Mitsubishi Electric MR-J5-G-N1 User Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Controller
  5. MELSERVO MR-J5-G-N1 Series
  6. User manual

Mitsubishi Electric MR-J5-G-N1 User Manual

Hide thumbs Also See for MR-J5-G-N1:
Table of Contents

Advertisement

Quick Links

Download this manual
Mitsubishi Electric AC Servo System
MR-J5-G-N1/MR-J5W-G-N1
User's Manual
(Object Dictionary)
-MR-J5-_G_-_N1
-MR-J5W_-_G-_N1
-MR-J5D_-_G_-_N1

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MR-J5-G-N1

Summary of Contents for Mitsubishi Electric MR-J5-G-N1

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Object Dictionary) -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_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 (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. ●...

  • 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 [Identity Object (Obj. 1018h: 00h)]............40 [Vendor ID (Obj.
  • Page 8 [Assigned PDO 001 (Obj. 1C13h: 01h)] ............59 [Assigned PDO 002 (Obj.
  • Page 9 [Clear alarm history (Obj. 2A40h: 00h)] ............75 [Current alarm (Obj.
  • Page 10 8.12 [Load inertia moment ratio (Obj. 2B0Eh)] ........... . 87 [Load inertia moment ratio (Obj.
  • Page 11 [Overshoot amount (Obj. 2B41h: 00h)] ............96 8.38 [Torque/thrust equivalent to disturbance (Obj.
  • Page 12 9.20 [Vibration based fault prediction threshold (Obj. 2C2Dh)] ........110 [Vibration based fault prediction threshold (Obj.
  • Page 13 9.39 [Control DI 9 (Obj. 2D09h)] ............. . . 121 [Control DI 9 (Obj.
  • Page 14 [Scale ABS counter (Obj. 2D37h: 00h)] ............133 9.59 [Scale measurement encoder resolution (Obj.
  • Page 15 [Position actual value (Obj. 6064h: 00h)]............153 11.4 [Following error window (Obj.
  • Page 16 13.8 [Current actual value (Obj. 6078h)] ............166 [Current actual value (Obj.
  • Page 17 15.4 [Homing acceleration (Obj. 609Ah)]............181 [Homing acceleration (Obj.
  • Page 18 [Touch probe function 2 (Obj. 2DE8h: 00h)] ........... 196 18.2 [Touch probe status 2 (Obj.

  • Page 19: 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 20: Object Units

    Object units This section explains the pos units, vel units, and acc units used in this manual. The degree unit is available on servo amplifiers with firmware version B6 or later. The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).

  • Page 21: Using Appropriate Object Numbers

    Using appropriate object numbers This manual describes the object numbers of 1-axis servo amplifiers and A-axis of multi-axis servo amplifiers. When setting objects for B-axis and C-axis of multi-axis servo amplifiers, refer to the following figures to use appropriate object numbers. •...

  • Page 22: Chapter 2 Object Dictionary List

    OBJECT DICTIONARY LIST Section definition of object dictionary The following shows the structure of an object dictionary. Index Description Reference Page 36 General Objects 1000h to 1FFFh Communication profile Page 44 PDO Mapping Objects Page 55 Sync Manager Communication Objects 2000h to 27FFh Servo parameter Page 70 Parameter Objects...

  • Page 23: General Objects

    General Objects Index Object name (Index) Sub Index Object name (Sub Index) 1000h Device Type Device Type 1001h Error Register Error Register 1008h Manufacturer Device Name Manufacturer Device Name 1009h Manufacturer Hardware Version Manufacturer Hardware Version 100Ah Manufacturer Software Version Manufacturer Software Version 1010h Store parameters...

  • Page 24: Pdo Mapping Objects

    PDO Mapping Objects Index Object name (Index) Sub Index Object name (Sub Index) 1600h 1st Receive PDO Mapping 1st Receive PDO Mapping Mapped Object 001   Mapped Object 032 1601h 2nd Receive PDO Mapping 2nd Receive PDO Mapping Mapped Object 001 ...

  • Page 25: Sync Manager Communication Objects

    Sync Manager Communication Objects Index Object name (Index) Sub Index Object name (Sub Index) 1C00h Sync Manager Communication Type Sync Manager Communication Type Sync Manager 0 Sync Manager 1 Sync Manager 2 Sync Manager 3 1C12h Sync Manager RxPDO assign Sync Manager RxPDO assign Assigned PDO 001 Assigned PDO 002...

  • Page 26: Parameter Objects

    Parameter Objects Index Object name (Index) Sub Index Object name (Sub Index)   2001h PA01   202Ch PA44   2081h PB01   20DCh PB92   2101h PC01   215Ah PC90   2181h PD01 ...

  • Page 27: Alarm Objects

    Alarm Objects Index Object name (Index) Sub Index Object name (Sub Index) 2A00h Alarm history newest Alarm history newest Alarm No. Alarm time (Hour) Alarm2 No. Alarm time (second) Alarm time (nanosecond) Alarm time (time zone) Alarm time (summer time) ...

  • Page 28: Monitor Objects

    Monitor Objects Index Object name (Index) Sub Index Object name (Sub Index) 2B01h Cumulative feedback pulses Cumulative feedback pulses 2B02h Servo motor speed Servo motor speed 2B03h Droop pulses Droop pulses 2B04h Cumulative command pulses Cumulative command pulses 2B05h Command pulse frequency Command pulse frequency 2B08h Regenerative load ratio...
  • Page 29 Index Object name (Index) Sub Index Object name (Sub Index) 2B49h Converter regenerative load ratio Converter regenerative load ratio 2B4Ah Converter effective load ratio Converter effective load ratio 2 OBJECT DICTIONARY LIST 2.7 Monitor Objects...

