
24 V DC
Servo amplifier
RA
For sink output interface
Control output
signal
DOCOM
Control output
signal
24 V DC
Servo amplifier
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
(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.

A - 5
(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.
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
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
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 which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the Emergency stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
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.

A - 6
(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 Specifications and
Instruction Manual.
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 app. 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".
Compliance with global standards
For the compliance with global standards, refer to app. 4 of "MR-J4-_TM_ Servo Amplifier Instruction
Manual".

A - 7
«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 MR-D30 Instruction Manual (Note 5) SH(NA)030132
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.
5. It is necessary for using an MR-D30 functional safety unit.
«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 - 8
MEMO

1
CONTENTS
1. PROFINET COMMUNICATION 1- 1 to 1- 6
1.1 Description ........................................................................................................................................ 1- 1
1.2 Communication specifications .......................................................................................................... 1- 3
1.3 Startup .............................................................................................................................................. 1- 4
1.4 Network disconnection procedure .................................................................................................... 1- 5
1.5 Object dictionary (OD) ...................................................................................................................... 1- 5
1.5.1 Section definition of object dictionary......................................................................................... 1- 5
2. PROFINET NETWORK MODULE (ABCC-M40-PIR) 2- 1 to 2- 4
2.1 Specifications.................................................................................................................................... 2- 1
2.2 Parts identification............................................................................................................................. 2- 1
2.3 LED display....................................................................................................................................... 2- 2
2.3.1 Network Status LED................................................................................................................... 2- 2
2.3.2 Module Status LED .................................................................................................................... 2- 2
2.3.3 Link/Activity LED ........................................................................................................................ 2- 2
2.4 Ethernet cable connection ................................................................................................................ 2- 3
3. PROCESS DATA (CYCLIC DATA EXCHANGE) 3- 1 to 3- 2
4. ACYCLIC DATA EXCHANGE 4- 1 to 4- 6
4.1 Acyclic data exchange communication format ................................................................................. 4- 1
4.2 Error number..................................................................................................................................... 4- 2
4.3 PROFIdrive parameters (PROFIdrive-specific) ................................................................................ 4- 2
4.3.1 Telegram Selection (P922) ........................................................................................................ 4- 2
4.3.2 Operating mode (P930).............................................................................................................. 4- 3
4.3.3 Fault message counter (P944)................................................................................................... 4- 3
4.3.4 Fault number (P947) .................................................................................................................. 4- 3
4.3.5 Drive Unit identification (P964) .................................................................................................. 4- 4
4.3.6 Profile identification number (P965)........................................................................................... 4- 4
4.3.7 DO identification (P975) ............................................................................................................. 4- 5
4.3.8 Parameter Database Handling and Identification (P980) .......................................................... 4- 5
4.4 Identification & Maintenance (I&M)................................................................................................... 4- 6
5. STATE TRANSITION 5- 1 to 5-14
5.1 Basic State Machine ......................................................................................................................... 5- 1
5.2 FSA state .......................................................................................................................................... 5- 4
5.3 Controlword/statusword .................................................................................................................... 5- 6
5.3.1 Controlword................................................................................................................................ 5- 6
5.3.2 Statusword ................................................................................................................................. 5- 9
6. CONTROL MODE 6- 1 to 6-42
6.1 Selection of control mode ................................................................................................................. 6- 1
6.2 Control switching............................................................................................................................... 6- 2

