Mitsubishi Electric MELSERVO-JET Series User Manual
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Mitsubishi Electric MELSERVO-JET Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-JET-G-N1
User's Manual
(Object Dictionary)
-MR-JET-_G-N1

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Summary of Contents for Mitsubishi Electric MELSERVO-JET Series

  • Page 1 Mitsubishi Electric AC Servo System MR-JET-G-N1 User's Manual (Object Dictionary) -MR-JET-_G-N1...

  • 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 [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: About The Manual

    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 •...

  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [4th Receive PDO Mapping (Obj. 1603h: 00h)] ..........26 [1st Transmit PDO Mapping (Obj.
  • Page 8 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] ........... . 37 [PB01 (Obj.
  • Page 9 [Servo motor speed (Obj. 2B02h: 00h)]............46 [Droop pulses (Obj.
  • Page 10 CHAPTER 8 Manufacturer Specific Control Object [Drive recorder status (Obj. 2C02h)] ............53 [Drive recorder status (Obj.
  • Page 11 [Supported Control DI 8 (Obj. 2D00h: 08h)] ........... . 60 [Supported Control DI 9 (Obj.
  • Page 12 8.39 [Status DO 9 (Obj. 2D19h)] ..............68 [Status DO 9 (Obj.
  • Page 13 [Supported drive modes (Obj. 6502h)] ............83 [Supported drive modes (Obj.
  • Page 14 [Max torque (Obj. 6072h: 00h)] ............. . 92 12.4 [Torque demand value (Obj.
  • Page 15 [Speed during search for zero (Obj. 6099h: 02h)] ..........103 14.4 [Homing acceleration (Obj.

  • Page 16: 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 17: Object Units

    Object units This section explains the pos units, vel units, and acc units used in this manual. pos units The standard unit can be changed using [Pr. PT01.2 Unit for position data] as shown in the following table. Setting value Standard unit degree pulse...

  • Page 18: 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 19: 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 20: 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 Indexes is returned. Default Range Description 01h (fixed) Sub Index 1 is supported.

  • Page 21: 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 Indexes is returned. [Vendor ID (Obj. 1018h: 01h)] Data Type Access Mapping Default...

  • Page 22: Error Settings (Obj. 10F1H)]

    [Error Settings (Obj. 10F1h)] [Error Settings (Obj. 10F1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 02h (fixed) Impossible Description The total number of Sub Indexes is returned. [Local Error Reaction (Obj. 10F1h: 01h)] Data Type Access Mapping Default...

  • Page 23: Version Number (Obj. 67Feh)]

    2.10 [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 ...

  • Page 24: 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 25: [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 of the Index and Sub Index of the object to "0000h"...

  • Page 26: 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 27: [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 28: 3Rd Receive Pdo Mapping (Obj. 1602H)]

    [3rd Receive PDO Mapping (Obj. 1602h)] [3rd Receive PDO Mapping (Obj. 1602h: 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 29: [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 30: 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 31: Chapter 4 Sync Manager Communication Objects

    Sync Manager Communication Objects [Sync Manager Communication Type (Obj. 1C00h)] [Sync Manager Communication Type (Obj. 1C00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 04h (fixed)  Impossible  Description The total number of Sub Indexes (= 4) is returned. [Sync Manager 0 (Obj.

  • Page 32: Sync Manager Rxpdo Assign (Obj. 1C12H)]

    [Sync Manager RxPDO assign (Obj. 1C12h)] [Sync Manager RxPDO assign (Obj. 1C12h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 04h Impossible Description The total number of Sub Indexes (= 4) is returned. [Assigned PDO 001 (Obj.

  • Page 33: Sync Manager Txpdo Assign (Obj. 1C13H)]

    [Sync Manager TxPDO assign (Obj. 1C13h)] [Sync Manager TxPDO assign (Obj. 1C13h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 04h Impossible Description The total number of Sub Indexes (= 4) is returned. [Assigned PDO 001 (Obj.

  • Page 34: Sm Output Parameter (Obj. 1C32H)]

    [SM output parameter (Obj. 1C32h)] [SM output parameter (Obj. 1C32h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0Ch (fixed) Impossible Description The total number of Sub Indexes is returned. [Synchronization Type (Obj. 1C32h: 01h)] Data Type Access Mapping...