  • Page 30: Manufacturer Specific Control Object

    Manufacturer Specific Control Object Index Object name (Index) Sub Index Object name (Sub Index) 2C02h Drive recorder status Drive recorder status 2C03h Clear drive recorder history Clear drive recorder history 2C11h External output pin display External output pin display External output pin display1 2C18h Power ON cumulative time Power ON cumulative time...
  • Page 31 Index Object name (Index) Sub Index Object name (Sub Index) 2D00h Supported Control DI Supported Control DI Supported Control DI 1 Supported Control DI 2 Supported Control DI 3 Supported Control DI 4 Supported Control DI 5 Supported Control DI 6 Supported Control DI 7 Supported Control DI 8 Supported Control DI 9...

  • Page 32: Pds Control Objects

    Index Object name (Index) Sub Index Object name (Sub Index) 2D28h Motor rated speed Motor rated speed 2D30h Manufacturer Device Name 2 Manufacturer Device Name 2 2D33h Serial Number 2 Serial Number 2 2D35h Encoder status Encoder status Encoder status 1 Encoder status 2 2D46h Servo motor serial number...

  • Page 33: 2.10 Position Control Function Objects

    2.10 Position Control Function Objects Index Object name (Index) Sub Index Object name (Sub Index) 6062h Position demand value Position demand value 6063h Position actual internal value Position actual internal value 6064h Position actual value Position actual value 6065h Following error window Following error window 6066h Following error time out...

  • Page 34: Profile Torque Mode Objects

    2.12 Profile Torque Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 2D6Dh Positive/Negative torque limit 2 Positive/Negative torque limit 2 setting Positive/Negative torque limit 2 select Positive torque limit value 2 Negative torque limit value 2 6071h Target torque Target torque...

  • Page 35: Homing Mode Objects

    2.14 Homing Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 607Ch Home offset Home offset 6098h Homing method Homing method 6099h Homing speeds Homing speeds Speed during search for switch Speed during search for zero 609Ah Homing acceleration Homing acceleration 60E3h...

  • Page 36: Factor Group Objects

    2.16 Factor Group Objects Index Object name (Index) Sub Index Object name (Sub Index) 607Eh Polarity Polarity 608Fh Position encoder resolution Position encoder resolution Encoder increments Motor revolutions 6091h Gear ratio Gear ratio Motor revolutions Shaft revolutions 6092h Feed constant Feed constant Feed Shaft revolutions...

  • Page 37: Optional Application Fe Objects

    2.18 Optional application FE Objects Index Object name (Index) Sub Index Object name (Sub Index) 60FDh Digital inputs Digital inputs 60FEh Digital outputs Digital outputs Physical outputs Bitmask 2.19 Cyclic Synchronous Position Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 60B0h Position offset...

  • Page 38: Chapter 3 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) Supported firmware version           ...

  • Page 39: Manufacturer Device Name (Obj. 1008H)]

    The model name of the servo amplifier is returned. If MR-J5-10G-N1 is used, the model name is returned as shown below. "MR-J5-G-N1 " (Empty spaces after the model name are filled with blank spaces to make the name 32 characters long.) [Manufacturer Hardware Version (Obj. 1009h)] [Manufacturer Hardware Version (Obj.

  • Page 40: Store Parameters (Obj. 1010H)]

    [Store parameters (Obj. 1010h)] [Store parameters (Obj. 1010h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version              ...

  • Page 41: 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 Supported firmware version            ...

  • Page 42: 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 Supported firmware version              ...

  • Page 43: [Revision Number (Obj. 1018H: 03H)]

    [Revision Number (Obj. 1018h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00000000h to  Impossible  FFFFFFFFh Supported firmware version               Description The revision number of the selected servo amplifier is returned.

  • Page 44: 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 Supported firmware version              ...

  • Page 45: Version Number (Obj. 67Feh)]

    3.10 [Version number (Obj. 67FEh)] [Version number (Obj. 67FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00040100h 00040100h Impossible (fixed) Supported firmware version            ...

  • Page 46: Chapter 4 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 Supported firmware version    ...

  • Page 47: [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 Supported firmware version       ...

  • Page 48: 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 Supported firmware version       ...

  • Page 49: [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 Supported firmware version       ...

  • Page 50: 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 Supported firmware version       ...

  • Page 51: [Mapped Object 001 (Obj. 1602H: 01H)] - [Mapped Object 032 (Obj. 1602H: 20H)]

    [Mapped Object 001 (Obj. 1602h: 01h)] - [Mapped Object 032 (Obj. 1602h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...

  • Page 52: 4Th Receive Pdo Mapping (Obj. 1603H)]

    [4th Receive PDO Mapping (Obj. 1603h)] [4th Receive PDO Mapping (Obj. 1603h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...

  • Page 53: [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 Supported firmware version       ...

  • Page 54: 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 Supported firmware version       ...

  • Page 55: [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 Supported firmware version       ...

  • Page 56: 3Rd Transmit Pdo Mapping (Obj. 1A02H)]

    [3rd Transmit PDO Mapping (Obj. 1A02h)] [3rd Transmit PDO Mapping (Obj. 1A02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...

  • Page 57: Chapter 5 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  Supported firmware version      ...

  • Page 58: [Sync Manager 2 (Obj. 1C00H: 03H)]

    [Sync Manager 2 (Obj. 1C00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 03h (fixed) Impossible Supported firmware version               Description This means Process Data Write (Outputs) (from the master station to the slave station). [Sync Manager 3 (Obj.

