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Mitsubishi Electric Melservo-J5 Series User Manual

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Mitsubishi Electric AC Servo System
MR-J5
User's Manual
(Object Dictionary)
-MR-J5-_G_
-MR-J5W_-_G

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Summary of Contents for Mitsubishi Electric Melservo-J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5 User's Manual (Object Dictionary) -MR-J5-_G_ -MR-J5W_-_G...

  • Page 3: Safety Instructions

    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.

  • Page 4: U.s. Customary Units

    [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more 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.

  • Page 5: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 U.S.
  • Page 6 [PDO Enable (Obj. 1C00h: 02h)] ............. 27 [Error Handling (Obj.
  • Page 7 [Reset alarm (Obj. 2A46h: 00h)] ............. 38 [Drive recorder history newest (Obj.
  • Page 8 [Electrical angle (Obj. 2B19h: 00h)]............46 7.20 [Internal temperature of encoder (Obj.
  • Page 9 [Oscillation frequency during motor stop (Obj. 2C26h: 00h)]........53 8.13 [Oscillation frequency during motor operating (Obj.
  • Page 10 8.33 [Control DI 5 (Obj. 2D05h)] ..............61 [Control DI 5 (Obj.
  • Page 11 8.53 [One-touch tuning mode (Obj. 2D50h)] ............68 [One-touch tuning mode (Obj.
  • Page 12 CHAPTER 12 Profile Torque Mode Objects 12.1 [Target torque (Obj. 6071h)] ............. . . 81 [Target torque (Obj.
  • Page 13 [Homing acceleration (Obj. 609Ah: 00h)] ............89 14.5 [Supported homing method (Obj.

  • Page 14: Chapter 1 Summary Of Object Dictionary

    SUMMARY OF OBJECT DICTIONARY Each data such as control parameters, command values, and feedback values is handled as an object composed of an Index value, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (external device) and the slave stations (servo amplifiers).
  • Page 15 MEMO 1 SUMMARY OF OBJECT DICTIONARY 1.1 Structure...

  • Page 16: Chapter 2 General Objects

    General Objects [Device Type (Obj. 1000h)] [Device Type (Obj. 1000h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00020192h 00020192h Impossible (fixed) Description Indicates supported profile information. The value "00020192h", which indicates a servo drive defined with the CiA 402 profile is returned.

  • Page 17: Manufacturer Hardware Version (Obj. 1009H)]

    [Manufacturer Hardware Version (Obj. 1009h)] [Manufacturer Hardware Version (Obj. 1009h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Description The hardware version of the servo amplifier is returned. [Manufacturer Software Version (Obj. 100Ah)] [Manufacturer Software Version (Obj.

  • Page 18: Restore Default Parameters (Obj. 1011H)]

    [Restore default parameters (Obj. 1011h)] [Restore default parameters (Obj. 1011h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The total number of Sub Index is returned. Supported Sub Index differ depending on the Network. The following shows the Network and supported Sub Index.

  • Page 19: Identity Object (Obj. 1018H)]

    [Identity Object (Obj. 1018h)] [Identity Object (Obj. 1018h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Index is returned. [Vendor ID (Obj. 1018h: 01h)] Data Type Access Mapping Default...

  • Page 20: Version Number (Obj. 67Feh)]

    [Version number (Obj. 67FEh)] [Version number (Obj. 67FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00040100h 00040100h Impossible (fixed) Description The version number of the supported CiA 402 profile is returned. Symbol Description 0 to 7 ...

  • Page 21: Chapter 3 Pdo Mapping Objects

    PDO Mapping Objects [1st Receive PDO Mapping (Obj. 1600h)] [1st Receive PDO Mapping (Obj. 1600h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00h to 20h  Impossible PDO mapping Description Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the object.

  • Page 22: [Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]

    [Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values for the Index and Sub Index of the object to "0000h"...

  • Page 23: 2Nd Receive Pdo Mapping (Obj. 1601H)]

    [2nd Receive PDO Mapping (Obj. 1601h)] [2nd Receive PDO Mapping (Obj. 1601h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the object.

  • Page 24: [Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]

    [Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...

  • Page 25: 1St Transmit Pdo Mapping (Obj. 1A00H)]

    [1st Transmit PDO Mapping (Obj. 1A00h)] [1st Transmit PDO Mapping (Obj. 1A00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the object.

  • Page 26: [Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]

    [Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...

