Mitsubishi Electric Melservo J5 Series User Manual

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Mitsubishi Electric AC Servo System
MR-J5-G/MR-J5W-G
User's Manual
(Object Dictionary)
-MR-J5-_G_
-MR-J5W_-_G

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Table of Contents
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  Also See for Mitsubishi Electric Melservo J5 Series

  Summary of Contents for Mitsubishi Electric Melservo J5 Series

  • Page 1 Mitsubishi Electric AC Servo System MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) -MR-J5-_G_ -MR-J5W_-_G...
  • Page 3: Safety Instructions

    SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 4 [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 [1st PDO Config (Obj. 1C00h: 00h)] ............29 [PDO Assignment (Obj.
  • Page 8 [Current alarm (Obj. 2A41h: 00h)] ............38 [Parameter error number (Obj.
  • Page 9 7.16 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)] ....... . 45 [Load-side encoder information 1 Z-phase counter (Obj.
  • Page 10 [Dynamic relay ON/OFF number (Obj. 2C1Ah)] ..........52 [Dynamic relay ON/OFF number (Obj.
  • Page 11 8.29 [Supported Control DI (Obj. 2D00h)] ............60 [Supported Control DI (Obj.
  • Page 12 [Status DO 4 (Obj. 2D14h: 00h)] ............. 68 8.45 [Status DO 5 (Obj.
  • Page 13 CHAPTER 9 PDS Control Objects [Controlword (Obj. 6040h)] ..............77 [Controlword (Obj.
  • Page 14 [Target velocity (Obj. 60FFh: 00h)] ............92 CHAPTER 12 Profile Torque Mode Objects 12.1 [Target torque (Obj.
  • Page 15 [Homing method (Obj. 6098h: 00h)] ............102 14.3 [Homing speeds (Obj.
  • Page 16 16.9 [Touch probe 2 positive edge (Obj. 60BCh)]..........113 [Touch probe 2 positive edge (Obj.
  • Page 17: 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 18 MEMO 1 SUMMARY OF OBJECT DICTIONARY 1.1 Structure...
  • Page 19: Chapter 2 General Objects

    General Objects [Device Type (Obj. 1000h)] [Device Type (Obj. 1000h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00020192h 00020192h  Impossible  (fixed) Description Indicates supported profile information. The value "00020192h" which indicates a servo drive defined with the CiA 402 profile is returned.
  • Page 20: 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 21: 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 22: [Product Code (Obj. 1018H: 02H)]

    [Product Code (Obj. 1018h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Description The product code of the selected servo amplifier is returned. The following shows the product code for each model. •...
  • 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: 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 28: [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 29: 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 30: [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 31: 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 32: [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 33: [Error Handling (Obj. 1C01H: 03H)]

    [Error Handling (Obj. 1C01h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0001h 0000h to 0002h  Impossible  Description Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
  • Page 34: 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 The profile version of CANopen-compatible devices supported by the servo amplifier is returned. Symbol Description 0 to 3...
  • Page 35: 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 36: Chapter 5 Parameter Objects

    Parameter Objects [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] The values of the basic setting servo parameters ([Pr. PA _ _ ]) can be obtained and set. [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)] The values of the gain/filter setting servo parameters ([Pr. PB _ _ ]) can be obtained and set. [PC01 (Obj.
  • Page 37: 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 38: 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 39: [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 40: Clear Alarm History (Obj. 2A40H)]

    [Clear alarm history (Obj. 2A40h)] [Clear alarm history (Obj. 2A40h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to FFFFh Impossible Description Writing "1EA5h" clears the alarm history. When the object is read, "0000h" is returned. [Current alarm (Obj.
  • Page 41: [Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]

    [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 0000h 0000h to FFFFh Impossible Parameter error list Description During [AL. 037 Parameter error] occurrence, a list of servo parameter numbers that caused the alarm is returned. The descriptions of [Parameter error list 1 (Obj.
  • Page 42: [Drive Recorder History Index (Obj. 2A70H: 01H)]

    [Drive recorder history index (Obj. 2A70h: 01h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 9999 Impossible Description The save Index of the drive recorder is returned. [Drive recorder history index] displays drive record data using consecutive numbers from 0 to 9999. When data is recorded in the drive recorder, the number will increase.
  • Page 43: [Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]

    [Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 00000000h to  Impossible  FFFFFFFFh Description Returns the digits after the ones indicating a second in the recording time of the drive recorder as a 32-bit integer. A value is returned in units of nanoseconds, but only the values in milliseconds increase.
  • Page 44: Chapter 7 Monitor Objects

