Mitsubishi Electric MR-J5-G Series User manual

MR-J5-G/MR-J5W-G
User's Manual
(Communication Function)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_
Mitsubishi Electric AC Servo System

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 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 manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other
information are shown separately in the "POINT" area.
After reading this manual, keep it accessible to the operator.
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.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
WARNING
●To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more
for the converter unit/drive unit) before starting wiring and/or inspection.
●To prevent an electric shock, ground the servo amplifier.
●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
●To prevent an electric shock, mount the servo amplifier before wiring.
●To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the
protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground.
●To prevent an electric shock, do not touch the conductive parts.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
●To prevent an electric shock, do not operate the switches with wet hands.

3
ABOUT THE MANUAL
e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.
e-Manuals enable the following:
• Searching for desired information in multiple manuals at the same time (manual cross searching)
• Jumping from a link in a manual to another manual for reference
• Browsing for hardware specifications by scrolling over the components shown in product illustrations
• Bookmarking frequently referenced information
• Copying sample programs to engineering tools
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For
the related manuals, refer to the User's Manual (Introduction).
When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".
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]
Rotary Servo Motor
Linear Servo Motor
Direct Drive Motor
This manual is necessary primarily for installing, wiring, and
using options.
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary for using communication functions.
The manual is necessary for specifying the causes of alarms
and warnings.
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
Introduction
Hardware
Communication Function
Parameters It describes the parameters of the servo amplifier.
It describes the objects for the servo amplifier.
For the usage of each function, refer to this manual.

4
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 CC-Link IE TSN 6
1.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Establishing and disconnecting the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Summary of object dictionary (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Network setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Application function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CC-Link IE TSN Network diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
IP address setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Parameter automatic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Hold/Clear of output at CPU STOP and at CPU stop error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Remote reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Clock function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Motion mode (high-speed) setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.4 APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CC-Link IE TSN communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Cyclic transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Transient transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Setting of positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
CHAPTER 2 CC-Link IE Field Network Basic 54
2.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Establishing and disconnecting the communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Summary of object dictionary (OD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
2.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Network setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
2.3 Application function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
CC-Link IE Field Network Basic Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
IP address setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Hold/Clear of output at CPU STOP and at CPU stop error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Remote reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5
CONTENTS
2.4 APPENDIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Cyclic transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
SLMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .105
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

61 CC-Link IE TSN
1.1 Functions and configuration
1CC-Link IE TSN
1.1 Functions and configuration
This manual describes communication with the MR-J5_-_G_ servo amplifiers using CC-Link IE TSN. In addition to this
manual, reference the following manual when using CC-Link IE TSN.
MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)
Outline
Motion mode
Motion mode is used with a controller supported by a CANopen profile. Combining with Mitsubishi Electric manufactured
Motion modules enables advanced motion control such as positioning of multiple axes, synchronous control by sequential
command or interpolation control. The positioning function built-in servo amplifier can be used for positioning operation.
Motion mode supports CiA 402 drive profile.
Refer to the following for control modes supported by motion mode.
Page 7 Function list
Page 50 Control mode
System configuration
Compatible controller
*1 Combine the module with the servo amplifier that has firmware version B9 or later.
Category Model
Motion module RD78G
RD78GH
FX5-_SSC-G *1
Master/local module RJ71GN11-T2 *1

1 CC-Link IE TSN
1.1 Functions and configuration 7
1
Function list
Communication-related function list (Application)
Category Subcategory Function Description Detailed explanation
Network Open network CC-Link IE TSN
communication protocol
This servo amplifier supports CC-Link IE TSN. Page 8
Communication
specifications
CC-Link IE TSN
communication setting
Network configuration settings and station-specific mode selection
are performed by using GX Works3.
Page 12 Startup
Common
protocol
SLMP This function supports SLMP (SeamLess Message Protocol).
Parameter setting and monitoring are enabled.
Page 19 CC-Link IE
TSN communication
protocol
Profile CSP+ File for describing the necessary information for startup, operation,
and maintenance of CC-Link family connected products.

Application
function
Functional
safety
Safety communication
function
Connecting the servo amplifier with a programmable controller that
supports functional safety enables safety sub-functions.
MR-J5 User's Manual
(Hardware)
MR-J5D User's
Manual (Hardware)
MR-J5 User's Manual
(Function)
Cyclic
transmission
Hold/Clear of output at
CPU STOP and CPU
stop error
When the CPU module of the cyclic master is at STOP, when the stop
error occurs, Hold/Clear is automatically set on the refresh device
output. The servo amplifier stops regardless of the setting of Hold/
Clear of the cyclic master.
Page 17 Hold/Clear
of output at CPU STOP
and at CPU stop error
RAS function Automatic return When a station that has been disconnected due to a data link error
becomes normal, that particular station will automatically reconnect
to the network, and restart the data link.