  • Page 35: [Synchronization Types Supported (Obj. 1C32H: 04H)]

    [Synchronization Types supported (Obj. 1C32h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0005h 0005h (fixed)  Impossible  Description Bit 0: FreeRun supported Bit 1: Synchronous supported (not supported) Bit 2 to Bit 4: DC Type supported 000 = No DC (not supported) 001 = DC Sync0 010 = DC Sync1 (not supported)

  • Page 36: [Delay Time (Obj. 1C32H: 09H)]

    [Delay Time (Obj. 1C32h: 09h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 0 (fixed) Impossible Description "0" is returned. [Cycle Time Too Small (Obj. 1C32h: 0Ch)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 (fixed) Impossible ...

  • Page 37: [Cycle Time (Obj. 1C33H: 02H)]

    [Cycle Time (Obj. 1C33h: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 250000 Refer to the Impossible  following. Description Select a TxPDO communication cycle. 125000: 0.125 ms 250000: 0.25 ms 500000: 0.5 ms 1000000: 1 ms 2000000: 2 ms 4000000: 4 ms 8000000: 8 ms...

  • Page 38: [Minimum Cycle Time (Obj. 1C33H: 05H)]

    [Minimum Cycle Time (Obj. 1C33h: 05h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Impossible Description The minimum communication cycle is returned. Servo amplifier Minimum communication cycle MR-JET-_G-N1 125000 [Calc and Copy Time (Obj. 1C33h: 06h)] Data Type Access Mapping...

  • Page 39: Chapter 5 Parameter Objects

    Parameter Objects The objects of Parameter Objects are structured as follows. Access servo parameters other than [PV group parameters] with Sub Index set to 00h. Data Type Access Mapping Default Range Units Save Parameter    Impossible Possible *1 Corresponds to servo parameters [Pr. PA _ _ ] to [Pr. PN _ _ ]. [PA01 (Obj.

  • Page 40: Pv Group Parameters (Obj. 2691H)]

    5.10 [PV group parameters (Obj. 2691h)] The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 20h of Sub Index correspond to [Pr. PV01] to [Pr. PV32]. [PV group parameters (Obj. 2691h: 00h)] Data Type Access Mapping...

  • Page 41: 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 Indexes (= 7) is returned. [Alarm No.

  • Page 42: [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 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 43: 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 44: 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 Indexes (= 254) is returned. [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj.

  • Page 45: Reset Alarm (Obj. 2A46H)]

    [Reset alarm (Obj. 2A46h)] [Reset alarm (Obj. 2A46h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to FFFFh Impossible Description The alarm that has occurred in the servo amplifier is cleared. Writing "1EA5h" resets an alarm. Any value other than "1EA5h" is invalid. When the object is read, "0000h"...

  • Page 46: [Drive Recorder History Power On Time (Obj. 2A70H: 03H)]

    [Drive recorder history power on time (Obj. 2A70h: 03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description Returns the cumulative time that the drive recorder has been turned on. When there is no history, "00000000h" is returned. [Drive recorder history time (second) (Obj.

