Mitsubishi Electric MELSERVO-J5 Series User Manual
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Mitsubishi Electric MELSERVO-J5 Series User Manual

Ac servo system
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Mitsubishi Electric AC Servo System
MR-J5-G-N1/MR-J5W-G-N1
User's Manual
(Object Dictionary)
-MR-J5-_G_-_N1
-MR-J5W_-_G-N1

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Summary of Contents for Mitsubishi Electric MELSERVO-J5 Series

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

  • Page 3: Safety Instructions

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

  • Page 5: About The Manual

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

  • Page 6: Table Of Contents

    CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
  • Page 7 [4th Receive PDO Mapping (Obj. 1603h)] ........... . 29 [4th Receive PDO Mapping (Obj.
  • Page 8 CHAPTER 5 Parameter Objects [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] ........... . 42 [PB01 (Obj.
  • Page 9 [Servo motor speed (Obj. 2B02h)] ............51 [Servo motor speed (Obj.
  • Page 10 [Number of tough drive operations (Obj. 2B28h: 00h)] ..........57 7.28 [Internal temperature of amplifier (Obj.
  • Page 11 8.16 [Fault prediction status (Obj. 2C29h)] ............66 [Fault prediction status (Obj.
  • Page 12 8.35 [Control DI 5 (Obj. 2D05h)] ..............75 [Control DI 5 (Obj.
  • Page 13 [Serial Number 2 (Obj. 2D33h: 00h)] ............83 8.56 [Encoder status (Obj.
  • Page 14 CHAPTER 10 Position Control Function Objects 10.1 [Position demand value (Obj. 6062h)] ............100 [Position demand value (Obj.
  • Page 15 12.5 [Torque actual value (Obj. 6077h)] ............109 [Torque actual value (Obj.
  • Page 16 14.5 [Supported homing method (Obj. 60E3h)] ..........120 [Supported homing method (Obj.
  • Page 17 [Touch probe 2 negative edge (Obj. 60BDh: 00h)] ..........132 16.13 [Touch probe time stamp 1 positive value (Obj.

  • Page 18: 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 19: 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 20: Using Appropriate Object Numbers

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

  • Page 21: 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 22: 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 23: 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 24: 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 25: Error Settings (Obj. 10F1H)]

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

  • Page 26: Version Number (Obj. 67Feh)]

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

  • Page 27: 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 28: [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 29: 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 30: [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 31: 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 32: [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 33: 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 34: [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 35: 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 36: Chapter 4 Sync Manager Communication Objects

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

  • Page 37: Sync Manager Rxpdo Assign (Obj. 1C12H)]

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

  • Page 38: Sync Manager Txpdo Assign (Obj. 1C13H)]

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

  • Page 39: Sm Output Parameter (Obj. 1C32H)]

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

  • Page 40: [Synchronization Types Supported (Obj. 1C32H: 04H)]

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

  • Page 41: [Delay Time (Obj. 1C32H: 09H)]

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

  • Page 42: [Cycle Time (Obj. 1C33H: 02H)]

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

  • Page 43: [Minimum Cycle Time (Obj. 1C33H: 05H)]

    [Minimum Cycle Time (Obj. 1C33h: 05h)] Data Type Access Mapping Default Range Units Save Parameter Impossible   Impossible  Description The minimum communication cycle is returned. Servo amplifier Minimum communication cycle MR-J5-_G-_N1 125000 MR-J5W_-_G-N1 250000 [Calc and Copy Time (Obj. 1C33h: 06h)] Data Type Access Mapping...

  • Page 44: 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 45: 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 46: 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 47: [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 48: 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 49: 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 50: Reset Alarm (Obj. 2A46H)]

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

  • Page 51: [Drive Recorder History Power On Time (Obj. 2A70H: 03H)]

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

  • Page 52: Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]

    [Drive recorder history_1 (Obj. 2A71h)] - [Drive recorder history_15 (Obj. 2A7Fh)] The second (2A71h) to 16th (2A7Fh) of the latest history information in the drive recorder is returned. The description of each Sub Index is the same as that of [Drive recorder history newest (Obj. 2A70h)]. 6 Alarm Objects 6.9 [Drive recorder history_1 (Obj.