  • Page 59: 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 Supported firmware version         ...

  • Page 60: [Assigned Pdo 002 (Obj. 1C12H: 02H)]

    [Assigned PDO 002 (Obj. 1C12h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 1600h to 1623h Impossible Supported firmware version               Description Set which mapping table to be assigned to Sync Manager 2 (RxPDO).

  • Page 61: 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 Supported firmware version         ...

  • Page 62: [Assigned Pdo 002 (Obj. 1C13H: 02H)]

    [Assigned PDO 002 (Obj. 1C13h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 1A00h to 1A23h Impossible Supported firmware version               Description Set which mapping table to be assigned to Sync Manager 3 (TxPDO).

  • Page 63: 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 Supported firmware version            ...

  • Page 64: [Cycle Time (Obj. 1C32H: 02H)]

    The communication cycles are limited depending on the servo amplifiers and the functions to be used. For details, refer to "Restrictions on the MR-J5_-_G_" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) 5 Sync Manager Communication Objects 5.4 [SM output parameter (Obj. 1C32h)]...

  • Page 65: [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  Supported firmware version               Description Bit 0: FreeRun supported Bit 1: Synchronous supported (not supported) Bit 2 to Bit 4: DC Type supported...

  • Page 66: [Calc And Copy Time (Obj. 1C32H: 06H)]

    [Calc and Copy Time (Obj. 1C32h: 06h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Impossible Supported firmware version               Description The minimum value of the delay time from data receiving to outputting is returned. The received value varies depending on the setting of the communication cycle.

  • Page 67: Sm Input Parameter (Obj. 1C33H)]

    [SM input parameter (Obj. 1C33h)] [SM input parameter (Obj. 1C33h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0Ch (fixed) Impossible Supported firmware version            ...

  • Page 68: [Cycle Time (Obj. 1C33H: 02H)]

    The communication cycles are limited depending on the servo amplifiers and the functions to be used. For details, refer to "Restrictions on the MR-J5_-_G_" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) 5 Sync Manager Communication Objects 5.5 [SM input parameter (Obj. 1C33h)]...

  • Page 69: [Synchronization Types Supported (Obj. 1C33H: 04H)]

    [Synchronization Types supported (Obj. 1C33h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0005h 0005h (fixed)  Impossible  Supported firmware version               Description Bit 0: FreeRun supported Bit 1: Synchronous supported (not supported) Bit 2 to Bit 4: DC Type supported...

  • Page 70: [Minimum Cycle Time (Obj. 1C33H: 05H)]

    [Minimum Cycle Time (Obj. 1C33h: 05h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Impossible Supported firmware version               Description The minimum communication cycle is returned. Servo amplifier Minimum communication cycle MR-J5-_G-_N1...

  • Page 71: [Delay Time (Obj. 1C33H: 09H)]

    [Delay Time (Obj. 1C33h: 09h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 (fixed) Impossible  Supported firmware version               Description The delay time from Sync0 to input is returned. The received value varies depending on the setting of the communication cycle.

  • Page 72: Chapter 6 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 Supported firmware version ...

  • Page 73: Pv Group Parameters (Obj. 2691H)]

    6.10 [PV group parameters (Obj. 2691h)] The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 28h of Sub Indexes correspond to [Pr. PV01] to [Pr. PV40]. [PV group parameters (Obj. 2691h: 00h)] Data Type Access Mapping...

  • Page 74: Chapter 7 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 Supported firmware version         ...

  • Page 75: [Alarm2 No. (Obj. 2A00H: 03H)]

    [Alarm2 No. (Obj. 2A00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0000h 0000h to FFFFh  Possible Alarm history Supported firmware version               Description The value "0000h"...

  • Page 76: [Alarm Time (Time Zone) (Obj. 2A00H: 06H)]

    [Alarm time (time zone) (Obj. 2A00h: 06h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 80000000h to minute Possible Alarm history 7FFFFFFFh Supported firmware version             ...

  • Page 77: 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)]. Page 72 [Alarm history newest (Obj.

  • Page 78: Point Table Error (Obj. 2A43H)]

    [Point table error (Obj. 2A43h)] [Point table error (Obj. 2A43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 2 (fixed) Impossible Point table Supported firmware version           ...

  • Page 79: Parameter Error Number (Obj. 2A44H)]

    [Parameter error number (Obj. 2A44h)] [Parameter error number (Obj. 2A44h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to FFFFh Impossible Supported firmware version          ...

  • Page 80: 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 Supported firmware version          ...

  • Page 81: 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 Supported firmware version            ...

  • Page 82: Drive Recorder History Newest (Obj. 2A70H)]

    7.10 [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 Supported firmware version         ...

  • Page 83: [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 Supported firmware version            ...

  • Page 84: [Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]

    [Drive recorder history (time zone) (Obj. 2A70h: 06h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 00000000h 80000000h to minute Possible 7FFFFFFFh Supported firmware version             ...

  • Page 85: Chapter 8 Monitor Objects

    Monitor Objects For the contents of the monitor signals, refer to "Monitor signal (analog) and analog monitor [G]" in the following manual. MR-J5 User's Manual (Function) [Cumulative feedback pulses (Obj. 2B01h)] [Cumulative feedback pulses (Obj. 2B01h: 00h)] Data Type Access Mapping Default Range...

  • Page 86: Droop Pulses (Obj. 2B03H)]

    [Droop pulses (Obj. 2B03h)] [Droop pulses (Obj. 2B03h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Supported firmware version            ...

