Mitsubishi MR-JE series Instruction Manual
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Mitsubishi MR-JE series Instruction Manual

Servo amplifier
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General-Purpose AC Servo
Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link IE Field Network Basic)
B

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Summary of Contents for Mitsubishi MR-JE series

  • Page 1 General-Purpose AC Servo Ethernet Interface MODEL MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link IE Field Network Basic)
  • Page 2 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 Instruction 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 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier.
  • Page 5 (2) Wiring CAUTION Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation.
  • Page 6 CAUTION Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status. (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.
  • Page 7 CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the emergency stop switch. brake interlock) turns off. Servo motor 24 V DC Electromagnetic brake To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,...
  • Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 9 MEMO A - 8...

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6 1.1 Outline of CC-Link IE Field Network Basic ..................1- 1 1.1.1 Features ............................. 1- 1 1.2 Function List ............................1- 2 1.3 Communication specifications ......................1- 5 1.3.1 Communication specifications of CC-Link IE Field Network Basic .......... 1- 5 1.3.2 SLMP communication specifications ..................
  • Page 11 7.2.2 Restore default EEP-ROM parameters (1011h) ............... 7-18 7.2.3 Response message mapping (1A00h) ..................7-19 7.3 Object library details (objects in the 2000s) ..................7-20 7.3.1 External input pin status (2C10h) ....................7-20 7.3.2 External output pin status (2C11h) ................... 7-21 7.3.3 Input device status (2C12h) ......................

  • Page 12: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Outline of CC-Link IE Field Network Basic CC-Link IE Field Network Basic is a standard Ethernet-based protocol used to perform cyclic communication by the installed software without using a dedicated ASIC. You can establish a highly flexible system because CC-Link IE Field Network Basic can be used together with TCP/IP communications.

  • Page 13: Function List

    1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. Detailed Function Description explanation Position control mode (P) This servo amplifier is used as a position control servo. (pulse train input) Speed control mode (S) This servo amplifier is used as a speed control servo.
  • Page 14 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo Machine analyzer function amplifier. MR Configurator2 is necessary for this function. Improves a disturbance response when a response performance cannot be Robust filter increased because of a large load to motor inertia ratio, such as a roll feed axis.
  • Page 15 1. FUNCTIONS AND CONFIGURATION Detailed Function Description explanation You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the Servo amplifier life diagnosis servo amplifier including a capacitor and a relay before they malfunction.

  • Page 16: Communication Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Communication specifications 1.3.1 Communication specifications of CC-Link IE Field Network Basic Function Description Communication protocol No. 61450 (cyclic data) Port No. No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only) Cyclic data 32 points (64 bytes) IPv4 range: 0.0.0.1 to 223.255.255.254 IP address...

  • Page 17: Slmp Communication Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3.2 SLMP communication specifications Function Description Communication protocol UDP/TCP (Note) iQSS No. 45237 (NodeSearch and IPAddressSet only) No. 5010 Port No. No. 5012 (Note) IPv4 range: 0.0.0.0 to 255.255.255.255 IP address Use the same network address for both the master and slave stations. Default value: 192.168.3.0 Subnet mask Default value: 255.255.255.0...

  • Page 18: Cc-Link Ie Field Network Basic Protocol

    2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2.1 Summary In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations (servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers) send back to the master station (controller) is called a response message.

  • Page 19: Link Device

    2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2.3 Link device In cyclic communication, communication data of the request message and response message is read as object data (RWwn, RWrn, RYn, RXn) of the servo amplifier. Table 2.1 and 2.2 list initial settings. The setting of the response message can be changed.

  • Page 20: Mapping Data Details Of Link Device

    2. CC-Link IE FIELD NETWORK BASIC PROTOCOL Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and home position return mode) Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn) (Note) (Note) Index Device Index Device Device No.
  • Page 21 2. CC-Link IE FIELD NETWORK BASIC PROTOCOL MEMO 2 - 4...

  • Page 22: Slmp

    3. SLMP 3. SLMP 3.1 Summary POINT SLMP (UDP) is supported by servo amplifiers with software version A0 or later. SLMP (TCP) is supported by servo amplifiers with software version A3 or later. In SLMP (TCP), if connection with a client disconnects during establishment, the connection may not close and this may cause reconnection failure.

  • Page 23: Message Format

    3. SLMP 3.2 Message format The following shows the request message format to be used when the master station (external device) sends a message, and the response message formats to be used when the slave stations (servo amplifiers) return a message. (1) Request message format SLMP Ethernet...