    Monitor Objects [Cumulative feedback pulses (Obj. 2B01h)] [Cumulative feedback pulses (Obj. 2B01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The cumulative feedback pulses are returned. The cumulative feedback pulses can be cleared by writing "00001EA5h". [Servo motor speed (Obj.
  • Page 45: Command Pulse Frequency (Obj. 2B05H)]

    [Command pulse frequency (Obj. 2B05h)] [Command pulse frequency (Obj. 2B05h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to kpulse/s Impossible 7FFFFFFFh Description The command pulse frequency is returned. [Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj.
  • Page 46: Within One-Revolution Position (Obj. 2B0Ch)]

    7.10 [Within one-revolution position (Obj. 2B0Ch)] [Within one-revolution position (Obj. 2B0Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The position within one-revolution (encoder pulse unit) is returned. 7.11 [ABS counter (Obj.
  • Page 47: Load-Side Cumulative Feedback Pulses (Obj. 2B10H)]

    7.14 [Load-side cumulative feedback pulses (Obj. 2B10h)] [Load-side cumulative feedback pulses (Obj. 2B10h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The cumulative feedback pulses from the load-side encoder are returned. 7.15 [Load-side droop pulses (Obj.
  • Page 48: Cumulative Encoder Out Pulses (Obj. 2B16H)]

    7.18 [Cumulative encoder out pulses (Obj. 2B16h)] [Cumulative encoder out pulses (Obj. 2B16h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The A/B-phase pulse output feedback total value is returned. 7.19 [Temperature of motor thermistor (Obj.
  • Page 49: Motor-Side/Load-Side Position Deviation (Obj. 2B23H)]

    7.22 [Motor-side/load-side position deviation (Obj. 2B23h)] [Motor-side/load-side position deviation (Obj. 2B23h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The motor/load-side position deviation (load-side encoder pulse unit) is returned. 7.23 [Motor-side/load-side speed deviation (Obj.
  • Page 50: Oscillation Detection Frequency (Obj. 2B27H)]

    7.26 [Oscillation detection frequency (Obj. 2B27h)] [Oscillation detection frequency (Obj. 2B27h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 8000h to 7FFFh Impossible Description The oscillation detection frequency is returned. 7.27 [Number of tough drive operations (Obj. 2B28h)] [Number of tough drive operations (Obj.
  • Page 51: Error Excessive Alarm Margin (Obj. 2B3Fh)]

    7.31 [Error excessive alarm margin (Obj. 2B3Fh)] [Error excessive alarm margin (Obj. 2B3Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to pulse Impossible 7FFFFFFFh Description The excessive error alarm margin (encoder pulse unit) is returned. 7.32 [Overload alarm margin (Obj.
  • Page 52: Unit Power Consumption 2 (Obj. 2B43H)]

    7.35 [Unit power consumption 2 (Obj. 2B43h)] [Unit power consumption 2 (Obj. 2B43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 80000000h to Impossible 7FFFFFFFh Description The unit power consumption is returned. 7 Monitor Objects 7.35 [Unit power consumption 2 (Obj.
  • Page 53: 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 54 [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 55 [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 56 8.11 [Oscillation frequency during motor stop (Obj. 2C25h)] [Oscillation frequency during motor stop (Obj. 2C25h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 Impossible Description The vibration frequency during stop and servo-lock is returned. 8.12 [Vibration level during motor stop (Obj.
  • Page 57 8.15 [Fault prediction status (Obj. 2C29h)] [Fault prediction status (Obj. 2C29h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Description The friction failure prediction status is returned. [Bit 0 to 3: Friction failure prediction status] 0: Friction failure prediction disabled 1: During preparation for friction failure prediction 2: During execution of friction failure prediction...
  • Page 58 8.16 [Friction based fault prediction upper threshold (Obj. 2C2Ah)] [Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Description The upper limit threshold for friction failure prediction is returned. 8.17 [Friction based fault prediction lower threshold (Obj.
  • Page 59 8.20 [Vibration based fault prediction prepare status (Obj. 2C2Eh)] [Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 100 Impossible Description The preparation progress for vibration failure prediction is returned. 8.21 [Machine total distance (Obj.
  • Page 60 8.24 [Static friction based fault prediction upper threshold (Obj. 2C33h)] [Static friction based fault prediction upper threshold (Obj. 2C33h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Description The upper limit threshold used for static friction failure prediction is displayed in increments of 0.1 % in relation to the rated torque as 100 %.
  • Page 61 8.28 [Phase current (Obj. 2C37h)] [Phase current (Obj. 2C37h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 3 (fixed) Impossible Description The total number of Sub Indexes (= 3) is returned. [U phase current (Obj. 2C37h: 01h)] Data Type Access Mapping...
  • Page 62 8.29 [Supported Control DI (Obj. 2D00h)] [Supported Control DI (Obj. 2D00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 10 (fixed) Impossible Description The number of supported Control DI is returned. [Supported Control DI 1 (Obj. 2D00h: 01h)] Data Type Access Mapping...
  • Page 63 [Supported Control DI 5 (Obj. 2D00h: 05h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 64 [Supported Control DI 10 (Obj. 2D00h: 0Ah)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of each bit, refer to the following.
  • Page 65 8.33 [Control DI 4 (Obj. 2D04h)] [Control DI 4 (Obj. 2D04h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-J5-G/MR-J5W-G User's Manual (Communication Function) 8.34 [Control DI 5 (Obj.
  • Page 66 8.37 [Control DI 8 (Obj. 2D08h)] [Control DI 8 (Obj. 2D08h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP 0000h 0000h to FFFFh Impossible Description The input device status is returned and set. Refer to the following for details. MR-J5-G/MR-J5W-G User's Manual (Communication Function) 8.38 [Control DI 9 (Obj.
  • Page 67 8.40 [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: [Status Do 4 (Obj. 2D14H: 00H)]