  • Page 87: Regenerative Load Ratio (Obj. 2B08H)]

    [Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj. 2B08h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h to FFFFh Impossible Supported firmware version           ...

  • Page 88: Instantaneous Torque (Obj. 2B0Bh)]

    [Instantaneous torque (Obj. 2B0Bh)] [Instantaneous torque (Obj. 2B0Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Supported firmware version             ...

  • Page 89: Abs Counter (Obj. 2B0Dh)]

    8.11 [ABS counter (Obj. 2B0Dh)] [ABS counter (Obj. 2B0Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to Impossible 7FFFFFFFh Supported firmware version            ...

  • Page 90: Bus Voltage (Obj. 2B0Fh)]

    8.13 [Bus voltage (Obj. 2B0Fh)] [Bus voltage (Obj. 2B0Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h to FFFFh Impossible Supported firmware version            ...

  • Page 91: Load-Side Encoder Information 1 Z-Phase Counter (Obj. 2B12H)]

    8.16 [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   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Supported firmware version   ...

  • Page 92: Cumulative Encoder Out Pulses (Obj. 2B16H)]

    8.18 [Cumulative encoder out pulses (Obj. 2B16h)] [Cumulative encoder out pulses (Obj. 2B16h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Supported firmware version       ...

  • Page 93: Electrical Angle (Obj. 2B19H)]

    8.21 [Electrical angle (Obj. 2B19h)] [Electrical angle (Obj. 2B19h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Supported firmware version           ...

  • Page 94: Internal Temperature Of Encoder (Obj. 2B25H)]

    8.24 [Internal temperature of encoder (Obj. 2B25h)] [Internal temperature of encoder (Obj. 2B25h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh °C Impossible Supported firmware version       ...

  • Page 95: Number Of Tough Drive Operations (Obj. 2B28H)]

    8.27 [Number of tough drive operations (Obj. 2B28h)] [Number of tough drive operations (Obj. 2B28h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h to FFFFh number of times Impossible Supported firmware version   ...

  • Page 96: Unit Total Power Consumption (Obj. 2B2Eh)]

    8.30 [Unit total power consumption (Obj. 2B2Eh)] [Unit total power consumption (Obj. 2B2Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to Impossible 7FFFFFFFh Supported firmware version        ...

  • Page 97: Remaining Command Distance (Obj. 2B31H)]

    8.33 [Remaining command distance (Obj. 2B31h)] [Remaining command distance (Obj. 2B31h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pos units Impossible 7FFFFFFFh Supported firmware version        ...

  • Page 98: Overload Alarm Margin (Obj. 2B40H)]

    8.36 [Overload alarm margin (Obj. 2B40h)] [Overload alarm margin (Obj. 2B40h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh 0.1 % Impossible Supported firmware version        ...

  • Page 99: Unit Power Consumption 2 (Obj. 2B43H)]

    8.39 [Unit power consumption 2 (Obj. 2B43h)] [Unit power consumption 2 (Obj. 2B43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to Impossible 7FFFFFFFh Supported firmware version        ...

  • Page 100: Converter Effective Load Ratio (Obj. 2B4Ah)]

    8.41 [Converter effective load ratio (Obj. 2B4Ah)] [Converter effective load ratio (Obj. 2B4Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Supported firmware version        ...

  • Page 101: Chapter 9 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  Supported firmware version       ...

  • Page 102: External Output Pin Display (Obj. 2C11H)]

    [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 Supported firmware version         ...

  • Page 103: [External Output Pin Display1 (Obj. 2C11H: 01H)]

    [External output pin display1 (Obj. 2C11h: 01h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO  00000000h to  Impossible  FFFFFFFFh Supported firmware version              ...
  • Page 104 MR-J5D1-_G_-_N1 CN3 connector pin CN3 connector pin CN3 connector pin CN3 connector pin                            ...

  • Page 105: Power On Cumulative Time (Obj. 2C18H)]

    [Power ON cumulative time (Obj. 2C18h)] [Power ON cumulative time (Obj. 2C18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to hour Impossible FFFFFFFFh Supported firmware version        ...

  • Page 106: Machine Diagnostic Status (Obj. 2C20H)]

    [Machine diagnostic status (Obj. 2C20h)] [Machine diagnostic status (Obj. 2C20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Supported firmware version          ...

  • Page 107: Static Friction Torque At Forward Rotation (Obj. 2C21H)]

    [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 Supported firmware version   ...

  • Page 108: Dynamic Friction Torque At Reverse Rotation (At Rated Speed) (Obj. 2C24H)]

    9.11 [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h)] [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 0.1 % Impossible Supported firmware version ...

  • Page 109: Oscillation Frequency During Motor Operating (Obj. 2C27H)]

    9.14 [Oscillation frequency during motor operating (Obj. 2C27h)] [Oscillation frequency during motor operating (Obj. 2C27h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 Impossible Supported firmware version      ...

  • Page 110: Fault Prediction Status (Obj. 2C29H)]

    9.16 [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 Supported firmware version         ...

  • Page 111: Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)]

    9.17 [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 Supported firmware version  ...

  • Page 112: Vibration Based Fault Prediction Threshold (Obj. 2C2Dh)]

    9.20 [Vibration based fault prediction threshold (Obj. 2C2Dh)] [Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Supported firmware version    ...

  • Page 113: Friction Estimate Status (Obj. 2C31H)]

    9.23 [Friction estimate status (Obj. 2C31h)] [Friction estimate status (Obj. 2C31h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 100 Impossible Supported firmware version          ...

  • Page 114: Static Friction Based Fault Prediction Lower Threshold (Obj. 2C34H)]

    9.26 [Static friction based fault prediction lower threshold (Obj. 2C34h)] [Static friction based fault prediction lower threshold (Obj. 2C34h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Supported firmware version ...

