
5
4.1 Structure ...................................................................................................................................... 7-87
4.1.1 Configuration diagram ........................................................................................................ 7-87
4.1.2 Precautions for using RS-422/RS-232C/USB communication function ............................. 7-89
4.2 Communication specifications ..................................................................................................... 7-90
4.2.1 Outline of communication ................................................................................................... 7-90
4.2.2 Parameter setting ............................................................................................................... 7-90
4.3 Protocol ........................................................................................................................................ 7-91
4.3.1 Transmission data configuration ......................................................................................... 7-91
4.3.2 Character codes ................................................................................................................. 7-92
4.3.3 Error codes ......................................................................................................................... 7-93
4.3.4 Checksum ........................................................................................................................... 7-93
4.3.5 Time-out processing ........................................................................................................... 7-93
4.3.6 Retry processing ................................................................................................................. 7-94
4.3.7 Initialization ......................................................................................................................... 7-94
4.3.8 Communication procedure example ................................................................................... 7-95
4.4 Command and data No. list ......................................................................................................... 7-96
4.4.1 Reading command .............................................................................................................. 7-96
4.4.2 Writing commands ............................................................................................................ 7-101
4.5 Detailed explanations of commands ......................................................................................... 7-103
4.5.1 Data processing ................................................................................................................ 7-103
4.5.2 Status display mode ......................................................................................................... 7-105
4.5.3 Parameter ......................................................................................................................... 7-106
4.5.4 External I/O signal status (DIO diagnosis)
........................................................................ 7-110
4.5.5 Input device on/off ............................................................................................................ 7-113
4.5.6 Disabling/enabling I/O devices (DIO) ............................................................................... 7-114
4.5.7 Input devices on/off (test operation) ................................................................................. 7-115
4.5.8 Test operation mode ......................................................................................................... 7-116
4.5.9 Output signal pin on/off (output signal (DO) forced output) .............................................. 7-120
4.5.10 Alarm history ................................................................................................................... 7-121
4.5.11 Current alarm .................................................................................................................. 7-122
4.5.12 Other commands ............................................................................................................ 7-123
5. HF-_P/HA-_P/HC-_P MOTOR DRIVE ............................................................................................. 7-125
5.1 MR-J3 series servo motors which are available with MR-J4-_A_ and MR-J4-_B_ .................. 7-125
5.2 MR-J3 series servo motors which are available with MR-J4W_-_B ......................................... 7-131
6. APPLICATION OF FUNCTIONS ...................................................................................................... 7-133
6.1 J3 compatibility mode ................................................................................................................ 7-133
6.1.1 J3 Outline of J3 compatibility mode .................................................................................. 7-133
6.1.2 Operation modes supported by J3 compatibility mode .................................................... 7-133
6.1.3 J3 compatibility mode supported function list ................................................................... 7-134
6.1.4 Distinguishing J3 compatibility mode ................................................................................ 7-136
6.1.5 How to switch J4 mode/J3 compatibility mode ................................................................. 7-137
6.1.6 How to use the J3 compatibility mode .............................................................................. 7-138
6.1.7 Cautions for switching J4 mode/J3 compatibility mode .................................................... 7-139
6.1.8 Cautions for the J3 compatibility mode ............................................................................. 7-139
6.1.9 Change of specifications of "J3 compatibility mode" switching process .......................... 7-140
6.1.10 J3 extension function ...................................................................................................... 7-143
6.2 Master-slave operation function ................................................................................................ 7-145
6.3 Scale measurement function ..................................................................................................... 7-149
6.3.1 Functions and configuration ............................................................................................. 7-149
6.3.2 Scale measurement encoder ............................................................................................ 7-151
6.3.3 How to use scale measurement function.......................................................................... 7-154