  • Page 27: 2Nd Transmit Pdo Mapping (Obj. 1A01H)]

    [2nd Transmit PDO Mapping (Obj. 1A01h)] [2nd Transmit PDO Mapping (Obj. 1A01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the object.

  • Page 28: [Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]

    [Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...

  • Page 29: 1St Pdo Config (Obj. 1C00H)]

    [1st PDO Config (Obj. 1C00h)] [1st PDO Config (Obj. 1C00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Index (= 4) is returned. [PDO Assignment (Obj. 1C00h: 01h)] Data Type Access Mapping...

  • Page 30: [Memory Address (Obj. 1C00H: 04H)]

    [Memory Address (Obj. 1C00h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description When the object set in Sub Index 1 is mapped to RPDO, set the memory address of the sub payload. When the object set in Sub Index 1 is mapped to TPDO, set the start address of the data to be stored in the sub payload.

  • Page 31: 2Nd Pdo Config (Obj. 1C01H)]

    [2nd PDO Config (Obj. 1C01h)] [2nd PDO Config (Obj. 1C01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Index (= 4) is returned. [PDO Assignment (Obj. 1C01h: 01h)] Data Type Access Mapping...

  • Page 32: [Memory Address (Obj. 1C01H: 04H)]

    [Memory Address (Obj. 1C01h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description When the object set in Sub Index 1 is mapped to RPDO, set the memory address of the sub payload. When the object set in Sub Index 1 is mapped to TPDO, set the start address of the data to be stored in the sub payload.

  • Page 33: Chapter 4 Sync Manager Communication Objects

    Sync Manager Communication Objects [Watchdog counter DL (Obj. 1D01h)] [Watchdog counter DL (Obj. 1D01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 01h (fixed)  Impossible  Description The total number of Sub Index (= 1) is returned. [Watchdog counter DL 1 (Obj.
  • Page 34 MEMO 4 Sync Manager Communication Objects 4.2 [Watchdog counter UL (Obj. 1D02h)]...

  • Page 35: Chapter 5 Parameter Objects

    Parameter Objects [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] The values of the basic setting servo parameters ([Pr. PA _ _ ]) can be obtained and set. [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)] The values of the gain/filter setting servo parameters ([Pr. PB _ _ ]) can be obtained and set. [PC01 (Obj.
  • Page 36 MEMO 5 Parameter Objects 5.9 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]...

  • Page 37: Chapter 6 Alarm Objects

    Alarm Objects [Alarm history newest (Obj. 2A00h)] [Alarm history newest (Obj. 2A00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 7 (fixed)  Possible Alarm history Description The total number of Sub Index (= 7) is returned. [Alarm No.

  • Page 38: [Alarm Time (Second) (Obj. 2A00H: 04H)]

    [Alarm time (second) (Obj. 2A00h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 00000000h to second Possible Alarm history FFFFFFFFh Description The alarm time (hour) is returned as a 32-bit integer (time passed from January 1, 1970, 0:00:00.000000000). If time data cannot be obtained from the network, alarm occurrence time shows the cumulative power-on time from January 1, 1970, 0:00:00.000000000.

  • Page 39: Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]

    [Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)] The second (2A01h) to 16th (2A0Fh) latest alarm information of the alarm history is returned. The description of each Sub Index is the same as that of [Alarm history newest (Obj. 2A00h: 00h)]. [Clear alarm history (Obj.

  • Page 40: Parameter Error List (Obj. 2A45H)]

    [Parameter error list (Obj. 2A45h)] [Parameter error list (Obj. 2A45h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 254 (fixed) Impossible Parameter error list Description The total number of Sub Index (= 254) is returned. [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj.

  • Page 41: Drive Recorder History Newest (Obj. 2A70H)]

    [Drive recorder history newest (Obj. 2A70h)] [Drive recorder history newest (Obj. 2A70h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Description The total number of Sub Index (= 7) is returned. The data of a different history number may be read from the drive recorder depending on when [Drive recorder history newest (Obj.

  • Page 42: [Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]

    [Drive recorder history time (second) (Obj. 2A70h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description The recording time of the drive recorder is returned as a 32-bit integer (time passed from January 1, 1970, 0:00:00.000000000).

  • Page 43: Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]

    [Drive recorder history_1 (Obj. 2A71h)] - [Drive recorder history_15 (Obj. 2A7Fh)] The 2nd (2A71h) to 16th (2A7Fh) of the latest history information in the drive recorder is returned. The description of each Sub Index is the same as that of [Drive recorder history newest (Obj. 2A70h)]. 6 Alarm Objects 6.9 [Drive recorder history_1 (Obj.