2
6.3 Profile position mode (pp)................................................................................................................. 6- 2
6.4 Profile velocity mode (pv) ................................................................................................................. 6- 7
6.5 Profile torque mode (tq) ................................................................................................................... 6-13
6.6 Homing mode (hm) .......................................................................................................................... 6-16
7. WEB SERVER 7- 1 to 7- 2
8. MANUFACTURER FUNCTIONS 8- 1 to 8-20
8.1 PROFIdrive parameters for status monitor....................................................................................... 8- 1
8.2 Stroke end......................................................................................................................................... 8- 2
8.3 Software limit .................................................................................................................................... 8- 3
8.4 Torque limit ....................................................................................................................................... 8- 4
8.5 Polarity .............................................................................................................................................. 8- 5
8.6 Touch probe...................................................................................................................................... 8- 6
8.7 One-touch tuning ............................................................................................................................. 8-10
8.8 Servo amplifier life diagnosis function ............................................................................................. 8-11
8.9 Machine diagnosis ........................................................................................................................... 8-12
8.10 Quick stop ...................................................................................................................................... 8-13
8.11 Halt................................................................................................................................................. 8-14
8.12 Ramp Stop ..................................................................................................................................... 8-14
8.13 PROFIdrive parameter definitions related to alarms ..................................................................... 8-15
8.14 Parameter ...................................................................................................................................... 8-16
8.14.1 Parameter enabling................................................................................................................. 8-17
8.15 Degree function ............................................................................................................................. 8-18
9. OBJECT DICTIONARY 9- 1 to 9-46
9.1 Store parameters .............................................................................................................................. 9- 1
9.2 PROFIdrive parameter (Manufacturer-specific) list .......................................................................... 9- 2
9.3 PROFIdrive parameter (Manufacturer-specific) ............................................................................... 9- 5
9.3.1 General Objects ......................................................................................................................... 9- 5
9.3.2 ServoParameter Objects............................................................................................................ 9- 6
9.3.3 Alarm Objects ........................................................................................................................... 9- 9
9.3.4 Monitor Objects ......................................................................................................................... 9-11
9.3.5 Manufacturer Specific Control Objects ..................................................................................... 9-22
9.3.6 PDS Control Objects ................................................................................................................. 9-29
9.3.7 Position Control Function Objects............................................................................................. 9-31
9.3.8 Profile Velocity Mode Objects ................................................................................................... 9-33
9.3.9 Profile Torque Mode Objects .................................................................................................... 9-35
9.3.10 Profile Position Mode Objects................................................................................................. 9-37
9.3.11 Homing Mode Objects............................................................................................................. 9-40
9.3.12 Factor Group Objects.............................................................................................................. 9-43
9.3.13 Optional application FE Objects.............................................................................................. 9-45
9.3.14 Touch Probe Function Objects ............................................................................................... 9-45

1. PROFINET COMMUNICATION
1 - 1
1. PROFINET COMMUNICATION
1.1 Description
PROFINET represents the communication standard for the automation which was made by PI (PROFIBUS
& PROFINET International).
The PROFINET IO communication is available when the PROFINET network module (ABCC-M40-PIR
manufactured by HMS Industrial Networks) is connected to the MR-J4-_TM_ servo amplifier. The MR-J4-
_TM_ servo amplifier to which the PROFINET network module is connected is an IO device.
MR-J4-_TM_ (PROFINET) supports two cyclic communication formats conforming to PROFIdrive profile and
CiA 402 drive profile. MR-J4-_TM_ (PROFINET) is compatible with the following control modes. Refer to
chapter 6 for details.
Control mode Symbol Description
Profile position mode pp
This is a positioning control mode where an end position command is received to
drive the servo motor in the commutation with a controller.
Use an absolute position address or relative position address for a command.
Profile velocity mode pv This is a control mode where a target speed command is received to drive the servo
motor in the communication with a controller.
Profile torque mode tq This is a control mode where a target torque command is received to drive the servo
motor in the communication with a controller.
Homing mode hm This is a control mode where the servo amplifier performs a home position return
using the method directed by the controller.
MR-J4-_TM_ servo amplifiers comply with the following standards. Refer to the following standards for the
description not written in this Instruction Manual.
Document Version
Profile Drive Technology PROFIdrive Technical Specification V4.1
Profiles for decentralized periphery
Technical Specification for PROFINET IO V2.3Ed2
Application Layer protocol for decentralized periphery
Technical Specification for PROFINET IO V2.3Ed2
Application Layer services for decentralized periphery
Technical Specification for PROFINET IO V2.3Ed2