  • Page 115: Tension Estimation Value (Obj. 2C36H)]

    9.28 [Tension estimation value (Obj. 2C36h)] [Tension estimation value (Obj. 2C36h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 N Impossible 2147483647 Supported firmware version        ...

  • Page 116: Phase Current (Obj. 2C37H)]

    9.29 [Phase current (Obj. 2C37h)] [Phase current (Obj. 2C37h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 3 (fixed) Impossible Supported firmware version            ...

  • Page 117: Supported Control Di (Obj. 2D00H)]

    The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Control DI 2 (Obj. 2D00h: 02h)]...

  • Page 118: [Supported Control Di 3 (Obj. 2D00H: 03H)]

    The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Control DI 4 (Obj. 2D00h: 04h)]...

  • Page 119: [Supported Control Di 6 (Obj. 2D00H: 06H)]

    The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Control DI 7 (Obj. 2D00h: 07h)]...

  • Page 120: [Supported Control Di 9 (Obj. 2D00H: 09H)]

    The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Control DI 10 (Obj. 2D00h: 0Ah)]...

  • Page 121: Control Di 1 (Obj. 2D01H)]

      Description The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.32 [Control DI 2 (Obj. 2D02h)] [Control DI 2 (Obj. 2D02h: 00h)] Data Type...

  • Page 122: Control Di 4 (Obj. 2D04H)]

      Description The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.35 [Control DI 5 (Obj. 2D05h)] [Control DI 5 (Obj. 2D05h: 00h)] Data Type...

  • Page 123: Control Di 7 (Obj. 2D07H)]

      Description The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.38 [Control DI 8 (Obj. 2D08h)] [Control DI 8 (Obj. 2D08h: 00h)] Data Type...

  • Page 124: Control Di 10 (Obj. 2D0Ah)]

      Description The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.41 [Supported Status DO (Obj. 2D10h)] [Supported Status DO (Obj. 2D10h: 00h)] Data Type...

  • Page 125: [Supported Status Do 2 (Obj. 2D10H: 02H)]

    The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Status DO 3 (Obj. 2D10h: 03h)]...

  • Page 126: [Supported Status Do 5 (Obj. 2D10H: 05H)]

    The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Status DO 6 (Obj. 2D10h: 06h)]...

  • Page 127: [Supported Status Do 8 (Obj. 2D10H: 08H)]

    The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) [Supported Status DO 9 (Obj. 2D10h: 09h)]...

  • Page 128: Status Do 1 (Obj. 2D11H)]

       Description The output device status is returned. Refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.43 [Status DO 2 (Obj. 2D12h)] [Status DO 2 (Obj. 2D12h: 00h)] Data Type...

  • Page 129: Status Do 4 (Obj. 2D14H)]

       Description The output device status is returned. Refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.46 [Status DO 5 (Obj. 2D15h)] [Status DO 5 (Obj. 2D15h: 00h)] Data Type...

  • Page 130: Status Do 7 (Obj. 2D17H)]

       Description The output device status is returned. Refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.49 [Status DO 8 (Obj. 2D18h)] [Status DO 8 (Obj. 2D18h: 00h)] Data Type...

  • Page 131: Status Do 10 (Obj. 2D1Ah)]

       Description The output device status is returned. Refer to "Bit definition of Status DO" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 9.52 [Velocity limit value (Obj. 2D20h)] [Velocity limit value (Obj. 2D20h: 00h)] Data Type...

  • Page 132: Motor Rated Speed (Obj. 2D28H)]

    9.53 [Motor rated speed (Obj. 2D28h)] [Motor rated speed (Obj. 2D28h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 Refer to the Impossible following. Supported firmware version      ...

  • Page 133: Encoder Status (Obj. 2D35H)]

    9.56 [Encoder status (Obj. 2D35h)] [Encoder status (Obj. 2D35h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             ...

  • Page 134: [Encoder Status 2 (Obj. 2D35H: 02H)]

    [Encoder status 2 (Obj. 2D35h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible 00000007h Supported firmware version               Description The status of the scale measurement encoder is returned.

  • Page 135: Scale Cycle Counter (Obj. 2D36H)]

    9.57 [Scale cycle counter (Obj. 2D36h)] [Scale cycle counter (Obj. 2D36h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0 to 4294967295 pulse Impossible Supported firmware version         ...

  • Page 136: Scale Measurement Encoder Resolution (Obj. 2D38H)]

    9.59 [Scale measurement encoder resolution (Obj. 2D38h)] [Scale measurement encoder resolution (Obj. 2D38h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 inc/rev Impossible Supported firmware version       ...

  • Page 137: Servo Motor Serial Number (Obj. 2D46H)]

    9.61 [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 Supported firmware version       ...

  • Page 138: [Motor Id 2 (Obj. 2D48H: 02H)]

    [Motor ID 2 (Obj. 2D48h: 02h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version               Description The servo motor type ID is returned. When an encoder is not connected, "00000000h"...

  • Page 139: One-Touch Tuning Mode (Obj. 2D50H)]

    9.63 [One-touch tuning mode (Obj. 2D50h)] [One-touch tuning mode (Obj. 2D50h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 03h Impossible Supported firmware version          ...

  • Page 140: One-Touch Tuning Stop (Obj. 2D52H)]

    9.65 [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 Supported firmware version          ...

  • Page 141: One-Touch Tuning Error Code (Obj. 2D54H)]

    9.67 [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. Supported firmware version      ...