  • Page 24: Command

    3. SLMP Item Size Endian Description Header This header is for TCP/IP and UDP/IP. Add the header on the external device side before sending a message. TCP/IP is supported by servo amplifiers with software version A3 or later. Subheader 2 bytes At a request: H5000 (QnA compatible 3E At a response: HD000...

  • Page 25: Cia 402 Read/Write Command

    3. SLMP 3.3 Command The following table lists applicable commands. Detailed Name Command Description command explanation CiA 402 object 4020h 0001h Reads data specified by using the CiA 402 object from the servo Section read/write amplifier to the external device. 3.4.1 0002h Writes data specified by using the CiA 402 object from the external...

  • Page 26: Sdo Upload (Cia 402 Object Read)

    3. SLMP 3.4.1 SDO Upload (CiA 402 object read) When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station (external device), they return a value of the object corresponding to the specified Index or Sub Index. (1) Request message (command and the following) Number of data Command...

  • Page 27: Sdo Object Subid Block Upload (Cia 402 Object Sub Id Continuous Read)

    3. SLMP (b) At abnormal completion The response message is the same as that of 3.2 (2) (b). (3) Item list Item Size Endian Description Command 2 bytes Little H4020 Sub command 2 bytes Little H0002 Index 2 bytes Little Specify Index of the object.

  • Page 28: Sdo Object Subid Block Download (Cia 402 Object Sub Id Continuous Write)

    3. SLMP 3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write) When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from the master station (external device), they write a specified value to the object corresponding to the specified Index or consecutive Sub Index.

  • Page 29: Error Codes

    3. SLMP 3.5 Error codes The following table lists error codes that are stored in the end code at abnormal completion in SLMP. Error code Cause C059h The sub command is specified incorrectly. Or, a command that is not prescribed is received. C05Ch The request message is incorrect.

  • Page 30: Startup

    4. STARTUP 4. STARTUP POINT Setting [Pr. PN02 Communication error detection time] to several milliseconds may trigger [AL. 86.1] in the following condition. The power of the servo amplifier is cycled, or an instantaneous power failure occurs during CC-Link IE Field Network Basic communication.

  • Page 31: Ip Address Setting

    4. STARTUP 4.2 IP address setting POINT Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet communication using a switching hub.

  • Page 32: Parameters

    5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting CAUTION Setting a value out of the range...
  • Page 33 5. PARAMETERS Initial Symbol Name Unit value PN24 *IPAF1 IP address filter 1 PN25 *IPAF2 IP address filter 2 PN26 *IPAF3 IP address filter 3 PN27 *IPAF4 IP address filter 4 PN28 *IPFR2 IP address filter 2 range setting PN29 *IPFR3 IP address filter 3 range setting PN30...

  • Page 34: Detailed List Of Communication-Related Parameters

    5. PARAMETERS 5.2 Detailed list of communication-related parameters POINT Set a value to each "x" in the "Setting digit" columns. Initial No./symbol/ Setting Function value name digit [unit] PN02 Set the time until [AL. 86.1 Network communication error 1] is detected. 1000 [ms] CERT...
  • Page 35 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN14 Set the 4th octet of the IP address in decimal. *IPAD4 Set the IP address assigned by the network administrator. IP address When SLMP command (IPAdressSet) is received, the setting of the fourth octet will setting 4 be written to this parameter.
  • Page 36 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN24 Set the 1st octet of the IP address of the network device allowed to be connected in decimal. *IPAF1 When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled. IP address filter 1 Setting range: 0 to 255...
  • Page 37 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN32 Set the 2nd octet of the IP address of the network device allowed to be connected in decimal. *IPOA2 When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled. Operation specification IP address 2...
  • Page 38 5. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PN36 Set a value for the 4th octet range of the IP address of the network device allowed to be connected. *IPOA4 The range for the IP address of the network device allowed to be connected is Operation between [Pr.
  • Page 39 5. PARAMETERS MEMO 5 - 8...

  • Page 40: Manufacturer Functions

    6. MANUFACTURER FUNCTIONS 6. MANUFACTURER FUNCTIONS 6.1 Stroke end When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is performed by either of the following stop methods. Operation status Remark During rotation at constant speed During deceleration to a stop Travels for the droop pulse No S-pattern acceleration/...

  • Page 41: One-Touch Tuning

    6. MANUFACTURER FUNCTIONS 6.2 One-touch tuning Refer to "MR-JE-_C Servo Amplifier Instruction Manual" for one-touch tuning. Using One-touch tuning mode (2D50h) allows one-touch tuning from the master station (controller). (1) Related object Sub- Data Initial Index Read/write Name Description address type value Setting a value of "1"...
  • Page 42 6. MANUFACTURER FUNCTIONS (2) Procedure of one-touch tuning via a network Perform one-touch tuning via a network in the following procedure. Start Refer to "MR-JE-_C Servo Amplifier Instruction Manual" and "MR-JE-_C Startup of the system Servo Amplifier Instruction Manual (Profile Mode)" to start the system. Rotate the servo motor by a controller.