Application
function
Synchronization CC-Link IE TSN
network synchronous
communication function
The control cycle of the slave station can be synchronized via the
CC-Link IE TSN in accordance with the synchronization cycle
specified by the master station. Thus, operation timing of other slave
stations connected to the same network can be synchronized.

Motion mode (high-
speed)
The communication cycle between the master station and the slave
station can be set to 31.25 μs.
Page 18 Motion
mode (high-speed)
setting
Network system
startup
Detect Now function The master station reads the information (a model code, a device
version, etc.) of the servo amplifier that is connected to the network
and automatically sets the network configuration.

Station mode check The master station checks whether the master station and the servo
amplifier are in the same station mode by obtaining the station mode
of the servo amplifier.

Parameter
setting
Parameter automatic
setting
This is a function where the controller automatically writes the servo
parameters when the servo amplifier is returning/entering.
Page 16 Parameter
automatic setting
Setting change Remote reset This is a function to reset a servo amplifier via the network. Servo
parameters to be enabled at power cycle are reflected by resetting
the servo amplifier.
Page 17 Remote
reset
IP address setting IP addresses are delivered from the controller to servo amplifiers via
CC-Link IE TSN.
Page 15 IP address
setting function
CC-Link IE TSN
Network
diagnostics
Reserved station
specification/
cancellation
Stations not connected to the network can be included in the total
number of stations for future connection.
Page 14 CC-Link IE
TSN Network diagnostics
Time
synchronization
Clock function This function is used to acquire time information from the grand
master (the station serving as a clock source) via CC-Link IE TSN so
that this information may be used for the time management of
functions performed by the servo amplifier, such as alarm history.
Page 17 Clock
function

81 CC-Link IE TSN
1.1 Functions and configuration
Communication specifications
Communication specifications of CC-Link IE TSN
*1 The communication cycle depends on the controller specifications and the number of the connected axes. The communication cycles of
31.25 μs and 62.5 μs can be used by servo amplifiers with firmware version A6 or later.
*2 There are restrictions on the communication cycle depending on the function used. For details, refer to "CC-Link IE TSN restrictions" in
the following manual.
MR-J5-G/MR-J5W-G User's Manual (Introduction)
MR-J5D-G User's Manual (Introduction)
*3 The communication speed can be set to 1 Gbps or 100 Mbps. 100 Mbps can be used with servo amplifiers with firmware version B6 or
later. When 100 Mbps is selected, the minimum communication cycle is 500 μs. When using 100 Mbps, set [Pr. NPA12 Communication
speed] to "1h". For details, refer to "Network basic parameters" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Parameters)
*4 The cycle of the cyclic transmission must match the communication cycle. When using GX Works3, select "Communication Period
Setting" in "Module parameter (network)", then modify "Basic Period Setting".
Item Description Remark
Physical layer 1000BASE-T (1 Gbps), 100BASE-TX (100 Mbps) Twisted pair
Communication connector RJ-45 × 2 
Communication
cable
Cable type Category 5e or higher, (double shielded/STP) straight cable 
Standard One of the following standards must be met.
• IEEE802.3 1000BASE-T
• ANSI/TIA/EIA-568-B (Category 5e)
Connector RJ-45 shielded connector
Network topology Line, tree (star) 
Communication speed 1 Gbps, 100 Mbps *3 
Transmission distance between stations Max. 100 m 
Number of connection nodes Max. 254 stations The number of connection nodes depends on
the specifications of the controller.
Guaranteeing method of communication
bandwidth
Time division 
Synchronization method IEEE802.1AS, IEEE1588 
Communication
cycle *1*2*4
MR-J5-_G_
MR-J5D1-_G_
31.25 μs, 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms,
8 ms
When setting the communication cycle to 31.25
μs, refer to the following.
Page 18 Motion mode (high-speed) setting
MR-J5W2-_G
MR-J5D2-_G_
62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms 
MR-J5W3-_G 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms 
MR-J5D3-_G_ 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms 
Cyclic transmission [Motion mode]
Communicates data cyclically between stations using PDOs.
• Maximum RPDO size: 80 bytes/axis
• Maximum TPDO size: 80 bytes/axis
• The servo amplifiers support variable PDO mapping.
Page 21 Cyclic transmission
Page 26 PDO mapping objects
Transient transmission [Motion mode]
Communicates data non-cyclically between stations using
SLMP and other protocols. SDOs can be used to read and
write objects of the servo amplifier.
Page 33 Transient transmission
Port No. No. 161: For system use
No. 5010: SLMP communication port (UDP/IP)
No. 45237: For system use
No. 45238: For system use
No. 45239: For system use
