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Mitsubishi Electric MELSERVO JET Series User Manual

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

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  Summary of Contents for Mitsubishi Electric MELSERVO JET Series

  • Page 1 Mitsubishi Electric AC Servo System MR-JET-G User's Manual (Object Dictionary) -MR-JET-_G...
  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the work.
  • Page 5: About The Manual

    ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]..........29 [Mapped Object 001 (Obj.
  • Page 8 [Alarm time (time zone) (Obj. 2A00h: 06h)] ........... . . 42 [Alarm time (summer time) (Obj.
  • Page 9 7.13 [Bus voltage (Obj. 2B0Fh)] ..............50 [Bus voltage (Obj.
  • Page 10 [Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h: 00h)] ......57 8.10 [Static friction torque at reverse rotation (Obj. 2C23h)] ........57 [Static friction torque at reverse rotation (Obj.
  • Page 11 [Control DI 9 (Obj. 2D09h: 00h)] ............. 64 8.29 [Control DI 10 (Obj.
  • Page 12 [Encoder ID 1 (Obj. 2D48h: 03h)] ............72 [Encoder ID 2 (Obj.
  • Page 13 11.1 [Velocity demand value (Obj. 606Bh)] ............90 [Velocity demand value (Obj.
  • Page 14 13.6 [Profile velocity (Obj. 6081h)] ............. 100 [Profile velocity (Obj.
  • Page 15 [Digital inputs (Obj. 60FDh: 00h)] ............112 16.2 [Digital outputs (Obj.
  • Page 16: Chapter 1 Summary Of Object Dictionary

    SUMMARY OF OBJECT DICTIONARY Each data such as control parameters, command values, and feedback values is handled as an object composed of an Index value, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (external device) and the slave stations (servo amplifiers).
  • Page 17: Object Units

    Object units This section explains the pos units, vel units, and acc units used in this manual. pos units The standard unit can be changed using [Pr. PT01.2 Unit for position data] as shown in the following table. Setting value Standard unit degree pulse...
  • Page 18: Chapter 2 General Objects

    Note 1.1General Objects [Device Type (Obj. 1000h)] [Device Type (Obj. 1000h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00020192h 00020192h Impossible (fixed) Description Indicates supported profile information. The value "00020192h" which indicates a servo drive defined with the CiA 402 profile is returned.
  • Page 19: Manufacturer Hardware Version (Obj. 1009H)]

    [Manufacturer Hardware Version (Obj. 1009h)] [Manufacturer Hardware Version (Obj. 1009h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Description The hardware version of the servo amplifier is returned. [Manufacturer Software Version (Obj. 100Ah)] [Manufacturer Software Version (Obj.
  • Page 20: Restore Default Parameters (Obj. 1011H)]

    [Restore default parameters (Obj. 1011h)] [Restore default parameters (Obj. 1011h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The total number of Sub Indexes is returned. Default Range Description 01h (fixed) Sub Index 1 is supported.
  • Page 21: Identity Object (Obj. 1018H)]

    [Identity Object (Obj. 1018h)] [Identity Object (Obj. 1018h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Indexes is returned. [Vendor ID (Obj. 1018h: 01h)] Data Type Access Mapping Default...
  • Page 22: Version Number (Obj. 67Feh)]

    [Version number (Obj. 67FEh)] [Version number (Obj. 67FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00040100h 00040100h Impossible (fixed) Description The version number of the supported CiA 402 profile is returned. Symbol Description 0 to 7 ...
  • Page 23: Chapter 3 Pdo Mapping Objects

    PDO Mapping Objects [1st Receive PDO Mapping (Obj. 1600h)] [1st Receive PDO Mapping (Obj. 1600h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00h to 20h  Impossible PDO mapping Description Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 24: [Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]

    [Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 25: 2Nd Receive Pdo Mapping (Obj. 1601H)]

    [2nd Receive PDO Mapping (Obj. 1601h)] [2nd Receive PDO Mapping (Obj. 1601h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 26: [Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]

    [Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 27: 3Rd Receive Pdo Mapping (Obj. 1602H)]

    [3rd Receive PDO Mapping (Obj. 1602h)] [3rd Receive PDO Mapping (Obj. 1602h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 28: [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 Description Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 29: 1St Transmit Pdo Mapping (Obj. 1A00H)]