  • Page 43: Machine Diagnosis Function

    6. MANUFACTURER FUNCTIONS 6.3 Machine diagnosis function This function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing.

  • Page 44: Servo Amplifier Life Diagnosis Function

    6. MANUFACTURER FUNCTIONS 6.4 Servo amplifier life diagnosis function You can check the cumulative energization time and the number of on/off times of the inrush relay based on the data in the servo amplifier. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.
  • Page 45 6. MANUFACTURER FUNCTIONS MEMO 6 - 6...

  • Page 46: Object Library

    7. OBJECT LIBRARY 7. OBJECT LIBRARY Each data such as control parameters, command values, and feedback values is handled as an object composed of an address, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (controller) and the slave stations (servo amplifiers).
  • Page 47 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 1A00 Response message mapping (Transmit PDO Read/ Impos- 00h to 20h Mapping) bytes write sible (32) The number of objects to be mapped is set. Response message mappings 1 to 32 (Mapped Read/ Impos-...
  • Page 48 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2A00 Alarm history 0 to Alarm history 15 (Alarm history Read Impos- 03h (fixed) newest) bytes sible 2A0F The number of entries in the latest alarm of the alarm history is returned.
  • Page 49 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2A46 Alarm reset (Reset alarm) Writing Impos- 0000h to bytes sible FFFFh Writing the value "1EA5h" resets an alarm. Any value other than "1EA5h"...
  • Page 50 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2B2D Unit power consumption (Unit power Reading Possible 8000h to consumption) bytes 7FFFh The unit power consumption is returned. 2B2E Unit total power consumption (Unit total power Reading Possible...
  • Page 51 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2B8D Multi-revolution counter at alarm occurrence Reading Possible 80000000h (Alarm Monitor 13 ABS counter) bytes 7FFFFFFFh The ABS counter at alarm occurrence is returned. 2B8E Load to motor inertia ratio at alarm occurrence Reading Possible...
  • Page 52 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2C11 External output pin status (External Output pin Read Impos- 01h (fixed) display) bytes sible The number of entries in external output pin status is returned.
  • Page 53 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2C20 Machine diagnostic status (Machine diagnostic Reading Impos- 0000h to status) bytes sible FFFFh [Bit 0 to Bit 3: Friction estimation status at forward rotation] 0: Normal (Friction is being estimated.) 1: Normal (Estimation is completed.)
  • Page 54 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2C24 Dynamic friction torque at reverse rotation (at Reading Impos- 8000h to rated speed) bytes sible 7FFFh (Dynamic friction torque at reverse rotation (at rated speed)) Friction torque at reverse rotation torque at rated...
  • Page 55 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 2D42 Maximum value of multi-revolution counter (Max Reading Impos- 00000000h ABS counter) bytes sible FFFFFFFFh The maximum value of the multi-revolution counter is displayed.
  • Page 56 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 6041 Control status (Statusword) Reading Possible 0000h to bytes FFFFh The current control status can be checked. Bit 0: ready to switch on Bit 1: switched on Bit 2: operation enabled...
  • Page 57 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 6067 Permissible error range (Position window) Read/ Possible 00000000h PT65 bytes write units In the profile position mode (pp), when the time set 0000FFFEh/ with Position windows time (6068h) has elapsed FFFFFFFFh...
  • Page 58 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 607B Command value limit (lower limit) (Min position Read/ Possible 00000000h 80000000h range limit) write (degree) units bytes 7FFFFFFFh Set the range for limiting the command position...
  • Page 59 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 6084 Deceleration time constant (Profile deceleration) Read/ Possible 00000000h PC02 write The current deceleration time constant can be bytes FFFFFFFFh read.
  • Page 60 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 6092 Travel distance (Feed) Read/ Possible 360000 00000001h bytes write (degree)/ units The value is set automatically according to the Encoder FFFFFFFFh [Pr.
  • Page 61 7. OBJECT LIBRARY Saved Data Read/ Variable Para- Index Name and function Initial value Range Unit to EEP- Index type write mapping meter 60E1 Reverse rotation torque limit (Negative torque Read/ Possible 10000 0000h to 0.1% PA12/ limit value) bytes write 2710h (PA11)

  • Page 62: Object Library Details (Objects In The 1000S)

    7. OBJECT LIBRARY 7.2 Object library details (objects in the 1000s) POINT This section describes the objects in the 1000s. Refer to section 7.1 for details on the objects not listed here. 7.2.1 Writing command to EEP-ROM (1010h) POINT Before shutting off the power after executing the writing command to EEP-ROM (Store Parameters), always check that parameters are not being saved (Bit 0 is on).