  • Page 47: 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 second (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 48: 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   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Description The cumulative feedback pulses are returned. The cumulative feedback pulses can be cleared by writing "00001EA5h". [Servo motor speed (Obj.
  • Page 49 [Command pulse frequency (Obj. 2B05h)] [Command pulse frequency (Obj. 2B05h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to kpulse/s Impossible 7FFFFFFFh Description The command pulse frequency is returned. [Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj.
  • Page 50 [Instantaneous torque (Obj. 2B0Bh)] [Instantaneous torque (Obj. 2B0Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Description The instantaneous torque is returned. 7.10 [Within one-revolution position (Obj. 2B0Ch)] [Within one-revolution position (Obj. 2B0Ch: 00h)] Data Type Access Mapping...
  • Page 51 7.13 [Bus voltage (Obj. 2B0Fh)] [Bus voltage (Obj. 2B0Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h to FFFFh Impossible Description The bus voltage is returned. 7.14 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] [Motor-side cumu.
  • Page 52 7.17 [Settling time (Obj. 2B26h)] [Settling time (Obj. 2B26h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Description The settling time is returned. 7.18 [Oscillation detection frequency (Obj. 2B27h)] [Oscillation detection frequency (Obj. 2B27h: 00h)] Data Type Access Mapping...
  • Page 53 7.21 [Unit power consumption (Obj. 2B2Dh)] [Unit power consumption (Obj. 2B2Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Description The unit power consumption is returned. 7.22 [Unit total power consumption (Obj. 2B2Eh)] [Unit total power consumption (Obj.
  • Page 54 7.25 [Overshoot amount (Obj. 2B41h)] [Overshoot amount (Obj. 2B41h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 8FFFFFFFh Description The overshoot amount (encoder pulse unit) is returned. 7.26 [Torque/thrust equivalent to disturbance (Obj. 2B42h)] [Torque/thrust equivalent to disturbance (Obj.
  • Page 55 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 the single sampling ends in manual setting mode, this object returns "0"...
  • Page 56 [External output pin display (Obj. 2C11h)] [External output pin display (Obj. 2C11h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to FFh Impossible Description The number of entries in external output pin status is returned. [External output pin display1 (Obj.
  • Page 57 [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 58 [Static friction torque at forward rotation (Obj. 2C21h)] [Static friction torque at forward rotation (Obj. 2C21h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 0.1 % Impossible Description The static friction at forward rotation torque is returned. [Dynamic friction torque at forward rotation (at rated speed) (Obj.
  • Page 59 8.12 [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 The vibration frequency during stop and servo-lock is returned. 8.13 [Vibration level during motor stop (Obj.
  • Page 60 8.16 [Machine total distance (Obj. 2C2Fh)] [Machine total distance (Obj. 2C2Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible FFFFFFFFh Description The machine total travel distance is returned. 8.17 [Friction estimate status (Obj. 2C31h)] [Friction estimate status (Obj.
  • Page 61 [W phase current (Obj. 2C37h: 03h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO  -32768 to 32767 0.1 % Impossible  Description The W-phase current value is displayed in increments of 0.1 % in relation to the rated current as 100 %. 8.19 [Supported Control DI (Obj.
  • Page 62 [Supported Control DI 4 (Obj. 2D00h: 04h)] 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 [Supported Control DI 9 (Obj. 2D00h: 09h)] 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 64 8.22 [Control DI 3 (Obj. 2D03h)] [Control DI 3 (Obj. 2D03h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-JET-G-N1 User's Manual (Communication Function) 8.23 [Control DI 4 (Obj.
  • Page 65 8.26 [Control DI 7 (Obj. 2D07h)] [Control DI 7 (Obj. 2D07h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-JET-G-N1 User's Manual (Communication Function) 8.27 [Control DI 8 (Obj.
  • Page 66 8.30 [Supported Status DO (Obj. 2D10h)] [Supported Status DO (Obj. 2D10h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 10 (fixed) Impossible Description The number of supported Status DO is returned. [Supported Status DO 1 (Obj. 2D10h: 01h)] Data Type Access Mapping...
  • Page 67 [Supported Status DO 5 (Obj. 2D10h: 05h)] 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 68 [Supported Status DO 10 (Obj. 2D10h: 0Ah)] 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 69 8.34 [Status DO 4 (Obj. 2D14h)] [Status DO 4 (Obj. 2D14h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-JET-G-N1 User's Manual (Communication Function) 8.35 [Status DO 5 (Obj.

  • Page 70: Status Do 9 (Obj. 2D19H)]

    8.38 [Status DO 8 (Obj. 2D18h)] [Status DO 8 (Obj. 2D18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-JET-G-N1 User's Manual (Communication Function) 8.39 [Status DO 9 (Obj.

  • Page 71: Velocity Limit Value (Obj. 2D20H)]

    8.41 [Velocity limit value (Obj. 2D20h)] [Velocity limit value (Obj. 2D20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 4294967295 vel units Possible Refer to the following. following. Description Set the speed limit value of the cyclic synchronous torque mode (cst) and the profile torque mode (tq). The input value will be clamped at the servo motor maximum speed.

  • Page 72: Serial Number 2 (Obj. 2D33H)]

    8.44 [Serial Number 2 (Obj. 2D33h)] [Serial Number 2 (Obj. 2D33h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Description The serial number of the servo amplifier is returned. 8.45 [Encoder status (Obj.