    [1st Transmit PDO Mapping (Obj. 1A00h)] [1st Transmit PDO Mapping (Obj. 1A00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 30: [Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]

    [Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 31: 2Nd Transmit Pdo Mapping (Obj. 1A01H)]

    [2nd Transmit PDO Mapping (Obj. 1A01h)] [2nd Transmit PDO Mapping (Obj. 1A01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Description The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 32: [Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]

    [Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 33: 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 Description The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the object.
  • Page 34: [Mapped Object 001 (Obj. 1A02H: 01H)] - [Mapped Object 032 (Obj. 1A02H: 20H)]

    [Mapped Object 001 (Obj. 1A02h: 01h)] - [Mapped Object 032 (Obj. 1A02h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Description Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index of the object to "0000h"...
  • Page 35: 1St Pdo Config (Obj. 1C00H)]

    [1st PDO Config (Obj. 1C00h)] [1st PDO Config (Obj. 1C00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Indexes (= 4) is returned. [PDO Assignment (Obj. 1C00h: 01h)] Data Type Access Mapping...
  • Page 36: [Memory Address (Obj. 1C00H: 04H)]

    [Memory Address (Obj. 1C00h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
  • Page 37: 2Nd Pdo Config (Obj. 1C01H)]

    [2nd PDO Config (Obj. 1C01h)] [2nd PDO Config (Obj. 1C01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Description The total number of Sub Indexes (= 4) is returned. [PDO Assignment (Obj. 1C01h: 01h)] Data Type Access Mapping...
  • Page 38: [Memory Address (Obj. 1C01H: 04H)]

    [Memory Address (Obj. 1C01h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
  • Page 39: Chapter 4 Sync Manager Communication Objects

    Sync Manager Communication Objects [CAN Profile Version (Obj. 1D00h)] [CAN Profile Version (Obj. 1D00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00h to FFh  Impossible  Description This object returns the profile version of CANopen-compatible devices supported by the servo amplifier. Symbol Description ...
  • Page 40: Watchdog Counter Ul (Obj. 1D02H)]

    [Watchdog counter UL (Obj. 1D02h)] [Watchdog counter UL (Obj. 1D02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 01h (fixed) Impossible Description The total number of Sub Indexes (= 1) is returned. [Watchdog counter UL 1 (Obj. 1D02h: 01h)] Data Type Access Mapping...
  • Page 41: Chapter 5 Parameter Objects

    Parameter Objects The objects of Parameter Objects are structured as follows. Access servo parameters other than [PV group parameters] with Sub Index set to 00h. Data Type Access Mapping Default Range Units Save Parameter    Impossible Possible *1 Corresponds to servo parameters [Pr. PA _ _ ] to [Pr. PN _ _ ]. [PA01 (Obj.
  • Page 42: Pv Group Parameters (Obj. 2691H)]

    5.10 [PV group parameters (Obj. 2691h)] The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 20h of Sub Indexes correspond to [Pr. PV01] to [Pr. PV32]. [PV group parameters (Obj. 2691h: 00h)] Data Type Access Mapping...
  • Page 43: Chapter 6 Alarm Objects

    Alarm Objects [Alarm history newest (Obj. 2A00h)] [Alarm history newest (Obj. 2A00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 7 (fixed)  Possible Alarm history Description The total number of Sub Indexes (= 7) is returned. [Alarm No.
  • Page 44: [Alarm Time (Second) (Obj. 2A00H: 04H)]

    [Alarm time (second) (Obj. 2A00h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 00000000h to second Possible Alarm history FFFFFFFFh Description The alarm time is returned as a 32-bit integer (time passed from January 1, 1970, 0:00:00.000000000). If time data cannot be obtained from the network, alarm occurrence time shows the cumulative power-on time from January 1, 1970, 0:00:00.000000000.
  • Page 45: Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]

    [Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)] The second (2A01h) to 16th (2A0Fh) latest alarm information of the alarm history is returned. The description of each Sub Index is the same as that of [Alarm history newest (Obj. 2A00h: 00h)]. [Clear alarm history (Obj.
  • Page 46: Parameter Error List (Obj. 2A45H)]