  • Page 63: Restore Default Eep-Rom Parameters (1011H)

    7. OBJECT LIBRARY (1) Usage This object can read the availability of each Sub Index. The following table shows the returned values of each item. Item Saved parameter Returned value Index Number of entries (Number of entries) Saving all parameters (Save Index: 2001h to 27FFh 00000001h (available) all parameters)

  • Page 64: Response Message Mapping (1A00H)

    7. OBJECT LIBRARY 7.2.3 Response message mapping (1A00h) (1) Object list Data Read/ Index Name type write Index Number of entries (Number of 1 bytes entries) Response message mapping 1 (Mapped Object 001) Response message mapping Read/ 1A00h (Transmit PDO Mapping) write 4 bytes Response message mapping...

  • Page 65: Object Library Details (Objects In The 2000S)

    7. OBJECT LIBRARY (3) Setting precautions (a) The response message mapping can be set while the CC-Link IE Field Network Basic communication is being stopped (RX (n + 3) F = 00h). (b) Map the objects in the order of Sub Index 1 to 32 regardless of the object size. The necessary number of RWr devices is reserved automatically.

  • Page 66: External Output Pin Status (2C11H)

    7. OBJECT LIBRARY 7.3.2 External output pin status (2C11h) Data Read/ Index Name Index type write Number of entries (Number of 1 bytes Reading entries) External output pin status 2C11h (External Output pin display) External output pin status 1 4 bytes Reading (External Output pin display1) The ON/OFF state of external output pins output from the servo amplifier can be read.
  • Page 67 7. OBJECT LIBRARY (1) Usage External Input signal display1 (Input device status 1) to External Input signal display4 (Input device status 4) display the ON/OFF state of each input device of the MR-JE-_C servo amplifier. The following table shows the details. When the input of the target device is on, "1" is returned. When the input of the target device is off, "0"...

  • Page 68: Control Input (2D01H To 2D0Ah)

    7. OBJECT LIBRARY 7.3.4 Control input (2D01h to 2D0Ah) Data Read/ Index Name Index type write 2D01h Read/ Control input (Control DI1 to Control DI10) 2 bytes write 2D0Ah The on/off status of input device can be read. The on/off status of input device can also be set. The following table lists readable and writable input devices.
  • Page 69 7. OBJECT LIBRARY (2) Bit definition of control DI2 Symbol Description The value at reading is undefined. Set "0" when writing. Proportional control Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates torque to compensate for the droop pulse and returns to the original position.
  • Page 70 7. OBJECT LIBRARY (4) Bit definition of control DI4 Symbol Description The value at reading is undefined. Set "0" when writing. (5) Bit definition of control DI5 Symbol Description The value at reading is undefined. Set "0" when writing. Proximity dog input C_DOG When C_DOG is turned on, a proximity dog will be detected.
  • Page 71 7. OBJECT LIBRARY (6) Bit definition of control DI6 Symbol Description The value at reading is undefined. Set "0" when writing. (7) Bit definition of control DI7 Symbol Description The value at reading is undefined. Set "0" when writing. (8) Bit definition of control DI8 Symbol Description The value at reading is undefined.
  • Page 72 7. OBJECT LIBRARY (9) Bit definition of control DI9 Symbol Description The value at reading is undefined. Set "0" when writing. (10) Bit definition of control DI10 Symbol Description The value at reading is undefined. Set "0" when writing. 7 - 27...

  • Page 73: Control Output (2D11H To 2D1Ah)

