Page 1 Mitsubishi Electric AC Servo System MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Object Dictionary) -MR-J5-_G_-_N1 -MR-J5W_-_G-_N1 -MR-J5D_-_G_-_N1...
Page 3: Safety Instructions
SAFETY INSTRUCTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
Page 4 [Installation/wiring] WARNING ● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for the converter unit/drive unit) before starting wiring and/or inspection. ● To prevent an electric shock, ground the servo amplifier. ●...
Page 5: About The Manual
ABOUT THE MANUAL e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool. e-Manuals enable the following: • Searching for desired information in multiple manuals at the same time (manual cross searching) • Jumping from a link in a manual to another manual for reference •...
Page 6: U.s. Customary Units
U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia...
Page 7: Table Of Contents
CONTENTS SAFETY INSTRUCTIONS..............1 ABOUT THE MANUAL .
Page 8 [Manufacturer Software Version (Obj. 100Ah)] ..........53 [Manufacturer Software Version (Obj.
Page 9 [9th Transmit PDO Mapping (Obj. 1A08h: 00h)] ..........81 [Mapped Object 001 (Obj.
Page 10 [PC01 (Obj. 2101h)] - [PC96 (Obj. 2160h)] ........... 106 [PD01 (Obj.
Page 11 CHAPTER 8 Monitor Objects [Cumulative feedback pulses (Obj. 2B01h)] ..........119 [Cumulative feedback pulses (Obj.
Page 12 [Settling time (Obj. 2B26h: 00h)] ............128 8.26 [Oscillation detection frequency (Obj.
Page 13 [Number of inrush relay on/off times (Obj. 2C19h)] ......... . . 140 [Number of inrush relay on/off times (Obj.
Page 14 [V phase current (Obj. 2C37h: 02h)] ............150 [W phase current (Obj.
Page 15 [Status DO 3 (Obj. 2D13h: 00h)] ............162 9.45 [Status DO 4 (Obj.
Page 16 9.67 [One-touch tuning Error Code (Obj. 2D54h)] ..........175 [One-touch tuning Error Code (Obj.
Page 17 CHAPTER 10 PDS Control Objects 10.1 [Error code (Obj. 603Fh)] ..............189 [Error code (Obj.
Page 18 [Velocity threshold (Obj. 606Fh: 00h)] ............209 12.6 [Velocity threshold time (Obj.
Page 19 14.6 [Profile velocity (Obj. 6081h)] ............. 223 [Profile velocity (Obj.
Page 20 CHAPTER 17 Factor Group Objects 17.1 [Polarity (Obj. 607Eh)] ..............240 [Polarity (Obj.
Page 21 [Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)] ........254 18.15 [Touch probe time stamp 2 positive value (Obj.
Page 22 21.9 [Latched Device Warning Details (Obj. F391h)] ..........275 [Latched Device Warning Details (Obj.
Page 23 21.21 [Total time powered (Obj. F9F7h)] ............292 [Total time powered (Obj.
Page 24 [FSoE Master CRC_5 (Obj. E700h:08h)] ........... . . 309 22.3 [FSoE Communication Parameter (Obj.
Page 25 REVISIONS ................324 WARRANTY .
Page 26: 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 27: Object Units
Object units This section explains the pos units, vel units, and acc units used in this manual. The degree unit is available on servo amplifiers with firmware version B6 or later. The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).
Page 28: 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. For EtherCAT •...
Page 29 When the safety communication function is used When using the safety communication function (FSoE), refer to the following figures and to use appropriate object numbers. • 1-axis servo amplifier Communication Objects (1000h to 1FFFh) 1600h to 1603h RxPDOs 1608h 1A00h to 1A03h TxPDOs 1A08h Manufacturer-specific Objects...
Page 30: For Ethernet/Ip
For EtherNet/IP • 1-axis servo amplifier Communication Objects (1000h to 1FFFh) I/O Communication (Input) 1600h I/O Communication (Output) 1A00h 2000h to 2FFFh Manufacturer-specific Objects CiA 402 Drive Objects 6000h to 67FFh EtherNet/IP Interface • Multi-axis servo amplifier Communication Objects (1000h to 1FFFh) I/O Communication (Input) 1600h 1610h...
Page 31: Reading/Writing In Mr Configurator2
Reading/Writing in MR Configurator2 The objects of the servo amplifier can be read and written by using MR Configurator2. The following combinations can be used to read and write the objects. However, some objects cannot be read or written.  Software version of MR Configurator2 Firmware version of the servo amplifier Object reading...