  • Page 53: 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 54 [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 55 7.10 [Within one-revolution position (Obj. 2B0Ch)] [Within one-revolution position (Obj. 2B0Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Description The position within one-revolution (encoder pulse unit) is returned. 7.11 [ABS counter (Obj.
  • Page 56 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   TxPDO 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 57 7.18 [Cumulative encoder out pulses (Obj. 2B16h)] [Cumulative encoder out pulses (Obj. 2B16h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Description The A/B-phase pulse output feedback total value is returned. 7.19 [Temperature of motor thermistor (Obj.
  • Page 58 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   TxPDO 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 59: [Number Of Tough Drive Operations (Obj. 2B28H: 00H)]

    7.26 [Oscillation detection frequency (Obj. 2B27h)] [Oscillation detection frequency (Obj. 2B27h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 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 60: 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   TxPDO 80000000h to pulse Impossible 7FFFFFFFh Description The excessive error alarm margin (encoder pulse unit) is returned. 7.32 [Overload alarm margin (Obj.

  • Page 61: 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   TxPDO 80000000h to Impossible 7FFFFFFFh Description The unit power consumption is returned. 7 Monitor Objects 7.35 [Unit power consumption 2 (Obj.

  • Page 62: 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 the single sampling ends in manual setting mode, this object returns "0"...

  • Page 63: 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 64: Power On Cumulative Time (Obj. 2C18H)]

    [Power ON cumulative time (Obj. 2C18h)] [Power ON cumulative time (Obj. 2C18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to hour Impossible FFFFFFFFh Description Returns the cumulative energization time of the servo amplifier. [Number of inrush relay on/off times (Obj.

  • Page 65: Machine Diagnostic Status (Obj. 2C20H)]

    [Machine diagnostic status (Obj. 2C20h)] [Machine diagnostic status (Obj. 2C20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Description The machine diagnostic status is returned. [Bit 0 to 3: Friction estimation status at forward rotation] 0: Estimation in progress.

  • Page 66: 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 67: Oscillation Frequency During Motor Stop (Obj. 2C25H)]

    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 68: Fault Prediction Status (Obj. 2C29H)]

    8.16 [Fault prediction status (Obj. 2C29h)] [Fault prediction status (Obj. 2C29h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh 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 69: Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)]

    8.17 [Friction based fault prediction upper threshold (Obj. 2C2Ah)] [Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Description The upper limit threshold for friction failure prediction is returned. 8.18 [Friction based fault prediction lower threshold (Obj.

  • Page 70: Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh)]

    8.21 [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. 8.22 [Machine total distance (Obj.

  • Page 71: Static Friction Based Fault Prediction Upper Threshold (Obj. 2C33H)]

    8.25 [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 72: Phase Current (Obj. 2C37H)]

    8.29 [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 73: Supported Control Di (Obj. 2D00H)]

    8.30 [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 74: [Supported Control Di 5 (Obj. 2D00H: 05H)]

    [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 75: [Supported Control Di 10 (Obj. 2D00H: 0Ah)]

    [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 76: Control Di 1 (Obj. 2D01H)]

    8.31 [Control DI 1 (Obj. 2D01h)] [Control DI 1 (Obj. 2D01h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.32 [Control DI 2 (Obj.