    [Parameter error list (Obj. 2A45h)] [Parameter error list (Obj. 2A45h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 254 (fixed) Impossible Parameter error list Description The total number of Sub Indexes (= 254) is returned. [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj.
  • Page 47: Drive Recorder History Newest (Obj. 2A70H)]

    [Drive recorder history newest (Obj. 2A70h)] [Drive recorder history newest (Obj. 2A70h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Description The total number of Sub Indexes (= 7) is returned. The data of a different history number may be read from the drive recorder depending on when [Drive recorder history newest (Obj.
  • Page 48: [Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]

    [Drive recorder history time (second) (Obj. 2A70h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h to Impossible FFFFFFFFh Description The time at when recorded data in the drive recorder is returned as a 32-bit integer (time passed from January 1, 1970, 0:00:00.000000000).
  • Page 49: Chapter 7 Monitor Objects

    Monitor Objects [Cumulative feedback pulses (Obj. 2B01h)] [Cumulative feedback pulses (Obj. 2B01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO  80000000h to pulse Impossible  7FFFFFFFh Description The cumulative feedback pulses are returned. The cumulative feedback pulses can be cleared by writing "00001EA5h". [Servo motor speed (Obj.
  • Page 50: Command Pulse Frequency (Obj. 2B05H)]

    [Command pulse frequency (Obj. 2B05h)] [Command pulse frequency (Obj. 2B05h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to kpulse/s Impossible 7FFFFFFFh Description The command pulse frequency is returned. [Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj.
  • Page 51: 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 Description The instantaneous torque is returned. 7.10 [Within one-revolution position (Obj. 2B0Ch)] [Within one-revolution position (Obj. 2B0Ch: 00h)] Data Type Access Mapping...
  • Page 52: Bus Voltage (Obj. 2B0Fh)]

    7.13 [Bus voltage (Obj. 2B0Fh)] [Bus voltage (Obj. 2B0Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h to FFFFh Impossible Description The bus voltage is returned. 7.14 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] [Motor-side cumu.
  • Page 53: Settling Time (Obj. 2B26H)]

    7.17 [Settling time (Obj. 2B26h)] [Settling time (Obj. 2B26h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Description The settling time is returned. 7.18 [Oscillation detection frequency (Obj. 2B27h)] [Oscillation detection frequency (Obj. 2B27h: 00h)] Data Type Access Mapping...
  • Page 54: Unit Power Consumption (Obj. 2B2Dh)]

    7.21 [Unit power consumption (Obj. 2B2Dh)] [Unit power consumption (Obj. 2B2Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 8000h to 7FFFh Impossible Description The unit power consumption is returned. 7.22 [Unit total power consumption (Obj. 2B2Eh)] [Unit total power consumption (Obj.
  • Page 55: Overshoot Amount (Obj. 2B41H)]

    7.25 [Overshoot amount (Obj. 2B41h)] [Overshoot amount (Obj. 2B41h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 8FFFFFFFh Description The overshoot amount (encoder pulse unit) is returned. 7.26 [Torque/thrust equivalent to disturbance (Obj. 2B42h)] [Torque/thrust equivalent to disturbance (Obj.
  • Page 56: Chapter 8 Manufacturer Specific Control Object

    Manufacturer Specific Control Object [Drive recorder status (Obj. 2C02h)] [Drive recorder status (Obj. 2C02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 1 Impossible Description The enabled/disabled status of the drive recorder is returned. When the drive recorder does not operate or when one-shot sampling ends in manual setting mode, this object returns "0"...
  • Page 57: 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 Description The number of entries in external output pin status is returned. [External output pin display1 (Obj.
  • Page 58: Dynamic Relay On/Off Number (Obj. 2C1Ah)]