Page 32: Notation Related To Objects For Each Communication Type
Notation related to objects for each communication type For EtherNet/IP When using EtherNet/IP, read the object dictionary as follows. Model Index Sub Index Access (R/W) Data Type Mapping (RxPDO, TxPDO) Page 30 Table for EtherNet/IP Ins ID Attr ID RO: Get RxPDO: IO communication mapping WO: Set reading Data Type...
Page 33: Chapter 2 Object Dictionary List
OBJECT DICTIONARY LIST Section definition of object dictionary The following shows the structure of an object dictionary. Index Description Reference Page 52 General Objects 1000h to 1FFFh Communication profile Page 61 PDO Mapping Objects Page 89 Sync Manager Communication Objects Page 106 Parameter Objects 2000h to 27FFh Servo parameter...
Page 34: General Objects
General Objects Index Object name (Index) Sub Index Object name (Sub Index) 1000h Device Type Device Type 1001h Error Register Error Register 1008h Manufacturer Device Name Manufacturer Device Name 1009h Manufacturer Hardware Version Manufacturer Hardware Version 100Ah Manufacturer Software Version Manufacturer Software Version 1010h Store parameters...
Page 35: Pdo Mapping Objects
PDO Mapping Objects Index Object name (Index) Sub Index Object name (Sub Index) 1600h 1st Receive PDO Mapping 1st Receive PDO Mapping Mapped Object 001   Mapped Object 032 1601h 2nd Receive PDO Mapping 2nd Receive PDO Mapping Mapped Object 001 ...
Page 36: Sync Manager Communication Objects
Sync Manager Communication Objects Index Object name (Index) Sub Index Object name (Sub Index) 1C00h Sync Manager Communication Type Sync Manager Communication Type Sync Manager 0 Sync Manager 1 Sync Manager 2 Sync Manager 3 1C12h Sync Manager RxPDO assign Sync Manager RxPDO assign Assigned PDO 001 Assigned PDO 002...
Page 37: Parameter Objects
Parameter Objects Index Object name (Index) Sub Index Object name (Sub Index)   2001h PA01   202Ch PA44   2081h PB01   20DCh PB92   2101h PC01   2160h PC96 2181h PD01   ...
Page 38: Alarm Objects
Alarm Objects Index Object name (Index) Sub Index Object name (Sub Index) 2A00h Alarm history newest Alarm history newest Alarm No. Alarm time (Hour) Alarm2 No. Alarm time (second) Alarm time (nanosecond) Alarm time (time zone) Alarm time (summer time) ...
Page 39: Monitor Objects
Monitor Objects Index Object name (Index) Sub Index Object name (Sub Index) 2B01h Cumulative feedback pulses Cumulative feedback pulses 2B02h Servo motor speed Servo motor speed 2B03h Droop pulses Droop pulses 2B04h Cumulative command pulses Cumulative command pulses 2B05h Command pulse frequency Command pulse frequency 2B08h Regenerative load ratio...
Page 40 Index Object name (Index) Sub Index Object name (Sub Index) 2B49h Converter regenerative load ratio Converter regenerative load ratio 2B4Ah Converter effective load ratio Converter effective load ratio 2DC5h FSoE safety statusword monitor FSoE safety statusword monitor FSoE safety statusword 1 monitor 2DC6h FSoE safety controlword monitor FSoE safety controlword monitor...
Page 41: Manufacturer Specific Control Objects
Manufacturer Specific Control Objects Index Object name (Index) Sub Index Object name (Sub Index) 2C02h Drive recorder status Drive recorder status 2C03h Clear drive recorder history Clear drive recorder history 2C11h External output pin display External output pin display External output pin display1 2C18h Power ON cumulative time Power ON cumulative time...
Page 42 Index Object name (Index) Sub Index Object name (Sub Index) 2D00h Supported Control DI Supported Control DI Supported Control DI 1 Supported Control DI 2 Supported Control DI 3 Supported Control DI 4 Supported Control DI 5 Supported Control DI 6 Supported Control DI 7 Supported Control DI 8 Supported Control DI 9...
Page 43 Index Object name (Index) Sub Index Object name (Sub Index) 2D28h Motor rated speed Motor rated speed 2D30h Manufacturer Device Name 2 Manufacturer Device Name 2 2D33h Serial Number 2 Serial Number 2 2D35h Encoder status Encoder status Encoder status 1 Encoder status 2 2D46h Servo motor serial number...
Page 44: Pds Control Objects
Index Object name (Index) Sub Index Object name (Sub Index) 2E02h User defined output data monitor User defined output data monitor User defined output data monitor 0 User defined output data monitor 1 User defined output data monitor 2 User defined output data monitor 3 User defined output data monitor 4 User defined output data monitor 5 User defined output data monitor 6...