1. PROFINET COMMUNICATION
1 - 2
The following table shows explanation of terms applied to PROFINET standard used in this manual.
Term Explanation
PROFINET (PROFINET IO) PROFINET has two application types: PROFINET IO and PROFINET CBA. This product is compatible
with PROFINET IO. PROFINET IO is based on a communication between controllers and other
devices. PROFINET CBA is based on a communication between controllers with components.
PROFIdrive This is an application profile defined with PROFINET and PROFIBUS for electric-powered drives such
as servo amplifiers. The communication data format and functional range are provided.
RT, IRT These are the communication methods of Process Data (cyclic communication) for PROFINET IO. RT
means Real-Time (asynchronous communication) and IRT means Isochronous Real-Time
(synchronous communication).
Process Data This is the name of cyclic communication data (Cyclic Data Exchange) for PROFINET communication.
This is also called I/O data. The data format of cyclic communication is called Telegram in this
manual.
Acyclic communication
(Acyclic Data Exchange)
This is the name of acyclic communication (request/response pattern) for PROFINET communication.
GSD file This is the XML format file (GSDML file) of communication specifications and characteristics
supported with this product. Use this when you set up this product (selection of Telegram and setting
of transmission cycle) with the PROFINET configuration tool.
PNU This is an abbreviation for parameter number used in PROFINET communication. The network
variables used in PROFINET communication are described as PROFIdrive parameters and the
parameters of servo amplifiers are described as parameters (or servo parameters). The PROFIdrive
parameters are described as follows.
Example) PROFIdrive parameter 922 →P922
Array [n] The PROFIdrive parameter whose Data Type is "Array [n]" is in an array structure and subindex (Sub)
will be used to access each element in the array. The subindices of PROFIdrive parameters are
described as follows.
Example) PROFIdrive parameter 980, subindex 2 →P980.2
AR, CR These are AR (Application Relationship) and CR (Communication Relationship). AR is established
between the controller and device. Each CR (IO CR for cyclic communication and Record Data CR for
acyclic communication) in AR will transmit/receive data.
R, W, R/W The following shows description of Access.
R: Readable
W: Writable
R/W: Readable and writable

1. PROFINET COMMUNICATION
1 - 3
1.2 Communication specifications
The following shows the communication specifications.
Item Description Remark
PROFINET communication
specifications
PROFINET IO
Real Time (RT) communication
PROFIdrive v4.1
Physical layer 100BASE-TX
Communication connector RJ45, 2 ports (port 1, port 2)
Communication cable CAT5e, shielded twisted pair (4 pair) straight cable Double-shielded type recommended
Network topology Line, Star, Ring, or a connection topology where
the topologies are used together
Variable communication
speed
100 Mbps (Full duplex)
Transmission speed between
stations
Max. 100 m
Number of nodes Compliant with the specifications of the standard
Ethernet
Conformance class Conformance class B (CC-B)
Real time class RT_Class_1
Acyclic Data Exchange Transmitting/Receiving: 1 channel each
Process Data (Cyclic Data
Exchange)
Transmission cycle: 1, 2, 4, 8, 16, 32, 64, 128,
256, 512 ([ms])
Variable mapping: compatible
Transmission cycle
= 31.25 µs × SendClockFactor × ReductionRatio
Setting range of SendClockFactor
(= 32)
Setting range of ReductionRatio
(= 1, 2, 4, 8, 16, 32, 64, 128, 256, 512)
Variable mapping
Maximum size: 48 bytes each transmitting/
receiving
Maximum number of mapping: 24 each
transmitting/receiving
Byte order Big endian
LED display Network Status, Module Status, LINK/Activity (port
1, port 2)