    [Dynamic relay ON/OFF number (Obj. 2C1Ah)] [Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to number of times Impossible FFFFFFFFh Description The number of times that the dynamic brake of the servo amplifier has been used is returned. [Machine diagnostic status (Obj.
  • Page 59: 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 Description The static friction at forward rotation torque is returned. [Dynamic friction torque at forward rotation (at rated speed) (Obj.
  • Page 60 8.12 [Oscillation frequency during motor stop (Obj. 2C25h)] [Oscillation frequency during motor stop (Obj. 2C25h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 Impossible Description The vibration frequency during stop and servo-lock is returned. 8.13 [Vibration level during motor stop (Obj.
  • Page 61 8.16 [Machine total distance (Obj. 2C2Fh)] [Machine total distance (Obj. 2C2Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible FFFFFFFFh Description The machine total travel distance is returned. 8.17 [Friction estimate status (Obj. 2C31h)] [Friction estimate status (Obj.
  • Page 62 [W phase current (Obj. 2C37h: 03h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -32768 to 32767 0.1 % Impossible Description The W-phase current value is displayed in increments of 0.1 % in relation to the rated current as 100 %. 8.19 [Supported Control DI (Obj.
  • Page 63 [Supported Control DI 4 (Obj. 2D00h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 64 [Supported Control DI 9 (Obj. 2D00h: 09h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 65 8.22 [Control DI 3 (Obj. 2D03h)] [Control DI 3 (Obj. 2D03h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-JET-G User's Manual (Communication Function) 8.23 [Control DI 4 (Obj.
  • Page 66 8.26 [Control DI 7 (Obj. 2D07h)] [Control DI 7 (Obj. 2D07h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-JET-G User's Manual (Communication Function) 8.27 [Control DI 8 (Obj.
  • Page 67 8.30 [Supported Status DO (Obj. 2D10h)] [Supported Status DO (Obj. 2D10h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 10 (fixed) Impossible Description The number of supported Status DO is returned. [Supported Status DO 1 (Obj. 2D10h: 01h)] Data Type Access Mapping...
  • Page 68 [Supported Status DO 5 (Obj. 2D10h: 05h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 69 [Supported Status DO 10 (Obj. 2D10h: 0Ah)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Description The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 70 8.34 [Status DO 4 (Obj. 2D14h)] [Status DO 4 (Obj. 2D14h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-JET-G User's Manual (Communication Function) 8.35 [Status DO 5 (Obj.
  • Page 71 8.38 [Status DO 8 (Obj. 2D18h)] [Status DO 8 (Obj. 2D18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-JET-G User's Manual (Communication Function) 8.39 [Status DO 9 (Obj.
  • Page 72 8.41 [Velocity limit value (Obj. 2D20h)] [Velocity limit value (Obj. 2D20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 4294967295 vel units Possible Refer to the following. following. Description Set the speed limit value of the cyclic synchronous torque mode (cst) and the profile torque mode (tq). The input value will be clamped at the servo motor maximum speed.
  • Page 73 8.44 [Encoder status (Obj. 2D35h)] [Encoder status (Obj. 2D35h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The number of entries of the encoder status is returned. [Encoder status 1 (Obj. 2D35h: 01h)] Data Type Access Mapping...
  • Page 74: [Encoder Id 1 (Obj. 2D48H: 03H)]

    8.46 [Motor data 2 (Obj. 2D48h)] [Motor data 2 (Obj. 2D48h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 04h Impossible Description The number of entries is returned. [Motor ID 1 (Obj. 2D48h: 01h)] Data Type Access Mapping...
  • Page 75: [Encoder Id 2 (Obj. 2D48H: 04H)]

    [Encoder ID 2 (Obj. 2D48h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible    Impossible  Description The value for manufacturer setting is returned. 8.47 [One-touch tuning mode (Obj. 2D50h)] [One-touch tuning mode (Obj. 2D50h: 00h)] Data Type Access Mapping...
  • Page 76: One-Touch Tuning Clear (Obj. 2D53H)]

    8.50 [One-touch tuning Clear (Obj. 2D53h)] [One-touch tuning Clear (Obj. 2D53h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to 0001h Impossible Description The servo parameter that was changed in one-touch tuning is returned to the value before the change. To check whether the setting is reflected, read [One-touch tuning mode (Obj.
  • Page 77: Chapter 9 Pds Control Objects

    PDS Control Objects [Controlword (Obj. 6040h)] [Controlword (Obj. 6040h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 0000h 0000h to FFFFh  Impossible  Description PDS status switching command is given, or control commands are returned and set. Use bit 0 to bit 3 and bit 7 in the PDS status transition.
  • Page 78 ■[Bit 5: OMS] Setting Symbol Description value 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) -104 (ct) *1 Available on servo amplifiers with firmware version B0 or later. *2 Available on servo amplifiers with firmware version B2 or later.
  • Page 79 ■[Bit 9: OMS] Setting Symbol Description value 1 (pp) Change on set- Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0"). 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 80: Statusword (Obj. 6041H)]