    8.44 [Status DO 4 (Obj. 2D14h)] [Status DO 4 (Obj. 2D14h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-J5-G/MR-J5W-G User's Manual (Communication Function) 8.45 [Status DO 5 (Obj.
  • Page 71: Status Do 8 (Obj. 2D18H)]

    8.48 [Status DO 8 (Obj. 2D18h)] [Status DO 8 (Obj. 2D18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0000h 0000h to FFFFh Impossible Description The output device status is returned. Refer to the following for details. MR-J5-G/MR-J5W-G User's Manual (Communication Function) 8.49 [Status DO 9 (Obj.
  • Page 72: Velocity Limit Value (Obj. 2D20H)]

    8.51 [Velocity limit value (Obj. 2D20h)] [Velocity limit value (Obj. 2D20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 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: Encoder Status (Obj. 2D35H)]

    8.54 [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: Scale Cycle Counter (Obj. 2D36H)]

    8.55 [Scale cycle counter (Obj. 2D36h)] [Scale cycle counter (Obj. 2D36h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP 0 to 4294967295 pulse Impossible Description The position within one-revolution of the scale measurement encoder is returned. The description varies depending on the scale measurement encoder type.
  • Page 75: Scale Measurement Encoder Resolution (Obj. 2D38H)]

    8.57 [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 Description The resolution of the scale measurement encoder is returned. When the scale measurement encoder is disabled, "0"...
  • Page 76: Motor Data 2 (Obj. 2D48H)]

    8.60 [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 77: [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. 8.61 [One-touch tuning mode (Obj. 2D50h)] [One-touch tuning mode (Obj. 2D50h: 00h)] Data Type Access Mapping...
  • Page 78: One-Touch Tuning Clear (Obj. 2D53H)]

    8.64 [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 79: Chapter 9 Pds Control Objects

    PDS Control Objects [Controlword (Obj. 6040h)] [Controlword (Obj. 6040h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 0000h 0000h to FFFFh  Impossible  Description PDS status switching command is given, or control commands are returned and set. Use bit 0 to bit 3 and bit 7 in the PDS status transition.
  • Page 80 ■[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) -104 (ct) *1 Available on servo amplifiers with firmware version A5 or later. *2 Available on servo amplifiers with firmware version B0 or later.
  • Page 81: Statusword (Obj. 6041H)]

    [Statusword (Obj. 6041h)] [Statusword (Obj. 6041h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 0000h to FFFFh Impossible Description The PDS status transition and other drive conditions are returned. Symbol Description RTSO Ready-to-switch-on Switch-on Operation-enabled Fault Voltage-enabled...
  • Page 82 ■[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 83 ■[Bit 13: OMS] Setting value Name Description 1 (pp) Following error 0: No following error 1: Following error 3 (pv) Max slippage error 0: Maximum slippage not reached 1: Maximum slippage reached (not supported) Max slippage is the maximum slippage of the asynchronous servo motor. ...
  • Page 84: 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 85: 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 86: 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   RXMAP Refer to the Impossible following. Description Set a control mode. Setting value Description No mode change/No mode assigned Profile position mode (pp) ...
  • Page 87: Modes Of Operation Display (Obj. 6061H)]