  • Page 142: Chapter 10 Pds Control Objects

    PDS Control Objects 10.1 [Error code (Obj. 603Fh)] [Error code (Obj. 603Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Supported firmware version        ...
  • Page 143 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. Name Description Switch-on Enable voltage Quick stop Enable operation Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details. Page 141 [Bit 4: OMS] Differs depending on the value of [Modes of operation].
  • Page 144 ■[Bit 5: OMS] Setting value Symbol Description 1 (pp) Change set 0: Set of set-points immediately 1: Single set-point   3 (pv) 4 (tq) 6 (hm) 8 (csp) 9 (csv) 10 (cst) -100 (jg) Direction 0: Forward rotation (Address increasing) 1: Reverse rotation (Address decreasing) -101 (pt) ...
  • Page 145 ■[Bit 9: OMS] Setting value Symbol Description 1 (pp) Change on Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0"). set-point 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 146: Statusword (Obj. 6041H)]

    10.3 [Statusword (Obj. 6041h)] [Statusword (Obj. 6041h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to FFFFh Impossible Supported firmware version             ...
  • Page 147 ■[Bit 10: OMS] Setting value Name Description 1 (pp) Target reached 0: Halt (Bit 8) = 0: Target position not reached. 0: Halt (Bit 8) = 1: Axis decelerates. 1: Halt (Bit 8) = 0: Target position reached. 1: Halt (Bit 8) = 1: Velocity of axis is 0. Judgment condition of Target position reached: When the time set in [Position window time (Obj.
  • Page 148 ■[Bit 12: OMS] Setting value Name Description 1 (pp) Set-point 0: Positioning completed (waiting for next command) acknowledge 1: Positioning in progress (possible to overwrite a setpoint) 3 (pv) Speed 0: Speed is not equal 0 1: Speed is equal 0 Judgment condition of Speed is not equal 0: When the time set in [Velocity threshold time (Obj.

  • Page 149: Quick Stop Option Code (Obj. 605Ah)]

    10.4 [Quick stop option code (Obj. 605Ah)] [Quick stop option code (Obj. 605Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 2 (fixed) Possible [Pr. PT68.0] Supported firmware version        ...
  • Page 150 *1 Available on servo amplifiers with firmware version D0 or later. *2 When canceling Quick stop in the cyclic synchronous position mode (csp), cancel it after servo-off or perform position follow-up with the controller. If Quick stop is canceled without performing position follow-up, the servo motor may suddenly accelerate. *3 When the controller being used cannot perform follow-up in the "Quick stop active"...

  • Page 151: Halt Option Code (Obj. 605Dh)]

    10.5 [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] Supported firmware version          ...

  • Page 152: Modes Of Operation (Obj. 6060H)]

    The available control modes are limited depending on the setting values of [Pr. PA01.0 Control mode selection] and [Pr. PT01.2 Unit for position data]. Refer to "Selecting control mode (Modes of operation)" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) Setting value...

  • Page 153: Modes Of Operation Display (Obj. 6061H)]

    [Pr. PT01.2 Unit for position data]. Refer to "Selecting control mode (Modes of operation)" in the following manual. MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) Even if "0" is set for [Modes of operation (Obj. 6060h)], this object does not return "0".

  • Page 154: Supported Drive Modes (Obj. 6502H)]

    10.8 [Supported drive modes (Obj. 6502h)] [Supported drive modes (Obj. 6502h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     TxPDO Impossible Supported firmware version           ...

  • Page 155: Chapter 11 Position Control Function Objects

    Position Control Function Objects 11.1 [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 Supported firmware version    ...

  • Page 156: Following Error Window (Obj. 6065H)]

    11.4 [Following error window (Obj. 6065h)] [Following error window (Obj. 6065h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00C00000h 00000000h to pos units Possible [Pr. PC67] FFFFFFFFh Supported firmware version       ...

  • Page 157: Position Window (Obj. 6067H)]

    11.6 [Position window (Obj. 6067h)] [Position window (Obj. 6067h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 00000190h pos units Possible [Pr. PC70] Supported firmware version           ...

  • Page 158: Positioning Option Code (Obj. 60F2H)]

    11.8 [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] Supported firmware version         ...

  • Page 159: Following Error Actual Value (Obj. 60F4H)]

    11.9 [Following error actual value (Obj. 60F4h)] [Following error actual value (Obj. 60F4h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version      ...

  • Page 160: Chapter 12 Profile Velocity Mode Objects

    Profile Velocity Mode Objects 12.1 [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 Supported firmware version    ...

  • Page 161: Velocity Window (Obj. 606Dh)]

    12.3 [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. Supported firmware version    ...

  • Page 162: Velocity Threshold (Obj. 606Fh)]

    12.5 [Velocity threshold (Obj. 606Fh)] [Velocity threshold (Obj. 606Fh: 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. Supported firmware version    ...

  • Page 163: Target Velocity (Obj. 60Ffh)]

    12.7 [Target velocity (Obj. 60FFh)] [Target velocity (Obj. 60FFh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO -2147483648 to vel units Impossible 2147483647 Supported firmware version           ...

  • Page 164: Chapter 13 Profile Torque Mode Objects

    Profile Torque Mode Objects 13.1 [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 Supported firmware version    ...

  • Page 165: [Positive Torque Limit Value 2 (Obj. 2D6Dh: 02H)]

    [Positive torque limit value 2 (Obj. 2D6Dh: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 10000 0 to 10000 0.1 % Possible [Pr. PC43]/[Pr. PC44] Supported firmware version          ...