    [Statusword (Obj. 6041h)] [Statusword (Obj. 6041h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to FFFFh Impossible Description The PDS status transition and other drive conditions are returned. Symbol Description RTSO Ready-to-switch-on Switch-on Operation-enabled Fault Voltage-enabled...
  • Page 81 ■[Bit 10: OMS] Setting Name Description value 1 (pp) Target reached 0: Halt (Bit8) = 0: Target position not reached. 0: Halt (Bit8) = 1: Axis decelerates. 1: Halt (Bit8) = 0: Target position reached. 1: Halt (Bit8) = 1: Velocity of axis is 0. Judgment condition of Target position reached: When the time set in [Position window time (Obj.
  • Page 82 ■[Bit 12: OMS] Setting Name Description value 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 83: Quick Stop Option Code (Obj. 605Ah)]

    [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] Description Set how to decelerate the servo motor to a stop at Quick Stop reception. Setting value Description ...
  • Page 84: Halt Option Code (Obj. 605Dh)]

    [Halt option code (Obj. 605Dh)] [Halt option code (Obj. 605Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 1 (fixed) Possible [Pr. PT68.2] Description Set how to decelerate the servo motor to a stop at Halt reception. Setting value Description ...
  • Page 85: Modes Of Operation (Obj. 6060H)]

    [Modes of operation (Obj. 6060h)] [Modes of operation (Obj. 6060h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO Refer to the Impossible following. Description Set a control mode. Setting value Description No mode change/No mode assigned Profile position mode (pp) ...
  • Page 86: Modes Of Operation Display (Obj. 6061H)]

    [Modes of operation display (Obj. 6061h)] [Modes of operation display (Obj. 6061h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Refer to the Impossible following. Description The current control mode is returned. Setting value Description No mode change/No mode assigned Profile position mode (pp)
  • Page 87: Supported Drive Modes (Obj. 6502H)]

    [Supported drive modes (Obj. 6502h)] [Supported drive modes (Obj. 6502h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     TxPDO Impossible Description The supported control mode is returned. The available control modes vary depending on the setting of [Pr. PA01.0 Control mode selection] and the network settings.
  • Page 88: Chapter 10 Position Control Function Objects

    Position Control Function Objects 10.1 [Position actual internal value (Obj. 6063h)] [Position actual internal value (Obj. 6063h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to Impossible 2147483647 Description The current position is returned. 10.2 [Position actual value (Obj.
  • Page 89: Position Window (Obj. 6067H)]

    10.5 [Position window (Obj. 6067h)] [Position window (Obj. 6067h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO pos units Possible [Pr. PC70] Description The descriptions of this object is as follows. Setting value Description 00000000h to FFFFFFFEh In the profile position mode (pp), when the time set in [Position window time (Obj.
  • Page 90: Positioning Option Code (Obj. 60F2H)]

    10.7 [Positioning option code (Obj. 60F2h)] [Positioning option code (Obj. 60F2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0000h 0000h (fixed) Possible [Pr. PT03.2] Description Set the following conditions of the profile position mode (pp). Description Defined value 0 to 1...
  • Page 91: Control Effort (Obj. 60Fah)]

    10.9 [Control effort (Obj. 60FAh)] [Control effort (Obj. 60FAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to vel units Impossible 2147483647 Description The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.
  • Page 92: Chapter 11 Profile Velocity Mode Objects

    Profile Velocity Mode Objects 11.1 [Velocity demand value (Obj. 606Bh)] [Velocity demand value (Obj. 606Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to vel units Impossible 2147483647 Description The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.
  • Page 93: Velocity Window (Obj. 606Dh)]

    11.3 [Velocity window (Obj. 606Dh)] [Velocity window (Obj. 606Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 65535 vel units Possible Refer to the following. following. Description In the profile velocity mode (pv), when the time set in [Velocity window time (Obj. 606Eh)] elapses in a state where the difference between the command velocity and the current velocity is equal to or below the setting value of this object, bit 10 of [Statusword (Obj.
  • Page 94: Velocity Threshold Time (Obj. 6070H)]