  • Page 77: Control Di 4 (Obj. 2D04H)]

    8.34 [Control DI 4 (Obj. 2D04h)] [Control DI 4 (Obj. 2D04h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.35 [Control DI 5 (Obj.
  • Page 78 8.38 [Control DI 8 (Obj. 2D08h)] [Control DI 8 (Obj. 2D08h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.39 [Control DI 9 (Obj.
  • Page 79 8.41 [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 80 [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 81 [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 82 8.42 [Status DO 1 (Obj. 2D11h)] [Status DO 1 (Obj. 2D11h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.43 [Status DO 2 (Obj.
  • Page 83 8.46 [Status DO 5 (Obj. 2D15h)] [Status DO 5 (Obj. 2D15h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.47 [Status DO 6 (Obj.
  • Page 84 8.50 [Status DO 9 (Obj. 2D19h)] [Status DO 9 (Obj. 2D19h: 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-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function) 8.51 [Status DO 10 (Obj.

  • Page 85: [Serial Number 2 (Obj. 2D33H: 00H)]

    8.53 [Motor rated speed (Obj. 2D28h)] [Motor rated speed (Obj. 2D28h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 Refer to the Impossible following. Description The servo motor rated speed is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.

  • Page 86: Encoder Status (Obj. 2D35H)]

    8.56 [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 87: Scale Cycle Counter (Obj. 2D36H)]

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

  • Page 88: Scale Measurement Encoder Resolution (Obj. 2D38H)]

    8.59 [Scale measurement encoder resolution (Obj. 2D38h)] [Scale measurement encoder resolution (Obj. 2D38h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 inc/rev Impossible Description The resolution of the scale measurement encoder is returned. When the scale measurement encoder is disabled, "0"...

  • Page 89: Motor Data 2 (Obj. 2D48H)]

    8.62 [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 90: [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 Manufacturer Specific Control Object 8.62 [Motor data 2 (Obj. 2D48h)]...

  • Page 91: One-Touch Tuning Mode (Obj. 2D50H)]

    8.63 [One-touch tuning mode (Obj. 2D50h)] [One-touch tuning mode (Obj. 2D50h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 03h Impossible Description One-touch tuning command is returned and set. After one-touch tuning, the setting value automatically changes to "0". 0: One-touch tuning stop in progress 1: Basic mode 2: High mode...

  • Page 92: One-Touch Tuning Clear (Obj. 2D53H)]

    8.66 [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 93: Chapter 9 Pds Control Objects

    PDS Control Objects [Error code (Obj. 603Fh)] [Error code (Obj. 603Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO 0000h 0000h to FFFFh  Impossible  Description The No. of the latest error which occurred after power-on is returned. When [AL.
  • Page 94 ■[Bit 4: OMS] Setting value Symbol Description 1 (pp) New set-point Obtains a new positioning parameter at bit rising 3 (pv)   4 (tq) 6 (hm) Homing operation start 0: Do not start homing procedure 1: Start or continue homing procedure ...

  • Page 95: 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 96 ■[Bit 10: OMS] Setting value Name Description 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 97: Quick Stop Option Code (Obj. 605Ah)]

    ■[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 98: 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 99: 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 100: 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 101: 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 102: Chapter 10 Position Control Function Objects

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

  • Page 103: Following Error Time Out (Obj. 6066H)]

    10.5 [Following error time out (Obj. 6066h)] [Following error time out (Obj. 6066h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 0 to 65535 Possible [Pr. PC69] Description Refer to the following object. Page 100 [Following error window (Obj. 6065h)] 10.6 [Position window (Obj.

  • Page 104: Positioning Option Code (Obj. 60F2H)]

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

  • Page 105: Control Effort (Obj. 60Fah)]

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

  • Page 106: 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 107: 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 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 108: 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 105 [Velocity threshold (Obj. 606Fh)] 11.7 [Target velocity (Obj.

  • Page 109: Chapter 12 Profile Torque Mode Objects

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

  • Page 110: [Negative Torque Limit Value 2 (Obj. 2D6Dh: 03H)]

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

  • Page 111: Torque Actual Value (Obj. 6077H)]

    12.5 [Torque actual value (Obj. 6077h)] [Torque actual value (Obj. 6077h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -32768 to 32767 0.1 % Impossible Description The current torque is returned. 12.6 [Current actual value (Obj. 6078h)] [Current actual value (Obj.