Page 45: Position Control Function Objects
2.10 Position Control Function Objects Index Object name (Index) Sub Index Object name (Sub Index) 6062h Position demand value Position demand value 6063h Position actual internal value Position actual internal value 6064h Position actual value Position actual value 6065h Following error window Following error window 6066h Following error time out...
Page 46: Profile Torque Mode Objects
2.12 Profile Torque Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 2D6Dh Positive/Negative torque limit 2 Positive/Negative torque limit 2 setting Positive/Negative torque limit 2 select Positive torque limit value 2 Negative torque limit value 2 6071h Target torque Target torque...
Page 47: Homing Mode Objects
2.14 Homing Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 607Ch Home offset Home offset 6098h Homing method Homing method 6099h Homing speeds Homing speeds Speed during search for switch Speed during search for zero 609Ah Homing acceleration Homing acceleration 60E3h...
Page 48: Factor Group Objects
2.16 Factor Group Objects Index Object name (Index) Sub Index Object name (Sub Index) 607Eh Polarity Polarity 608Fh Position encoder resolution Position encoder resolution Encoder increments Motor revolutions 6091h Gear ratio Gear ratio Motor revolutions Shaft revolutions 6092h Feed constant Feed constant Feed Shaft revolutions...
Page 49: 2.18 Optional Application Fe Objects
2.18 Optional Application FE Objects Index Object name (Index) Sub Index Object name (Sub Index) 60FDh Digital inputs Digital inputs 60FEh Digital outputs Digital outputs Physical outputs Bitmask 2.19 Cyclic Synchronous Position Mode Objects Index Object name (Index) Sub Index Object name (Sub Index) 60B0h Position offset...
Page 50 Index Object name (Index) Sub Index Object name (Sub Index) F3A1h Device Warning Mask Device Warning Mask Device Warning Mask Device Warning Mask Device Warning Mask F3A3h Device Error Mask Device Error Mask Device Error Mask Device Error Mask Device Error Mask F6F0h Input Latch Local Timestamp Input Latch Local Timestamp...
Page 51 Index Object name (Index) Sub Index Object name (Sub Index) FBF2h Store Parameters Command Store Parameters Command Command Status Response FBF3h Calculate Checksum Command Calculate Checksum Command Command Status Response FBF4h Load Parameters Command Load Parameters Command Command Status Response 2 OBJECT DICTIONARY LIST 2.20 SEMI Device Profile Objects...
Page 52: Safety Over Ethercat Objects
2.21 Safety Over EtherCAT Objects Index Object name (Index) Sub Index Object name (Sub Index) E600h FSoE Slave Frame elements FSoE Slave Frame elements FSoE Slave Command FSoE Slave ConnectionID FSoE Slave CRC_0 FSoE Slave CRC_1 FSoE Slave CRC_2 FSoE Slave CRC_3 FSoE Slave CRC_4 FSoE Slave CRC_5 E700h...
Page 53 Index Object name (Index) Sub Index Object name (Sub Index) F601h SafeInputs SafeInputs STO Status SSM Status SOS Status Error SS1 Status SS2 Status SDIP Status SDIN Status SLS1 Status SLS2 Status SLS3 Status SLS4 Status SBC Status SLI Status SLT1 Status SLT2 Status SLT3 Status...
Page 54: Chapter 3 General Objects
General Objects [Device Type (Obj. 1000h)] [Device Type (Obj. 1000h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00020192h 00020192h Impossible (fixed) Supported firmware version           ...
Page 55: Manufacturer Device Name (Obj. 1008H)]
[Manufacturer Device Name (Obj. 1008h)] [Manufacturer Device Name (Obj. 1008h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Supported firmware version          ...
Page 56: Store Parameters (Obj. 1010H)]
[Store parameters (Obj. 1010h)] [Store parameters (Obj. 1010h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version             Description The total number of Sub Indexes is returned.
Page 57: Restore Default Parameters (Obj. 1011H)]
[Restore default parameters (Obj. 1011h)] [Restore default parameters (Obj. 1011h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version            ...
Page 58: Identity Object (Obj. 1018H)]
[Identity Object (Obj. 1018h)] [Identity Object (Obj. 1018h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Supported firmware version              Description The total number of Sub Indexes is returned.
Page 59: [Revision Number (Obj. 1018H: 03H)]
[Revision Number (Obj. 1018h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00000000h to  Impossible  FFFFFFFFh Supported firmware version              Description The revision number of the selected servo amplifier is returned. [Serial Number (Obj.