    11.6 [Velocity threshold time (Obj. 6070h)] [Velocity threshold time (Obj. 6070h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 0 to 65535 Possible [Pr. PC66] Description Refer to the following object. Page 91 [Velocity threshold (Obj. 606Fh)] 11.7 [Target velocity (Obj.
  • Page 95: Chapter 12 Profile Torque Mode Objects

    Profile Torque Mode Objects 12.1 [Target torque (Obj. 6071h)] [Target torque (Obj. 6071h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO  -32768 to 32767 0.1 % Impossible  Description Set the torque command used in the cyclic synchronous torque mode (cst) and the profile torque mode (tq). 12.2 [Max torque (Obj.
  • Page 96: Current Actual Value (Obj. 6078H)]

    12.5 [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 Description The actual current value is returned. Unit: 0.1 % (with rated current being 100 %) The value is equivalent to [Torque actual value (Obj.
  • Page 97: Positive Torque Limit Value (Obj. 60E0H)]

    12.8 [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] Description The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CCW power running or CW regeneration, or the limit value of the thrust of the linear servo motor for positive direction power running or negative direction regeneration.
  • Page 98: Chapter 13 Profile Position Mode Objects

    Profile Position Mode Objects 13.1 [Target position (Obj. 607Ah)] [Target position (Obj. 607Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO Refer to the pos units Impossible following. Description Set the position command used in the cyclic synchronous position mode (csp) and the profile position mode (pp). Check the setting value of [Gear ratio (Obj.
  • Page 99: Position Range Limit (Obj. 607Bh)]

    13.2 [Position range limit (Obj. 607Bh)] [Position range limit (Obj. 607Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Min position range limit (Obj. 607Bh: 01h)] Data Type Access Mapping...
  • Page 100: Software Position Limit (Obj. 607Dh)]

    13.3 [Software position limit (Obj. 607Dh)] [Software position limit (Obj. 607Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Min position limit (Obj. 607Dh: 01h)] Data Type Access Mapping...
  • Page 101: Max Profile Velocity (Obj. 607Fh)]

    13.4 [Max profile velocity (Obj. 607Fh)] [Max profile velocity (Obj. 607Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the vel units Possible Refer to the following. following. following. Description Set the speed limit value of the profile position mode (pp) and the profile velocity mode (pv). When a value exceeding the value in this object or in [Max motor speed (Obj.
  • Page 102: Profile Velocity (Obj. 6081H)]

    13.6 [Profile velocity (Obj. 6081h)] [Profile velocity (Obj. 6081h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Description Set the speed command used in the profile position mode (pp). If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0"...
  • Page 103: Profile Deceleration (Obj. 6084H)]

    13.8 [Profile deceleration (Obj. 6084h)] [Profile deceleration (Obj. 6084h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Description Set the deceleration time constant or the deceleration used in the profile position mode (pp) and the profile velocity mode (pv). The description of the object varies as shown in the table below depending on the settings of [Pr.
  • Page 104: Motion Profile Type (Obj. 6086H)]

    13.10 [Motion profile type (Obj. 6086h)] [Motion profile type (Obj. 6086h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -1 (fixed) Impossible Description Set the acceleration/deceleration pattern applied in the profile position mode (pp). The description is as follows. The value of this object always returns "-1".
  • Page 105: Chapter 14 Homing Mode Objects

    Homing Mode Objects 14.1 [Home offset (Obj. 607Ch)] [Home offset (Obj. 607Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO -2147483648 to pos units Possible [Pr. PT08] 2147483647 Description Set the difference between zero position of the machine coordinate system and homing position. 14.2 [Homing method (Obj.
  • Page 106: Homing Speeds (Obj. 6099H)]

    14.3 [Homing speeds (Obj. 6099h)] [Homing speeds (Obj. 6099h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Speed during search for switch (Obj. 6099h: 01h)] Data Type Access Mapping...
  • Page 107: Homing Acceleration (Obj. 609Ah)]

    14.4 [Homing acceleration (Obj. 609Ah)] [Homing acceleration (Obj. 609Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Description Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed. The description of the object varies as shown in the table below depending on the settings of [Pr.
  • Page 108: [1St Supported Homing Method (Obj. 60E3H: 01H)] - [41St Supported Homing Method (Obj. 60E3H: 29H)]