  • Page 166: Target Torque (Obj. 6071H)]

    13.2 [Target torque (Obj. 6071h)] [Target torque (Obj. 6071h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -32768 to 32767 0.1 % Impossible Supported firmware version          ...

  • Page 167: Torque Demand Value (Obj. 6074H)]

    13.5 [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 Supported firmware version        ...

  • Page 168: Current Actual Value (Obj. 6078H)]

    13.8 [Current actual value (Obj. 6078h)] [Current actual value (Obj. 6078h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -32768 to 32767 0.1 % Impossible Supported firmware version        ...

  • Page 169: Positive Torque Limit Value (Obj. 60E0H)]

    13.11 [Positive torque limit value (Obj. 60E0h)] [Positive torque limit value (Obj. 60E0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0 to 10000 0.1 % Possible [Pr. PA11]/[Pr. PA12] Supported firmware version    ...

  • Page 170: Chapter 14 Profile Position Mode Objects

    Profile Position Mode Objects 14.1 [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. Supported firmware version     ...

  • Page 171: Position Range Limit (Obj. 607Bh)]

    14.2 [Position range limit (Obj. 607Bh)] [Position range limit (Obj. 607Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...

  • Page 172: Software Position Limit (Obj. 607Dh)]

    14.3 [Software position limit (Obj. 607Dh)] [Software position limit (Obj. 607Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...

  • Page 173: [Max Position Limit (Obj. 607Dh: 02H)]

    [Max position limit (Obj. 607Dh: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO -2147483648 to pos units Possible [Pr. PT15] 2147483647 Supported firmware version              ...

  • Page 174: Max Profile Velocity (Obj. 607Fh)]

    14.4 [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. Supported firmware version ...

  • Page 175: Profile Velocity (Obj. 6081H)]

    14.6 [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. Supported firmware version   ...

  • Page 176: Profile Acceleration (Obj. 6083H)]

    14.7 [Profile acceleration (Obj. 6083h)] [Profile acceleration (Obj. 6083h: 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. Supported firmware version   ...

  • Page 177: Profile Deceleration (Obj. 6084H)]

    14.8 [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. Supported firmware version   ...

  • Page 178: Quick Stop Deceleration (Obj. 6085H)]

    14.9 [Quick stop deceleration (Obj. 6085h)] [Quick stop deceleration (Obj. 6085h: 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. Supported firmware version ...

  • Page 179: Motion Profile Type (Obj. 6086H)]

    14.10 [Motion profile type (Obj. 6086h)] [Motion profile type (Obj. 6086h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -1 (fixed) Impossible Supported firmware version           ...

  • Page 180: Max Deceleration (Obj. 60C6H)]

    14.12 [Max deceleration (Obj. 60C6h)] [Max deceleration (Obj. 60C6h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0 to 4294967295 acc units Impossible [Pr. PV31] Supported firmware version         ...

  • Page 181: Chapter 15 Homing Mode Objects

    Homing Mode Objects 15.1 [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 Supported firmware version       ...

  • Page 182: Homing Speeds (Obj. 6099H)]

    15.3 [Homing speeds (Obj. 6099h)] [Homing speeds (Obj. 6099h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             ...

  • Page 183: [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 RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Supported firmware version     ...

  • Page 184: Supported Homing Method (Obj. 60E3H)]

    15.5 [Supported homing method (Obj. 60E3h)] [Supported homing method (Obj. 60E3h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version           ...
  • Page 185 Description The supported homing type is returned. "Range" is fixed to the value in "Default". For the contents of the homing methods, refer to "Homing method list" in the following manual. MR-J5 User's Manual (Function) The following table lists the homing methods and "Default" values for firmware version C0. Sub Index Name Default...

  • Page 186: Chapter 16 Point Table Mode Objects

    Point table Mode Objects 16.1 [Point table 001 (Obj. 2801h)] [Point table 001 (Obj. 2801h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Supported firmware version       ...

  • Page 187: [Speed (Obj. 2801H: 02H)]

    [Speed (Obj. 2801h: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 to maximum vel units Possible Point table speed Supported firmware version               Description Set the command speed of the servo motor while positioning is executed.

  • Page 188: [Deceleration (Obj. 2801H: 04H)]

    [Deceleration (Obj. 2801h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible Refer to the acc units Possible Point table following. Supported firmware version               Description Set the time required for the servo motor to stop from the rated speed or the deceleration from the command speed to the stop.

  • Page 189: [Auxiliary (Obj. 2801H: 06H)]

    [Auxiliary (Obj. 2801h: 06h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 to 3, 8 to 11  Possible Point table Supported firmware version              ...

  • Page 190: Point Table 002 (Obj. 2802H)] - Point Table 255 (Obj. 28Ffh)]

    16.2 [Point table 002 (Obj. 2802h)] - Point table 255 (Obj. 28FFh)] Positioning data of the point table can be obtained and set. The contents of each Sub Index are the same as [Point table 001]. 16.3 [Target point table (Obj. 2D60h)] [Target point table (Obj.

  • Page 191: Point Actual Value (Obj. 2D69H)]

    16.5 [Point actual value (Obj. 2D69h)] [Point actual value (Obj. 2D69h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0 to 255 Impossible Supported firmware version         ...

  • Page 192: Chapter 17 Factor Group Objects

    Factor Group Objects 17.1 [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] Supported firmware version        ...

  • Page 193: Position Encoder Resolution (Obj. 608Fh)]

    17.2 [Position encoder resolution (Obj. 608Fh)] [Position encoder resolution (Obj. 608Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...

  • Page 194: Gear Ratio (Obj. 6091H)]

    17.3 [Gear ratio (Obj. 6091h)] [Gear ratio (Obj. 6091h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             ...