    [Modes of operation display (Obj. 6061h)] [Modes of operation display (Obj. 6061h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP Refer to the Impossible following. Description The current control mode is returned. Setting value Description No mode change/No mode assigned Profile position mode (pp)
  • Page 88: 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     TXMAP 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 89: Chapter 10 Position Control Function Objects

    Position Control Function Objects 10.1 [Position actual internal value (Obj. 6063h)] [Position actual internal value (Obj. 6063h: 00h)] Data Type Access Mapping Default Range Units Save Parameter TXMAP  -2147483648 to Impossible  2147483647 Description The current position is returned. 10.2 [Position actual value (Obj.
  • Page 90: Position Window (Obj. 6067H)]

    10.5 [Position window (Obj. 6067h)] [Position window (Obj. 6067h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RXMAP 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 91: Following Error Actual Value (Obj. 60F4H)]

    10.8 [Following error actual value (Obj. 60F4h)] [Following error actual value (Obj. 60F4h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TXMAP -2147483648 to pos units Impossible 2147483647 Description The droop pulses are returned. 10.9 [Control effort (Obj. 60FAh)] [Control effort (Obj.
  • 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   TXMAP -2147483648 to vel units Impossible 2147483647 Description The speed command is returned. The unit of the returned data varies depending on the combination of [Pr. PT01.1 Speed/ acceleration/deceleration unit selection] and the connected servo motor.
  • 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 RXMAP 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 RXMAP 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 RXMAP  -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: Torque Slope (Obj. 6087H)]

    12.5 [Torque slope (Obj. 6087h)] [Torque slope (Obj. 6087h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 0 to 10000000 0.1 %/s Possible [Pr. PT53] Description Set the amount of change in the torque command per second which is used in the profile torque mode. When "0" is set, the amount of change cannot be set.
  • Page 97: Negative Torque Limit Value (Obj. 60E1H)]

    12.8 [Negative torque limit value (Obj. 60E1h)] [Negative torque limit value (Obj. 60E1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RXMAP 0 to 10000 0.1 % Possible [Pr. PA11]/[Pr. PA12] Description The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CW power running or CCW regeneration, or the limit value of the thrust of the linear servo motor for negative direction power running or positive direction regeneration.
  • Page 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   RXMAP 80000000h to pos units Impossible 7FFFFFFFh 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: Software Position Limit (Obj. 607Dh)]

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

    13.4 [Max profile velocity (Obj. 607Fh)] [Max profile velocity (Obj. 607Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP Refer to the Refer to the vel units Possible Refer to the following. following. following. Description Set the speed limit value of the profile position mode (pp) and the profile velocity mode (pv). When a value exceeding the value in this object or in [Max motor speed (Obj.
  • Page 101: Profile Velocity (Obj. 6081H)]

    13.6 [Profile velocity (Obj. 6081h)] [Profile velocity (Obj. 6081h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Description Set the speed command used in the profile position mode (pp). If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0"...
  • Page 102: Profile Deceleration (Obj. 6084H)]

    13.8 [Profile deceleration (Obj. 6084h)] [Profile deceleration (Obj. 6084h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 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 [Pr.
  • Page 103: Motion Profile Type (Obj. 6086H)]

    13.10 [Motion profile type (Obj. 6086h)] [Motion profile type (Obj. 6086h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RXMAP -1 (fixed) Impossible Description Set the acceleration/deceleration pattern applied in the profile position mode (pp). The description is as follows. The value of this object always returns "-1".
  • Page 104: Chapter 14 Homing Mode Objects

    Homing Mode Objects 14.1 [Home offset (Obj. 607Ch)] [Home offset (Obj. 607Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter TXMAP -2147483648 to pos units Possible [Pr. PT08] 2147483647 Description Set the difference between zero position of the machine coordinate system and homing position. 14.2 [Homing method (Obj.
  • Page 105: [Speed During Search For Zero (Obj. 6099H: 02H)]

    [Speed during search for zero (Obj. 6099h: 02h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Description Set a creep speed after proximity dog at homing. If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0"...
  • Page 106: [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 107: Chapter 15 Factor Group Objects