1. PROFINET COMMUNICATION
1 - 4
1.3 Startup
The following describes the setting and startup of the PROFINET communication. Refer to section 4.1 of
"MR-J4-_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 General Station
Description (GSD) file listing the information about the communication setting of devices is available.
Install the EDS file to a configuration tool to be used.
Refer to the manual of each configuration tool for how to use the GSD file.
(2) Station name
This is used for identifying of servo amplifier from the controller. Set up the controller following the
manual of the controller used.
(3) 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.
(4) IP address setting
Set an IP address using the "AnybusIPconfig" tool offered by HMS Industrial Networks, axis selection
rotary switch (SW2/SW3) on the display of the servo amplifier, and controller. Change the IP address
with the axis selection rotary switch (SW2/SW3) before powering on the servo amplifier. When you set it
with automatic setting of the controller, the controller setting will be prioritized. The IP address you set
can be checked with the "AnybusIPconfig" tool or system configuration window of MR Configurator 2.
You can set an IP address as follows.
Axis selection rotary switch
(SW2/SW3) IP address setting value
00h An IP address set by the "AnybusIPconfig" tool is used.
01h to FEh
Although an IP address set by the "AnybusIPconfig" tool is used, the forth octet value is replaced with
a value set with the axis selection rotary switch (SW2/SW3). The DHCP function is disabled.
Set a hexadecimal value with the axis selection rotary switch (SW2/SW3). The hexadecimal value is
converted into a decimal value and set as the fourth octet of the IP address.
FFh The DHCP function is enabled.
(5) Setting tool
The following lists the tools used for starting up.
Tool Explanation Manufacturer
MR Configurator 2 (Ver.
1.55H or later)
This software is used to configure
various settings of the servo amplifier
and helps maintenance works.
You can purchase this software from Mitsubishi Electric
Corporation.
AnybusIPconfig This tool is used to set an IP address to
the PROFINET network module (ABCC-
M40-PIR).
You can get this tool from the website of HMS Industrial
Networks.

1. PROFINET COMMUNICATION
1 - 5
1.4 Network disconnection procedure
To disconnect the network by stopping device operation or other means, follow the procedure shown below.
(1) When the servo motor is during operation, stop the servo motor depending on the operation mode.
(2) When the servo amplifier is in servo-on status, set the off command for Controlword to establish the
servo-off status.
(3) Stop the Process Data communication referring to the instruction manual of controller.
(4) Shut off the power of the servo amplifier and controller.
1.5 Object dictionary (OD)
This product supports object dictionary which conforms to CiA 402 Drive Profile and converts PROFIdrive
parameter number (PNU) to index number to access each entry in the object dictionary.
Each data set that devices have such as control parameters, command values, and feedback values is
handled as an object composed of an object name, object type, data type, 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
The object dictionary is categorized by PNU depending on the contents of data as shown in the following
table.
The object group of Manufacturer-specific is defined between P1000 and P59999. All of the other objects
comply with definitions of the PROFIdrive standard. The following correspondence table shows PNU and
description of objects. Refer to the Reference column for the chapters and the section where the details of
each object are described.
Section definition of object dictionary
PNU Description Reference
900 to 999 PROFIdrive-specific parameters Section 4.3
4096 to 59999 Manufacturer-specific PROFIdrive parameters
(including object group provided in CiA 402 Drive Profile)
Section 9.3
Outline of Manufacturer-specific PROFIdrive parameters
PNU Description
Index No. of CiA
402 standard Reference
4096 to 8191 CoE communication area 1000h to 1FFFh Section 8.14,
chapter 9
8192 to 10239 Parameter 2000h to 25FFh Section 8.14,
chapter 9
10752 to 10879 Servo control command/monitor 2A00h to 2FFFh Chapter 6,
chapter 9
24576 to 28671 CiA 402 drive profile area 6000h to 6FFFh Chapter 5,
chapter 6,
chapter 9