  • Page 44: Chapter 7 Monitor Objects

    Monitor Objects [Cumulative feedback pulses (Obj. 2B01h)] [Cumulative feedback pulses (Obj. 2B01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The cumulative feedback pulses are returned. The accumulation of the feedback pulse can be cleared by writing "00001EA5h".

  • Page 45: Command Pulse Frequency (Obj. 2B05H)]

    [Command pulse frequency (Obj. 2B05h)] [Command pulse frequency (Obj. 2B05h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to kpulse/s Impossible 7FFFFFFFh Description The command pulse frequency is returned. [Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj.

  • Page 46: Within One-Revolution Position (Obj. 2B0Ch)]

    7.10 [Within one-revolution position (Obj. 2B0Ch)] [Within one-revolution position (Obj. 2B0Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The position within one-revolution (encoder pulse unit) is returned. 7.11 [ABS counter (Obj.

  • Page 47: Load-Side Encoder Information 1 Z-Phase Counter (Obj. 2B12H)]

    7.14 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)] [Load-side encoder information 1 Z-phase counter (Obj. 2B12h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The position within one-revolution of the load-side encoder is returned. When an incremental type linear encoder is used for the load-side encoder, the Z-phase counter of the load-side encoder is returned in units of encoder pulses.

  • Page 48: Motor-Side Cumu. Feedback Pulses (Before Gear) (Obj. 2B18H)]

    7.18 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The servo motor-side cumulative feedback pulses (before gear) (motor unit) are returned. 7.19 [Electrical angle (Obj.

  • Page 49: Oscillation Detection Frequency (Obj. 2B27H)]

    7.22 [Oscillation detection frequency (Obj. 2B27h)] [Oscillation detection frequency (Obj. 2B27h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 8000h to 7FFFh Impossible Description The oscillation detection frequency is returned. 7.23 [Number of tough drive operations (Obj. 2B28h)] [Number of tough drive operations (Obj.

  • Page 50: Error Excessive Alarm Margin (Obj. 2B3Fh)]

    7.27 [Error excessive alarm margin (Obj. 2B3Fh)] [Error excessive alarm margin (Obj. 2B3Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The excessive error alarm margin (encoder pulse unit) is returned. 7.28 [Overload alarm margin (Obj.

  • Page 51: Unit Power Consumption 2 (Obj. 2B43H)]

    7.31 [Unit power consumption 2 (Obj. 2B43h)] [Unit power consumption 2 (Obj. 2B43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to Impossible 7FFFFFFFh Description The unit power consumption is returned. 7 Monitor Objects 7.31 [Unit power consumption 2 (Obj.

  • Page 52: Chapter 8 Manufacturer Specific Control Object

    Manufacturer Specific Control Object [Drive recorder status (Obj. 2C02h)] [Drive recorder status (Obj. 2C02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 1 Impossible Description The enabled/disabled status of the drive recorder is returned. When the drive recorder does not operate or when one-shot sampling ends in manual setting mode, this object returns "0"...

  • Page 53: Dynamic Relay On/Off Number (Obj. 2C1Ah)]

    [Dynamic relay ON/OFF number (Obj. 2C1Ah)] [Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00000000h to number of times Impossible  FFFFFFFFh Description The number of times that the dynamic brake of the servo amplifier has been used is returned. [Machine diagnostic status (Obj.

  • Page 54: Coulomb Friction Torque In Positive Direction (Obj. 2C21H)]

    [Coulomb friction torque in positive direction (Obj. 2C21h)] [Coulomb friction torque in positive direction (Obj. 2C21h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 0.1 % Impossible Description Static friction at forward rotation torque is returned. [Friction torque at rated speed in positive direction (Obj.

  • Page 55: Oscillation Frequency During Motor Stop (Obj. 2C25H)]

    8.11 [Oscillation frequency during motor stop (Obj. 2C25h)] [Oscillation frequency during motor stop (Obj. 2C25h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 Impossible Description Vibration frequency during stop and servo-lock is returned. 8.12 [Vibration level during motor stop (Obj.

  • Page 56: Fault Prediction Status (Obj. 2C29H)]

    8.15 [Fault prediction status (Obj. 2C29h)] [Fault prediction status (Obj. 2C29h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Description The friction failure prediction status is returned. [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...