    Factor Group Objects 15.1 [Polarity (Obj. 607Eh)] [Polarity (Obj. 607Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP 00h to E0h  Possible [Pr. PA14] [Pr. PC29.3] Description The rotation direction selection can be set. Description reserved reserved reserved reserved...
  • Page 108: [Motor Revolutions (Obj. 608Fh: 02H)]

    [Motor revolutions (Obj. 608Fh: 02h)] Data Type Access Mapping Default Range Units Save Parameter  TXMAP 1 (fixed) Impossible Description The number of revolutions of the servo motor is returned. The value for the number of revolutions of the servo motor is fixed to "1".
  • Page 109: [Feed Constant (Obj. 6092H: 00H)]

    [Feed constant (Obj. 6092h: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 2 (fixed)  Impossible  Description The total number of Sub Indexes (= 2) is returned. [Feed (Obj. 6092h: 01h)] Data Type Access Mapping Default Range Units Save...
  • Page 110: Unit Acceleration (Obj. 60Aah)]

    15.7 [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. Description The SI unit acceleration is returned. The SI unit acceleration is automatically set in accordance with the combination of [Pr. PT01.1 Speed/acceleration/ deceleration unit selection] and the connected servo motor.
  • Page 111: Chapter 16 Touch Probe Function Objects

    Touch Probe Function Objects 16.1 [Touch probe function 2 (Obj. 2DE8h)] [Touch probe function 2 (Obj. 2DE8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RXMAP  0000h to 0037h  Impossible  Description Set the detail of the touch probe function. Description 0: Touch probe 3 disabled 1: Touch probe 3 enabled...
  • Page 112: Touch Probe Status 2 (Obj. 2De9H)]

    16.2 [Touch probe status 2 (Obj. 2DE9h)] [Touch probe status 2 (Obj. 2DE9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 0000h to 00FFh Impossible Description The status of the touch probe function is returned. Description 0: Touch probe 3 disabled 1: Touch probe 3 enabled...
  • Page 113: Touch Probe Function (Obj. 60B8H)]

    16.5 [Touch probe function (Obj. 60B8h)] [Touch probe function (Obj. 60B8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    RXMAP 0000h to FFFFh Impossible Description Set the detail of the touch probe function. Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: Single trigger mode 1: Continuous trigger mode...
  • Page 114: Touch Probe Status (Obj. 60B9H)]

    16.6 [Touch probe status (Obj. 60B9h)] [Touch probe status (Obj. 60B9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 0000h to 0707h Impossible Description The status of the touch probe function is returned. When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0" is returned. Description 0: Touch probe 1 disabled 1: Touch probe 1 enabled...
  • Page 115: Touch Probe 1 Positive Edge (Obj. 60Bah)]

    16.7 [Touch probe 1 positive edge (Obj. 60BAh)] [Touch probe 1 positive edge (Obj. 60BAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TXMAP -2147483648 to pos units Impossible 2147483647 Description The position latched at the rising edge of touch probe 1 is returned. When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0"...
  • Page 116: Chapter 17 Optional Application Fe Objects

    Optional application FE Objects 17.1 [Digital inputs (Obj. 60FDh)] [Digital inputs (Obj. 60FDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TXMAP 00000000h to Impossible 037F0007h Description The ON/OFF status of the input device connected to the servo amplifier is returned. Name DI pin MR-J5-G...
  • Page 117 Description Refer to the following for details. Page 117 DI5 EM2/EM1 Refer to the following for details. Page 117 EM2/EM1 (reserved) The value at reading is undefined. Safe torque off 1 0: STO1 off 1: STO1 on Safe torque off 2 0: STO2 off 1: STO2 on 26 to 31...
  • Page 118 ■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 119 ■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 120: Chapter 18 Cyclic Synchronous Position Mode Objects

    Cyclic Synchronous Position Mode Objects 18.1 [Position offset (Obj. 60B0h)] [Position offset (Obj. 60B0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RXMAP 80000000h to pos units Impossible 7FFFFFFFh Description Set the position offset. 18.2 [Velocity offset (Obj. 60B1h)] [Velocity offset (Obj.
  • Page 121 MEMO 18 Cyclic Synchronous Position Mode Objects 18.3 [Torque offset (Obj. 60B2h)]...
  • Page 122: Revisions

    Continuous operation to torque control mode 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. SH(NA)-030304ENG-C...
  • Page 126 SH(NA)-030304ENG-C(2007)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:

Melservo mr-j5-gMelservo mr-j5w-gMelservo-jet mr-jet g seriesMelservo-j5 seriesMelservo mr-j5-g seriesMelservo mr-j5w-g series

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