  • Page 73: Servo Motor Serial Number (Obj. 2D46H)]

    8.46 [Servo motor serial number (Obj. 2D46h)] [Servo motor serial number (Obj. 2D46h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Description The serial number of the servo motor is returned. When the serial number cannot be read, an empty value is returned.

  • Page 74: [Encoder Id 1 (Obj. 2D48H: 03H)]

    [Encoder ID 1 (Obj. 2D48h: 03h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The encoder ID is returned. When an encoder is not connected, "00000000h" is returned. For the correspondence between ID codes and servo motor models, refer to "Rotary servo motor ID codes" in the following manual.

  • Page 75: One-Touch Tuning Stop (Obj. 2D52H)]

    8.50 [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 76: One-Touch Tuning Error Code (Obj. 2D54H)]

    8.52 [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 Refer to the Impossible following. Description An error code of the one-touch tuning is returned. Refer to "One-touch tuning error"...

  • Page 77: Chapter 9 Pds Control Objects

    PDS Control Objects [Error code (Obj. 603Fh)] [Error code (Obj. 603Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO 0000h 0000h to FFFFh  Impossible  Description The No. of the latest error which occurred after power-on is returned. For example, when [AL.
  • Page 78 ■[Bit 4: OMS] Setting Symbol Description value 1 (pp) New set-point Obtains a new positioning parameter at bit rising   3 (pv) 4 (tq) 6 (hm) Homing operation start 0: Do not start homing procedure 1: Start or continue homing procedure ...

  • Page 79: Statusword (Obj. 6041H)]

    ■[Bit 9: OMS] Setting Symbol Description value 1 (pp) Change on Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0"). setpoint 0: Shifts to the next positioning after completing the current positioning. 1: Shifts to the next positioning after performing positioning up to the current set-point with the setting of [profile velocity (Obj.
  • Page 80 ■[Bit 10: OMS] Setting Name Description value 1 (pp) Target reached 0: Halt (Bit8) = 0: Target position not reached. 0: Halt (Bit8) = 1: Axis decelerates. 1: Halt (Bit8) = 0: Target position reached. 1: Halt (Bit8) = 1: Velocity of axis is 0. Judgment condition of Target position reached: When the time set in [Position window time (Obj.

  • Page 81: Quick Stop Option Code (Obj. 605Ah)]

    ■[Bit 13: OMS] Setting Name Description value 1 (pp) Following error 0: No following error 1: Following error 3 (pv) Max slippage 0: Maximum slippage not reached error 1: Maximum slippage reached (not supported) Max slippage is the maximum slippage of the asynchronous servo motor. 4 (tq) ...

  • Page 82: 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 83: Modes Of Operation (Obj. 6060H)]

    [Modes of operation (Obj. 6060h)] [Modes of operation (Obj. 6060h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO Refer to the Impossible following. Description Set a control mode. Setting value Description No mode change/No mode assigned Profile position mode (pp) ...

  • Page 84: 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    TxPDO Refer to the Impossible following. Description The current control mode is returned. Setting value Description No mode change/No mode assigned Profile position mode (pp)

  • Page 85: Supported Drive Modes (Obj. 6502H)]

    [Supported drive modes (Obj. 6502h)] [Supported drive modes (Obj. 6502h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     TxPDO Impossible Description The supported control mode is returned. The available control modes vary depending on the setting of [Pr. PA01.0 Control mode selection] and the network settings.

  • Page 86: Chapter 10 Position Control Function Objects

    Position Control Function Objects 10.1 [Position demand value (Obj. 6062h)] [Position demand value (Obj. 6062h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to pos units Impossible 2147483647 Description The command position inside the servo amplifier is returned. 10.2 [Position actual internal value (Obj.

  • Page 87: Following Error Time Out (Obj. 6066H)]

    10.5 [Following error time out (Obj. 6066h)] [Following error time out (Obj. 6066h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 0 to 65535 Possible [Pr. PC69] Description Refer to the following object. Page 84 [Following error window (Obj. 6065h)] 10.6 [Position window (Obj.

  • Page 88: Positioning Option Code (Obj. 60F2H)]

    10.8 [Positioning option code (Obj. 60F2h)] [Positioning option code (Obj. 60F2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0000h 0000h (fixed) Possible [Pr. PT03.2] Description Set the following conditions of the profile position mode (pp). Detailed explanation Defined value...