    [1st supported homing method (Obj. 60E3h: 01h)] - [41st supported homing method (Obj. 60E3h: 29h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Description The supported homing type is returned. "Range" is fixed to the value in "Default". The following table lists the homing methods and "Default"...
  • Page 109: Chapter 15 Factor Group Objects

    Factor Group Objects 15.1 [Polarity (Obj. 607Eh)] [Polarity (Obj. 607Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00h to E0h  Possible [Pr. PA14] [Pr. PC29.3] Description The rotation direction selection can be set. Description reserved reserved reserved reserved...
  • Page 110: Position Encoder Resolution (Obj. 608Fh)]

    15.2 [Position encoder resolution (Obj. 608Fh)] [Position encoder resolution (Obj. 608Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Encoder increments (Obj. 608Fh: 01h)] Data Type Access Mapping...
  • Page 111: Gear Ratio (Obj. 6091H)]

    15.3 [Gear ratio (Obj. 6091h)] [Gear ratio (Obj. 6091h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Motor revolutions (Obj. 6091h: 01h)] Data Type Access Mapping...
  • Page 112: Feed Constant (Obj. 6092H)]

    15.4 [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] is calculated from [Gear ratio (Obj. 6091h)] and [Feed constant (Obj. 6092h)] as follows. [Position actual internal value (Obj. 6063h)] × [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] = [Position encoder resolution (Obj.
  • Page 113: Unit Velocity (Obj. 60A9H)]

    15.6 [SI unit velocity (Obj. 60A9h)] [SI unit velocity (Obj. 60A9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Description The SI unit velocity is returned. The SI unit velocity is automatically set in accordance with the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr.
  • Page 114: Chapter 16 Optional Application Fe Objects

    Optional application FE Objects 16.1 [Digital inputs (Obj. 60FDh)] [Digital inputs (Obj. 60FDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 00000000h to Impossible 037F0007h Description The ON/OFF status of the input device connected to the servo amplifier is returned. Name DI pin CN3-2...
  • Page 115 Description EM2/EM1 Refer to the following for details. Page 115 EM2/EM1 (reserved) The value at reading is undefined. 24 to 31 (reserved) The value at reading is undefined. ■DI1 *2*3 [Pr. PC79.0] [Pr. PD03.0-1] [Pr. PD60.0] Description of DI1 Setting digit (BIN): _ _ x _ Setting digit (BIN): _ _ _ x ...
  • Page 116 ■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 117 ■DI5 *2*3 [Pr. PC79.1] [Pr. PD39.0-1] [Pr. PD60.1] Description of DI5 Setting digit (BIN): _ _ x Setting digit (BIN): _ _ _  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 118: Digital Outputs (Obj. 60Feh)]

    16.2 [Digital outputs (Obj. 60FEh)] [Digital outputs (Obj. 60FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Description The total number of Sub Indexes (= 2) is returned. [Physical outputs (Obj. 60FEh: 01h)] Data Type Access Mapping...
  • Page 119: [Bitmask (Obj. 60Feh: 02H)]

    [Bitmask (Obj. 60FEh: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00000000h 00000000h to  Impossible  000E0000h Description Set masks for the output devices connected to the servo amplifier. Description 0 to 16 (reserved) The value at reading is undefined. 0: DOA (general-purpose output A) disabled 1: DOA (general-purpose output A) enabled 0: DOB (general-purpose output B) disabled...
  • Page 120: Chapter 17 Cyclic Synchronous Position Mode Objects

    Cyclic Synchronous Position Mode Objects 17.1 [Position offset (Obj. 60B0h)] [Position offset (Obj. 60B0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 80000000h to pos units Impossible 7FFFFFFFh Description Set the position offset. 17.2 [Velocity offset (Obj. 60B1h)] [Velocity offset (Obj.
  • Page 121 MEMO 17 Cyclic Synchronous Position Mode Objects 17.3 [Torque offset (Obj. 60B2h)]...
  • Page 122: Revisions

    Degree unit, general-purpose output This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 123: Warranty

    WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 124: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies. IB(NA)-0300468ENG-C...
  • Page 126 IB(NA)-0300468ENG-C(2011)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.