  • Page 195: Feed Constant (Obj. 6092H)]

    17.4 [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 196: Unit Position (Obj. 60A8H)]

    17.5 [SI unit position (Obj. 60A8h)] [SI unit position (Obj. 60A8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Supported firmware version        ...

  • Page 197: Unit Acceleration (Obj. 60Aah)]

    17.7 [SI unit acceleration (Obj. 60AAh)] [SI unit acceleration (Obj. 60AAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Supported firmware version        ...

  • Page 198: Chapter 18 Touch Probe Function Objects

    Touch Probe Function Objects 18.1 [Touch probe function 2 (Obj. 2DE8h)] [Touch probe function 2 (Obj. 2DE8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    RxPDO 0000h to 0037h Impossible Supported firmware version   ...

  • Page 199: Touch Probe Status 2 (Obj. 2De9H)]

    18.2 [Touch probe status 2 (Obj. 2DE9h)] [Touch probe status 2 (Obj. 2DE9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to 00FFh Impossible Supported firmware version       ...

  • Page 200: Touch Probe 3 Negative Edge (Obj. 2Debh)]

    18.4 [Touch probe 3 negative edge (Obj. 2DEBh)] [Touch probe 3 negative edge (Obj. 2DEBh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...

  • Page 201: Touch Probe Time Stamp 3 Negative Value (Obj. 2Df9H)]

    18.6 [Touch probe time stamp 3 negative value (Obj. 2DF9h)] [Touch probe time stamp 3 negative value (Obj. 2DF9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...
  • Page 202 Description Set the detail of the touch probe function. By setting [Pr. PT26.4 Touch probe latch position selection], the reflecting patterns of [Pr. PA14 Travel direction selection] and [Pr. PT08 Homing position data] to the latched position feedback can be changed. When the touch probe function is not available for the servo amplifier being used, set "0000h".

  • Page 203: Touch Probe Status (Obj. 60B9H)]

    18.8 [Touch probe status (Obj. 60B9h)] [Touch probe status (Obj. 60B9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to 0707h Impossible Supported firmware version         ...

  • Page 204: Touch Probe 1 Positive Edge (Obj. 60Bah)]

    18.9 [Touch probe 1 positive edge (Obj. 60BAh)] [Touch probe 1 positive edge (Obj. 60BAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...

  • Page 205: Touch Probe 2 Negative Edge (Obj. 60Bdh)]

    18.12 [Touch probe 2 negative edge (Obj. 60BDh)] [Touch probe 2 negative edge (Obj. 60BDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...

  • Page 206: Touch Probe Time Stamp 1 Negative Value (Obj. 60D2H)]

    18.14 [Touch probe time stamp 1 negative value (Obj. 60D2h)] [Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...

  • Page 207: Touch Probe Time Stamp 2 Negative Value (Obj. 60D4H)]

    18.16 [Touch probe time stamp 2 negative value (Obj. 60D4h)] [Touch probe time stamp 2 negative value (Obj. 60D4h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...

  • Page 208: Chapter 19 Optional Application Fe Objects

            Description The ON/OFF status of the input device connected to the servo amplifier is returned. ■MR-J5-_G_-_N1/MR-J5W_-_G_-_N1 Name DI pin MR-J5-G-N1 MR-J5-G-RJ-N1 MR-J5W_-G-N1 A-axis B-axis C-axis CN3-2 CN3-2 CN3-7 CN3-20 CN3-1 CN3-12 CN3-12...
  • Page 209 Description Negative limit switch The output can be reversed with the [Pr. PC76.3 Limit switch status read selection] setting. When [Pr. PA14] is set to "0": 0: LSN (Reverse rotation stroke end) off 1: LSN (Reverse rotation stroke end) on When [Pr.
  • Page 210 ■DI1 *2*3 [Pr. PC79.0] [Pr. PD03.0-1] [Pr. PD60.0] Description of DI1 Setting digit (BIN): _ _ x _ Setting digit (BIN): _ _ _ x  With assigned function 0: Input device selected with [Pr. PD03.0-1] is turned off 1: Input device selected with [Pr. PD03.0-1] is turned on No assigned function 0: Input 0 V to DI1 pin 1: Input 24 V to DI1 pin...
  • Page 211 ■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 212 ■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 213: Digital Outputs (Obj. 60Feh)]

    19.2 [Digital outputs (Obj. 60FEh)] [Digital outputs (Obj. 60FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             ...

  • Page 214: [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 Supported firmware version               Description Set the ON/OFF states of the output devices connected to the servo amplifier.

  • Page 215: [Bitmask (Obj. 60Feh: 02H)]

    [Bitmask (Obj. 60FEh: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00000000h 00000000h to  Impossible  000E0000h Supported firmware version               Description Set masks for the output devices connected to the servo amplifier. When DOA, DOB, and DOC are disabled with [Bitmask (Obj.

  • Page 216: Chapter 20 Cyclic Synchronous Position Mode Objects

    Cyclic Synchronous Position Mode Objects 20.1 [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 Supported firmware version      ...

  • Page 217: Torque Offset (Obj. 60B2H)]

    20.3 [Torque offset (Obj. 60B2h)] [Torque offset (Obj. 60B2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO -32768 to 32767 0.1 % (with rated Impossible torque being 100 Supported firmware version      ...

  • Page 218: Revisions

    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 219: Warranty

    We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

  • Page 220: 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 222 SH(NA)-030376ENG-F(2207)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.

This manual is also suitable for:

Mr-j5w-g-n1Mr-j5-gMr-j5w-g

Table of Contents