  • Page 57: Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)]

    8.16 [Friction based fault prediction upper threshold (Obj. 2C2Ah)] [Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Description The upper limit threshold for friction failure prediction is returned. 8.17 [Friction based fault prediction lower threshold (Obj.

  • Page 58: Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh)]

    8.20 [Vibration based fault prediction prepare status (Obj. 2C2Eh)] [Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 100 Impossible Description The preparation progress for vibration failure prediction is returned. 8.21 [Machine total distance (Obj.

  • Page 59: Static Frictionbased Fault Prediction Upper Threshold (Obj. 2C33H)]

    8.24 [Static frictionbased fault prediction upper threshold (obj. 2C33h)] [Static frictionbased fault prediction upper threshold (obj. 2C33h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Description The upper limit threshold used for static friction failure prediction is displayed in increments of 0.1 % assuming the rated torque as 100 %.

  • Page 60: Supported Control Di (Obj. 2D00H)]

    8.28 [Supported Control DI (Obj. 2D00h)] [Supported Control DI (Obj. 2D00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 10 (fixed) Impossible Description The number of supported Control DI is returned. [Supported Control DI 1 (Obj. 2D00h: 01h)] Data Type Access Mapping...

  • Page 61: Supported Control Di 5 (Obj. 2D00H: 05H)]

    [Supported Control DI 5 (Obj. 2D00h: 05h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.

  • Page 62: Supported Control Di 10 (Obj. 2D00H: 0Ah)]

    [Supported Control DI 10 (Obj. 2D00h: 0Ah)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.

  • Page 63: Control Di 4 (Obj. 2D04H)]

    8.32 [Control DI 4 (Obj. 2D04h)] [Control DI 4 (Obj. 2D04h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP 0000h 0000h to FFFFh Impossible Description The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function) 8.33 [Control DI 5 (Obj.

  • Page 64: Control Di 8 (Obj. 2D08H)]

    8.36 [Control DI 8 (Obj. 2D08h)] [Control DI 8 (Obj. 2D08h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP 0000h 0000h to FFFFh Impossible Description The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function) 8.37 [Control DI 9 (Obj.

  • Page 65: Supported Status Do 1 (Obj. 2D10H: 01H)]

    [Supported Status DO 1 (Obj. 2D10h: 01h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Description The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.

  • Page 66: Supported Status Do 6 (Obj. 2D10H: 06H)]

    [Supported Status DO 6 (Obj. 2D10h: 06h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.

  • Page 67: Status Do 1 (Obj. 2D11H)]

    8.40 [Status DO 1 (Obj. 2D11h)] [Status DO 1 (Obj. 2D11h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function) 8.41 [Status DO 2 (Obj.

  • Page 68: Status Do 5 (Obj. 2D15H)]

    8.44 [Status DO 5 (Obj. 2D15h)] [Status DO 5 (Obj. 2D15h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function) 8.45 [Status DO 6 (Obj.

  • Page 69: Status Do 9 (Obj. 2D19H)]

    8.48 [Status DO 9 (Obj. 2D19h)] [Status DO 8 (Obj. 2D19h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function) 8.49 [Status DO 10 (Obj.

  • Page 70: One-Touch Tuning Mode (Obj. 2D50H)]

    8.52 [Encoder status (Obj. 2D35h)] [Encoder status (Obj. 2D35h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The number of entries is returned. [Encoder status 1 (Obj. 2D35h: 01h)] Data Type Access Mapping Default...

  • Page 71: One-Touch Tuning Stop (Obj. 2D52H)]

    8.55 [One-touch tuning Stop (Obj. 2D52h)] [One-touch tuning Stop (Obj. 2D52h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h, 1EA5h Impossible Description Set a one-touch tuning stop command. To check whether the setting is reflected, read [One-touch tuning mode (Obj. 2D50h)]. •...

  • Page 72: One-Touch Tuning Error Code (Obj. 2D54H)]

    8.57 [One-touch tuning Error Code (Obj. 2D54h)] [One-touch tuning Error Code (Obj. 2D54h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h, C000h to Impossible C00Ah, C00Fh Description An error code of the one-touch tuning is returned. Refer to "One-touch tuning error"...