    7. OBJECT LIBRARY 7.3.5 Control output (2D11h to 2D1Ah) Data Read/ Index Name Index type write 2D11h Control output (Status DO1 to Status DO10) 2 bytes Reading 2D1Ah The on/off status of output device can be read. The following table lists readable output devices. (1) Bit definition of Status DO 1 Symbol Description...
  • Page 74 7. OBJECT LIBRARY (2) Bit definition of Status DO 2 Symbol Description Z-phase already passed 0: Z-phase unpassed after start-up S_ZPASS 1: Z-phase passed once or more after start-up This bit is available with servo amplifiers with software version A3 or later. The value at reading is undefined.
  • Page 75 7. OBJECT LIBRARY (3) Bit definition of Status DO 3 Symbol Description The value at reading is undefined. Forced stop deceleration S_RSTP S_RSTP turns on during a forced stop deceleration. This bit is available with servo amplifiers with software version A3 or later. The value at reading is undefined.
  • Page 76 7. OBJECT LIBRARY (5) Bit definition of Status DO 5 Symbol Description The value at reading is undefined. (6) Bit definition of Status DO 6 Symbol Description The value at reading is undefined. 7 - 31...
  • Page 77 7. OBJECT LIBRARY (7) Bit definition of Status DO 7 Symbol Description The value at reading is undefined. (8) Bit definition of Status DO 8 Symbol Description The value at reading is undefined. 7 - 32...
  • Page 78 7. OBJECT LIBRARY (9) Bit definition of Status DO 9 Symbol Description The value at reading is undefined. (10) Bit definition of Status DO 10 Symbol Description The value at reading is undefined. 7 - 33...

  • Page 79: Object Library Details (Objects In The 6000S)

    7. OBJECT LIBRARY 7.4 Object library details (objects in the 6000s) POINT This section describes the objects in the 6000s. Refer to section 7.1 for details on the objects not listed here. 7.4.1 Control status (6041h) Data Read/ Index Name Index type write...

  • Page 80: Quick Stop Option Code (605Ah)

    7. OBJECT LIBRARY 7.4.2 Quick stop option code (605Ah) Data Read/ Index Name Index type write Read/ 605Ah Quick stop option code (Quick stop option code) 2 bytes write The operation method of deceleration to a stop can be specified. The following table shows the supported methods and the operations.

  • Page 81: Halt Option Code (605Dh)

    7. OBJECT LIBRARY 7.4.3 Halt option code (605Dh) (1) Object list Data Read/ Index Name Index type write Read/ 605Dh Halt option code (Halt option code) 2 bytes write The following table shows descriptions of Halt option code (605Dh). Setting Description value The description varies depending on the control mode.

  • Page 82: Control Mode Display (6061H)

    7. OBJECT LIBRARY 7.4.4 Control mode display (6061h) Data Read/ Index Name Index type write 6061h Control mode display (Modes of operation Display) 1 bytes Reading The current control mode can be read. The following table shows the correspondence between control modes and setting values. Setting Control mode value...

  • Page 83: Polarity (607Eh)

    7. OBJECT LIBRARY 7.4.6 Polarity (607Eh) Data Read/ Index Name Index type write Read/ 607Eh Rotation direction selection (Polarity) 1 bytes write The rotation direction selection can be set. To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of Polarity (607Eh) or use [Pr.
  • Page 84 7. OBJECT LIBRARY Positioning operation patterns can be changed with Positioning option code (60F2h). Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed while the servo motor is rotating (Target reached is off), the setting value is not applied immediately. The new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once turned on.

  • Page 85: Touch Probe (60B8H To 60Bbh)

    7. OBJECT LIBRARY 7.4.8 Touch probe (60B8h to 60BBh) The current position latch data at the time of TPR1 (Touch probe 1) input can be read. (1) Object list Data Read/ Index Name Index type write Read/ 60B8h Touch probe function setting (Touch probe function) 2 bytes write 60B9h...

  • Page 86: Touch Probe Function Setting (60B8H)

    7. OBJECT LIBRARY The following shows a timing chart. (a) 60B8h = 0013h 60B8h Bit 0 60B8h Bit 1 60B8h Bit 4 (d) 60B9h = 0003h (f) 60B9h = 0003h (g) Latches continuously 60B8h Bit 5 (b) 60B9h = 0001h 60B9h Bit 0 60B9h Bit 1 60B9h Bit 2...

  • Page 87: Touch Probe Function Status (60B9H)

    7. OBJECT LIBRARY 7.4.10 Touch probe function status (60B9h) Data Read/ Index Name Index type write 60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading The current status of the touch probe function can be checked. The description of this object is as follows. Description 0: Latch function of touch probe is disabled 1: Latch function of touch probe is enabled.

  • Page 88: Supported Control Mode (6502H)

    7. OBJECT LIBRARY 7.4.13 Supported control mode (6502h) Data Read/ Index Name Index type write 6502h Supported control mode (Supported Drive Modes) 4 bytes Reading The supported control mode can be read. The returned value is "0000002Dh". The following table shows the details. Supported Modes Defined value Profile position mode (pp)
  • Page 89 7. OBJECT LIBRARY MEMO 7 - 44...
  • Page 90 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 91 MEMO...
  • Page 92 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
  • Page 93 (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
  • Page 94 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030256ENG-B(1708)MEE Printed in Japan Specifications are subject to change without notice.

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