  • Page 112: Positive Torque Limit Value (Obj. 60E0H)]

    12.9 [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 113: 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 114: 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 115: 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 116: 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 117: 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] is set to "0" and the set speed exceeds 8000 r/ min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s).

  • Page 118: 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 119: 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 120: 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 121: 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 122: 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 123: [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 124: 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 125: 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 126: 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 127: 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 128: Unit Position (Obj. 60A8H)]

    15.5 [SI unit position (Obj. 60A8h)] [SI unit position (Obj. 60A8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Description This object value is automatically set in accordance with [Pr. PT01.2 Unit for position data]. [Pr.

  • Page 129: 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 RxPDO  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 130: 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    TxPDO 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 131: Touch Probe Time Stamp 3 Positive Value (Obj. 2Df8H)]

    16.5 [Touch probe time stamp 3 positive value (Obj. 2DF8h)] [Touch probe time stamp 3 positive value (Obj. 2DF8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Description The time stamp latched at the rising edge of touch probe 3 (the lower 32 bits of the network time (unit: ns)) is returned. "0"...

  • Page 132: Touch Probe Function (Obj. 60B8H)]

    16.7 [Touch probe function (Obj. 60B8h)] [Touch probe function (Obj. 60B8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    RxPDO 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 133: Touch Probe Status (Obj. 60B9H)]

    16.8 [Touch probe status (Obj. 60B9h)] [Touch probe status (Obj. 60B9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to 0707h Impossible 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 134: Touch Probe 1 Positive Edge (Obj. 60Bah)]

    16.9 [Touch probe 1 positive edge (Obj. 60BAh)] [Touch probe 1 positive edge (Obj. 60BAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 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 135: Touch Probe Time Stamp 1 Positive Value (Obj. 60D1H)]

    16.13 [Touch probe time stamp 1 positive value (Obj. 60D1h)] [Touch probe time stamp 1 positive value (Obj. 60D1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Description The time stamp latched at the rising edge of touch probe 1 (the lower 32 bits of the network time (unit: ns)) is returned. "0"...

  • Page 136: Touch Probe Time Stamp 2 Positive Value (Obj. 60D3H)]

    16.15 [Touch probe time stamp 2 positive value (Obj. 60D3h)] [Touch probe time stamp 2 positive value (Obj. 60D3h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Description The time stamp latched at the rising edge of touch probe 2 (the lower 32 bits of the network time (unit: ns)) is returned. "0"...

  • Page 137: 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 TxPDO  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-N1...
  • Page 138 Description Negative limit switch The output can be reversed with the [Pr. PC76.3 Limit switch status read selection] setting. When [Pr. PA14] is set to "0": 0: LSN (Reverse rotation stroke end) off 1: LSN (Reverse rotation stroke end) on When [Pr.
  • Page 139 ■DI1 *2*3 [Pr. PC79.0] [Pr. PD03.0-1] [Pr. PD60.0] Description of DI1 Setting digit (BIN): _ _ x _ Setting digit (BIN): _ _ _ x With assigned function  0: Input device selected with [Pr. PD03.0-1] is turned off 1: Input device selected with [Pr. PD03.0-1] is turned on No assigned function 0: Input 0 V to DI1 pin 1: Input 24 V to DI1 pin...
  • Page 140 ■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 141 ■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 142: Digital Outputs (Obj. 60Feh)]

    17.2 [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 143: [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 144: 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  RxPDO 80000000h to pos units Impossible 7FFFFFFFh Description Set the position offset. 18.2 [Velocity offset (Obj. 60B1h)] [Velocity offset (Obj.
  • Page 145 MEMO 18 Cyclic Synchronous Position Mode Objects 18.3 [Torque offset (Obj. 60B2h)]...

  • Page 146: Revisions

    Degree unit, touch probe 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 147: 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 148: Trademarks

    TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.  EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 150 SH(NA)-030376ENG-C(2011)MEE MODEL: MODEL CODE: HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications are subject to change without notice.

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