  • Page 73: Chapter 9 Pds Control Objects

    PDS Control Objects [Controlword (Obj. 6040h)] [Controlword (Obj. 6040h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 0000h 0000h to FFFFh  Impossible  Description PDS status switching command is given, or control commands are returned and set. Use bit 0 to bit 3 and bit 7 in the PDS status transition.
  • Page 74 ■[Bit 6: OMS] Setting Symbol Description value 6 (hm)   8 (csp) 9 (csv) 10 (cst) ■[Bit 8: OMS] Setting Symbol Description value 6 (hm) HALT 0: The servo motor is driven. 1: The servo motor is stopped according to [Halt option code (Obj. 605Dh)]. ...

  • Page 75: Statusword (Obj. 6041H)]

    [Statusword (Obj. 6041h)] [Statusword (Obj. 6041h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 0000h to FFFFh Impossible Description The PDS status transition and other drive conditions are returned. Symbol Description RTSO Ready-to-switch-on Switch-on Operation-enabled Fault Voltage-enabled...

  • Page 76: Quick Stop Option Code (Obj. 605Ah)]

    ■[Bit 12: OMS] Setting Name Description value 6 (hm) Homing Refer to the following. Page 73 [Bit 10: OMS] attained 8 (csp) Drive follows 0: [Target position (Obj. 607Ah)] is being discarded. the command 1: [Target position (Obj. 607Ah)] is being used as a position control loop input. value 9 (csv) 0: [Target velocity (Obj.

  • Page 77: Halt Option Code (Obj. 605Dh)]

    [Halt option code (Obj. 605Dh)] [Halt option code (Obj. 605Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 1 (fixed) Possible [Pr. PT68.2] Description Set how to decelerate the servo motor to a stop at Halt reception. Setting Description value...

  • Page 78: Modes Of Operation Display (Obj. 6061H)]

    [Modes of operation display (Obj. 6061h)] [Modes of operation display (Obj. 6061h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP Refer to the Impossible following. Description The current control mode is returned. Setting value Description No mode change/No mode assigned ...

  • Page 79: Chapter 10 Position Control Function Objects

    Position Control Function Objects 10.1 [Position actual internal value (Obj. 6063h)] [Position actual internal value (Obj. 6063h: 00h)] Data Type Access Mapping Default Range Units Save Parameter TXMAP  -2147483648 to Impossible  2147483647 Description The current position is returned. 10.2 [Position actual value (Obj.

  • Page 80: Positioning Option Code (Obj. 60F2H)]

    10.5 [Positioning option code (Obj. 60F2h)] [Positioning option code (Obj. 60F2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RXMAP 0000h 0000h (fixed) Possible [Pr. PT03.2] Description The value is fixed to "0000h". 10.6 [Following error actual value (Obj. 60F4h)] [Following error actual value (Obj.

  • Page 81: Chapter 11 Profile Velocity Mode Objects

    Profile Velocity Mode Objects 11.1 [Velocity demand value (Obj. 606Bh)] [Velocity demand value (Obj. 606Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter TXMAP  -2147483648 to vel units Impossible  2147483647 Description The speed command is returned. Connected servo motor Unit Rotary servo motor...
  • Page 82 MEMO 11 Profile Velocity Mode Objects 11.3 [Target velocity (Obj. 60FFh)]...

  • Page 83: Chapter 12 Profile Torque Mode Objects

    Profile Torque Mode Objects 12.1 [Target torque (Obj. 6071h)] [Target torque (Obj. 6071h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP  -32768 to 32767 0.1 % Impossible  Description Set the torque command used in the cyclic synchronous velocity mode (cst). 12.2 [Max torque (Obj.

  • Page 84: Torque Slope (Obj. 6087H)]

    12.5 [Torque slope (Obj. 6087h)] [Torque slope (Obj. 6087h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 0 (fixed) 0.1 %/s Possible [Pr. PT53] Description The value is fixed to "0". 12.6 [Torque profile type (Obj. 6088h)] [Torque profile type (Obj.

  • Page 85: Negative Torque Limit Value (Obj. 60E1H)]

    12.8 [Negative torque limit value (Obj. 60E1h)] [Negative torque limit value (Obj. 60E1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RXMAP 0 to 10000 0.1 % Possible [Pr. PA11]/[Pr. PA12] Description The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor in the CW power running or CCW regeneration, or the limit value of the thrust of the linear servo motor in the negative direction power running or positive direction regeneration.

  • Page 86: Chapter 13 Profile Position Mode Objects

    Profile Position Mode Objects 13.1 [Target position (Obj. 607Ah)] [Target position (Obj. 607Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP 80000000h to pos units Impossible 7FFFFFFFh Description Set the position command used in the cyclic synchronous velocity mode (csp). 13.2 [Position range limit (Obj.