1. PROFINET COMMUNICATION
1 - 6
MEMO

2. PROFINET NETWORK MODULE (ABCC-M40-PIR)
2 - 1
2. PROFINET NETWORK MODULE (ABCC-M40-PIR)
The PROFINET communication with an MR-J4-_TM_ servo amplifier requires the PROFINET network
module (ABCC-M40-PIR). The following shows the details.
2.1 Specifications
Category Description
Product name ABCC-M40-PIR
Model AB6938-C
Manufacturer HMS Industrial Networks
External interface MR-J4-_TM_ servo amplifier connecting interface: Compact flash connector with standard 50 pins
PROFINET communication port interface: RJ45 connector
Dimensions 52 (W) × 50 (D) × 20 (H)
Except the protrusion of the PROFINET communication port connector
Mass Approx. 30 g
2.2 Parts identification
This section describes the PROFINET network module (ABCC-M40-PIR) only. Refer to section 1.7 of "MR-
J4-_TM_ Servo Amplifier Instruction Manual" for the MR-J4-_TM_ servo amplifier.
(5)
(1)
(2)
(6)
(4)
(3)
No. Name/Application Detailed
explanation
(1) Module Status LED
Indicates the module status.
Section
2.2.2
(2) RJ45 PROFINET communication port (port 2)
Connect the controller or servo amplifier. Section 2.3
(3)
Link/Activity LED (port 2)
Indicates the link status of each PROFINET
communication port.
Section
2.2.3
(4) RJ45 PROFINET communication port (port 2)
Connect the controller or servo amplifier. Section 2.3
(5)
Link/Activity LED (port 1)
Indicates the link status of each PROFINET
communication port.
Section
2.2.3
(6) Network Status LED
Indicates the communication status.
Section
2.2.1

2. PROFINET NETWORK MODULE (ABCC-M40-PIR)
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2.3 LED display
The PROFINET Network module (ABCC-M40-PIR) has each LED of the Network Status, Module Status,
and Link/Activity.
The following shows the LED indication definitions.
LED status Definition
Lit An LED remains lit.
Extinguished An LED remains extinguished.
Flickering An LED is switching between lit and extinguished at 10 Hz cycles (every 50 ms).
Blinking For 3 s, an LED is switching between lit and extinguished at 1 Hz cycles (every 500 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.
Triple flash An LED is lit for 200 ms, extinguished for 200 ms, lit for 200 ms, extinguished for 200 ms, lit for 200
ms, and extinguished for 1000 ms repeatedly.
2.3.1 Network Status LED
The Network Status LED indicates the PROFINET communication status. When Network Status LED is
extinguished, the LED may be influenced by Link/Activity LED.
LED status Description
Extinguished Indicates that the power is shut off or connection with the controller has not been established.
Lit in green Indicates that connection with the controller has been established and the controller is in RUN status.
Single flash in green Indicates that connection with the controller has been established and the controller is in STOP status
or the communication data is incorrect.
Blinking in green Indicates that the engineering tool is checking a node on network.
Lit in red Indicates that a serious malfunction that cannot be restored has been detected. This will light
simultaneously with Module Status LED in red.
Single flash in red Indicates that a station name has not been set.
Double flash in red Indicates that an IP address has not been set.
Triple flash in red Indicates that identification information differs between controller and device. It means a configuration
error.
2.3.2 Module Status LED
The Module Status LED indicates the status of device and an error in the PROFINET communication.
LED status Description
Extinguished Indicates that the power is shut off or initialization has not been completed.
Lit in green Indicates that initialization of the network module has been completed and the module operates
normally.
Single flash in green Indicates that the network module is diagnosing itself.
Lit in red Indicates that an exception error has detected in the network module.
Indicates that a serious malfunction that cannot be restored has been detected. This will light
simultaneously with Network Status LED in red.
2.3.3 Link/Activity LED
The Link/Activity LEDs indicate the link status of each PROFINET communication port.
LED status Description
Extinguished Indicates that the power supply is shut off or the link-unestablished state.
Lit in green Indicates that the link is established without traffic.
Flickering in green Indicates that the link is established with traffic.

2. PROFINET NETWORK MODULE (ABCC-M40-PIR)
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2.4 Ethernet cable connection
POINT
Use a twisted pair cable (double shielded) compliant with Ethernet Category 5e
(100BASE-TX) or higher as an Ethernet cable. The maximum cable length
between nodes is 100 m.
When the RJ45 PROFINET communication ports (port 1 and port 2) are not used, leave these ports open.
Controller
The first axis
servo amplifier
Ethernet cable Ethernet cable
Port 1
Port 2
The second axis
servo amplifier
Port 1
Port 2 Ethernet cable
The final axis
servo amplifierr
Port 1
Port 2