  • Page 89: Control Effort (Obj. 60Fah)]

    10.10 [Control effort (Obj. 60FAh)] [Control effort (Obj. 60FAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to vel units Impossible 2147483647 Description The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.

  • Page 90: 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   TxPDO -2147483648 to vel units Impossible 2147483647 Description The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.

  • Page 91: Velocity Window (Obj. 606Dh)]

    11.3 [Velocity window (Obj. 606Dh)] [Velocity window (Obj. 606Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 65535 vel units Possible Refer to the following. following. Description In the profile velocity mode (pv), when the time set in [Velocity window time (Obj. 606Eh)] elapses in a state where the difference between the command velocity and the current velocity is equal to or below the setting value of this object, bit 10 of [Statusword (Obj.

  • Page 92: Velocity Threshold Time (Obj. 6070H)]

    11.6 [Velocity threshold time (Obj. 6070h)] [Velocity threshold time (Obj. 6070h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 0 to 65535 Possible [Pr. PC66] Description Refer to the following object. Page 89 [Velocity window (Obj. 606Dh)] 11.7 [Target velocity (Obj.

  • Page 93: Chapter 12 Profile Torque Mode Objects

    Profile Torque Mode Objects 12.1 [Positive/Negative torque limit 2 (Obj. 2D6Dh)] [Positive/Negative torque limit 2 setting (Obj. 2D6Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 03h (fixed)  Impossible  Description The total number of Sub Indexes is returned. [Positive/Negative torque limit 2 select (Obj.

  • Page 94: [Negative Torque Limit Value 2 (Obj. 2D6Dh: 03H)]

    [Negative torque limit value 2 (Obj. 2D6Dh: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 10000 0 to 10000 0.1 % Possible [Pr. PC43]/[Pr. PC44] 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 for CW power running or CCW regeneration, or the limit value of the thrust of the linear servo motor for negative direction power running or positive direction regeneration.

  • Page 95: Torque Demand Value (Obj. 6074H)]

    12.4 [Torque demand value (Obj. 6074h)] [Torque demand value (Obj. 6074h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -32768 to 32767 0.1 % Impossible Description The torque command is returned. 12.5 [Torque actual value (Obj. 6077h)] [Torque actual value (Obj.

  • Page 96: Torque Profile Type (Obj. 6088H)]

    12.8 [Torque profile type (Obj. 6088h)] [Torque profile type (Obj. 6088h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0 (fixed) Impossible Description Set the torque command pattern. Only the value "0" can be set. Setting value Description Linear ramp...

  • Page 97: 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 RxPDO  Refer to the pos units Impossible  following. Description Set the position command used in the cyclic synchronous position mode (csp) and the profile position mode (pp). Check the setting value of [Gear ratio (Obj.

  • Page 98: Position Range Limit (Obj. 607Bh)]

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

  • Page 99: 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 Indexes (= 2) is returned. [Min position limit (Obj. 607Dh: 01h)] Data Type Access Mapping...

  • Page 100: Max Profile Velocity (Obj. 607Fh)]

    13.4 [Max profile velocity (Obj. 607Fh)] [Max profile velocity (Obj. 607Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the vel units Possible Refer to the following. following. following. Description Set the speed limit value of the profile position mode (pp) and the profile velocity mode (pv). When a value exceeding the value in this object or in [Max motor speed (Obj.

  • Page 101: Profile Velocity (Obj. 6081H)]

    13.6 [Profile velocity (Obj. 6081h)] [Profile velocity (Obj. 6081h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Description Set the speed command used in the profile position mode (pp). If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0"...

  • Page 102: Profile Deceleration (Obj. 6084H)]

    13.8 [Profile deceleration (Obj. 6084h)] [Profile deceleration (Obj. 6084h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Description Set the deceleration time constant or the deceleration used in the profile position mode (pp) and the profile velocity mode (pv). The description of the object varies as shown in the table below depending on the settings of [Pr.

  • Page 103: Motion Profile Type (Obj. 6086H)]

    13.10 [Motion profile type (Obj. 6086h)] [Motion profile type (Obj. 6086h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -1 (fixed) Impossible Description Set the acceleration/deceleration pattern applied in the profile position mode (pp). The description is as follows. The value of this object always returns "-1".