  • Page 87: Software Position Limit (Obj. 607Dh)]

    13.3 [Software position limit (Obj. 607Dh)] [Software position limit (Obj. 607Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Index (= 2) is returned. [Min position limit (Obj. 607Dh: 01h)] Data Type Access Mapping...

  • Page 88: Max Motor Speed (Obj. 6080H)]

    13.4 [Max motor speed (Obj. 6080h)] [Max motor speed (Obj. 6080h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TXMAP 10000 0 to 4294967295 Refer to the Impossible following. Description The maximum speed of the servo motor is returned. Operation cannot be performed at a speed exceeding the value of this object.

  • Page 89: Quick Stop Deceleration (Obj. 6085H)]

    13.8 [Quick stop deceleration (Obj. 6085h)] [Quick stop deceleration (Obj. 6085h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    RXMAP acc units Possible Description Set a deceleration time constant for the Quick stop function. Set the time from the servo motor rated speed to stop. If the setting value is "0", the deceleration time constant is 100 ms.

  • Page 90: Chapter 14 Homing Mode Objects

    Homing Mode Objects 14.1 [Home offset (Obj. 607Ch)] [Home offset (Obj. 607Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter TXMAP -2147483648 to pos units Possible [Pr. PT08] 2147483647 Description Set the difference between zero position of the machine coordinate system and homing position. 14.2 [Homing method (Obj.

  • Page 91: [Speed During Search For Zero (Obj. 6099H: 02H)]

    [Speed during search for zero (Obj. 6099h: 02h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP Refer to the 0 to Maximum vel units Possible Refer to the following. speed following. Description Set a creep speed after proximity dog at homing. If the set speed exceeds 8000 r/min (or mm/s), the speed is clamped at 8000 r/min (or mm/s).

  • Page 92: [1St Supported Homing Method (Obj. 60E3H: 01H)] - [39Th Supported Homing Method (Obj. 60E3H: 27H)]

    [1st supported homing method (Obj. 60E3h: 01h)] - [39th supported homing method (Obj. 60E3h: 27h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The supported homing type is returned. Range values are fixed to the Default values. Sub Index Name Default...

  • Page 93: Chapter 15 Factor Group Objects

    Factor Group Objects 15.1 [Polarity (Obj. 607Eh)] [Polarity (Obj. 607Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 00h to E0h  Possible [Pr. PA14] [Pr. PC29.3] Description The rotation direction selection can be set. Description reserved reserved reserved reserved...

  • Page 94: Position Encoder Resolution (Obj. 608Fh)]

    15.2 [Position encoder resolution (Obj. 608Fh)] [Position encoder resolution (Obj. 608Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Index (= 2) is returned. [Encoder increments (Obj. 608Fh: 01h)] Data Type Access Mapping...

  • Page 95: Gear Ratio (Obj. 6091H)]

    15.3 [Gear ratio (Obj. 6091h)] [Gear ratio (Obj. 6091h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Index (= 2) is returned. [Motor revolutions (Obj. 6091h: 01h)] Data Type Access Mapping...

  • Page 96: Feed Constant (Obj. 6092H)]

    15.4 [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] is calculated from [Gear ratio (Obj. 6091h)] and [Feed constant (Obj. 6092h)] as follows. [Position actual internal value (Obj. 6063h)] × [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] = [Position encoder resolution (Obj.

  • Page 97: Si Unit Velocity (Obj. 60A9H)]

    15.6 [SI unit velocity (Obj. 60A9h)] [SI unit velocity (Obj. 60A9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Description The SI unit speed is returned. The SI unit acceleration is set automatically for each connected servo motor. Connected servo motor Range Rotary servo motor...

  • Page 98: Chapter 16 Optional Application Fe Objects

    Optional application FE Objects 16.1 [Digital inputs (Obj. 60FDh)] [Digital inputs (Obj. 60FDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 00000000h to Impossible 037F0007h Description The ON/OFF status of the input device connected to the servo amplifier is returned. Description Negative limit switch When [Pr.
  • Page 99 MEMO 16 Optional application FE Objects 16.1 [Digital inputs (Obj. 60FDh)]...

  • Page 100: Revisions

    First edition This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 101: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.

  • Page 102: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. SH(NA)-030304ENG-A...
  • Page 104 SH(NA)-030304ENG-A(1906)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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