CTC’s EtherCAT Master with Mitsubishi Servo Drives

This document discusses capabilities and setup information for using the CTC EtherCAT Master with the Mitsubishi MELSERVO-J4 motor drive.

CTC’s EtherCAT master and Mitsubishi's MELSERVO-J4 combine ease of use and cost/performance. Auto-Configuration Simplifies ProgrammingWhen equipped with a model M3-41 EtherCAT Master module, the CTC model 5300 controller automatically rec-ognizes and configures the MELSERVO-J4. This eliminates one of the most time-consuming aspects of setting up an EtherCAT network, greatly simplifying the process of system configuration.

System Monitoring Using EtherCAT ExplorerEtherCAT Explorer, a component of the QuickBuilder Programming Environment, provides a detailed view of the devices on the EtherCAT network.

By selecting one of the connected devices within EtherCAT Explorer, you can view a detailed listing of the current status and parameters associated with that device. You can also view a log of communications transactions sent across the network.

This provides a powerful network diagnostic capability, and also gives you a detailed window into the functioning and behavior of the devices in your system.

QuickBuilder's EtherCAT Explorer gives a detailed view of the system components on the EtherCAT network.

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MELSERVO-J4 Drive Set-upCTC’s M3-41 supports the MELSERVO-J4. For proper operation you must verify the firmware revision installed in the drive using Mitsubishi's MR Configurator2 PC software. The ‘Control mode selection’ of the drive must also be set to ‘Cyclic synchronous mode’. Below is information on the drive CTC used for testing. Note the software revision V1.10.01.

Only Cyclic Synchronous Position (CSP) mode is supported by the Mitsubishi drives. Mitsubishi requires its drives to always run DC SYNC, so that mode must be active before network operation. It is, therefore, automatically enabled by the EtherCAT Master with the SYNC0 set to the network cycle time, typically 1 mS.

CTC's EtherCAT Applications Guide Appendix I contains additional information as well as multiple screen shots to assist you in working with Mitsubishi Servo Drives and the CTC EtherCAT Master.

Mitsubishi Drive SpecificsThe MELSERVO-J4 does not support homing mode as specified in CANopen's Cia402 standard. Instead, use CSP mode and zero the feedback when homing manually, using MSB instructions. The drive should be configured as below:

To easily monitor operations, use Monitor->Display All.

For More InformationContact CTC at:

• sales@ctc-control.com• (888) 818-2600• www.controltechnologycorp.com

For information about Mitsubishi motor drives, refer to the company’s website: www.mitsubishielectric.com/fa/products/drv/servo.

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