  • Page 104: 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 TxPDO -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 105: [Speed During Search For Switch (Obj. 6099H: 01H)]

    [Speed during search for switch (Obj. 6099h: 01h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Description Set the servo motor speed for homing. If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s).

  • Page 106: Homing Acceleration (Obj. 609Ah)]

    14.4 [Homing acceleration (Obj. 609Ah)] [Homing acceleration (Obj. 609Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Description Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed. The description of the object varies as shown in the table below depending on the settings of [Pr.

  • Page 107: [1St Supported Homing Method (Obj. 60E3H: 01H)] - [41St Supported Homing Method (Obj. 60E3H: 29H)]

    [1st supported homing method (Obj. 60E3h: 01h)] - [41st supported homing method (Obj. 60E3h: 29h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The supported homing type is returned. "Range" is fixed to the value in "Default". The following table lists the homing methods and "Default"...

  • Page 108: 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  RxPDO 00h to E0h Possible [Pr. PA14] [Pr. PC29.3] Description The rotation direction selection can be set. Description reserved reserved reserved reserved...

  • Page 109: 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 Indexes (= 2) is returned. [Encoder increments (Obj. 608Fh: 01h)] Data Type Access Mapping...

  • Page 110: 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 Indexes (= 2) is returned. [Motor revolutions (Obj. 6091h: 01h)] Data Type Access Mapping...

  • Page 111: 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 112: 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 velocity is returned. The SI unit velocity is automatically set in accordance with the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.

  • Page 113: 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 TxPDO  00000000h to  Impossible  037F0007h Description The ON/OFF status of the input device connected to the servo amplifier is returned. Name DI pin CN3-2...
  • Page 114 Description EM2/EM1 Refer to the following for details. Page 114 EM2/EM1 (reserved) The value at reading is undefined. 24 to 31 (reserved) The value at reading is undefined. ■DI1 *2*3 [Pr. PC79.0] [Pr. PD03.0-1] [Pr. PD60.0] Description of DI1 Setting digit (BIN): _ _ x _ Setting digit (BIN): _ _ _ x ...
  • Page 115 ■DI3 *2*3 [Pr. PC79.0] [Pr. PD05.0-1] [Pr. PD60.0] Description of DI3 Setting digit (BIN): x _ _ _ Setting digit (BIN): _ x _ _ With assigned function  0: Input device selected with [Pr. PD05.0-1] is turned off 1: Input device selected with [Pr. PD05.0-1] is turned on No assigned function 0: Input 0 V to DI3 pin 1: Input 24 V to DI3 pin...

  • Page 116: Digital Outputs (Obj. 60Feh)]

    ■DI5 *2*3 [Pr. PC79.1] [Pr. PD39.0-1] [Pr. PD60.1] Description of DI5 Setting digit (BIN): _ _ x _ Setting digit (BIN): _ _ _ x  With assigned function 0: Input device selected with [Pr. PD39.0-1] is turned off 1: Input device selected with [Pr. PD39.0-1] is turned on No assigned function 0: Input 0 V to DI5 pin 1: Input 24 V to DI5 pin...

  • Page 117: [Physical Outputs (Obj. 60Feh: 01H)]

    [Physical outputs (Obj. 60FEh: 01h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00000000h 00000000h to  Impossible  000E0000h Description Set the ON/OFF states of the output devices connected to the servo amplifier. When DOA, DOB, and DOC are disabled with [Bitmask (Obj. 60FEh: 02h)], the values of bits 17, 18, and 19 in [Physical outputs (Obj.

  • Page 118: Chapter 17 Cyclic Synchronous Position Mode Objects

    Cyclic Synchronous Position Mode Objects 17.1 [Position offset (Obj. 60B0h)] [Position offset (Obj. 60B0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 80000000h to pos units Impossible 7FFFFFFFh Description Set the position offset. 17.2 [Velocity offset (Obj. 60B1h)] [Velocity offset (Obj.
  • Page 119 MEMO 17 Cyclic Synchronous Position Mode Objects 17.3 [Torque offset (Obj. 60B2h)]...

  • Page 120: Revisions

    Degree unit, general-purpose output This manual confers no industrial property rights or any 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 121: 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 122: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.  EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 124 IB(NA)-0300505ENG-C(2011)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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