Page 60: Error Settings (Obj. 10F1H)]
[Error Settings (Obj. 10F1h)] [Error Settings (Obj. 10F1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 02h (fixed) Impossible Supported firmware version              Description The total number of Sub Indexes is returned.
Page 61: Version Number (Obj. 67Feh)]
3.10 [Version number (Obj. 67FEh)] [Version number (Obj. 67FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00040100h 00040100h Impossible (fixed) Supported firmware version            ...
Page 62: Detected Module List (Obj. F050H)]
3.11 [Detected Module List (Obj. F050h)] [Detected Module List (Obj. F050h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version            ...
Page 63: Chapter 4 Pdo Mapping Objects
PDO Mapping Objects [1st Receive PDO Mapping (Obj. 1600h)] [1st Receive PDO Mapping (Obj. 1600h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version    ...
Page 64: [Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 65 ■For EtherNet/IP The I/O communication mapping (input) is returned. Index Name Default 1600h 1st Receive PDO Mapping Mapped Object 001 60600008h Mapped Object 002 00000008h Mapped Object 003 60400010h Mapped Object 004 2D010010h Mapped Object 005 2D020010h Mapped Object 006 2D030010h Mapped Object 007 607A0020h...
Page 66: 2Nd Receive Pdo Mapping (Obj. 1601H)]
[2nd Receive PDO Mapping (Obj. 1601h)] [2nd Receive PDO Mapping (Obj. 1601h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...
Page 67: [Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 68: 3Rd Receive Pdo Mapping (Obj. 1602H)]
[3rd Receive PDO Mapping (Obj. 1602h)] [3rd Receive PDO Mapping (Obj. 1602h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...
Page 69: [Mapped Object 001 (Obj. 1602H: 01H)] - [Mapped Object 032 (Obj. 1602H: 20H)]
[Mapped Object 001 (Obj. 1602h: 01h)] - [Mapped Object 032 (Obj. 1602h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 70: 4Th Receive Pdo Mapping (Obj. 1603H)]
[4th Receive PDO Mapping (Obj. 1603h)] [4th Receive PDO Mapping (Obj. 1603h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...
Page 71: [Mapped Object 001 (Obj. 1608H: 01H)] - [Mapped Object 104 (Obj. 1608H: 68H)]
[Mapped Object 001 (Obj. 1608h: 01h)] - [Mapped Object 104 (Obj. 1608h: 68h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 72 ■1-axis servo amplifier Index Name Default 1608h 9th Receive PDO Mapping Mapped Object 001 E7000108h Mapped Object 002 F7010101h Mapped Object 003 F7010201h Mapped Object 004 F7010301h Mapped Object 005 00000001h Mapped Object 006 00000001h Mapped Object 007 F7010401h Mapped Object 008 F7010501h Mapped Object 009 F7010601h...
Page 73 ■2-axis servo amplifier Index Name Default 1608h 9th Receive PDO Mapping Mapped Object 001 E7000108h Mapped Object 002 F7010101h Mapped Object 003 F7010201h Mapped Object 004 F7010301h Mapped Object 005 00000001h Mapped Object 006 00000001h Mapped Object 007 F7010401h Mapped Object 008 F7010501h Mapped Object 009 F7010601h...
Page 74 Index Name Default 1608h Mapped Object 049 F7110C01h Mapped Object 050 F7110D01h Mapped Object 051 F7110E01h Mapped Object 052 E7000510h Mapped Object 053 F7110F01h Mapped Object 054 00000001h Mapped Object 055 00000001h Mapped Object 056 00000001h Mapped Object 057 00000001h Mapped Object 058 00000001h Mapped Object 059...
Page 75 ■3-axis servo amplifier Index Name Default 1608h 9th Receive PDO Mapping Mapped Object 001 E7000108h Mapped Object 002 F7010101h Mapped Object 003 F7010201h Mapped Object 004 F7010301h Mapped Object 005 00000001h Mapped Object 006 00000001h Mapped Object 007 F7010401h Mapped Object 008 F7010501h Mapped Object 009 F7010601h...
Page 76 Index Name Default 1608h Mapped Object 049 F7110C01h Mapped Object 050 F7110D01h Mapped Object 051 F7110E01h Mapped Object 052 E7000510h Mapped Object 053 F7110F01h Mapped Object 054 00000001h Mapped Object 055 00000001h Mapped Object 056 00000001h Mapped Object 057 00000001h Mapped Object 058 00000001h Mapped Object 059...
Page 77 Index Name Default 1608h Mapped Object 097 00000001h Mapped Object 098 00000001h Mapped Object 099 00000001h Mapped Object 100 00000001h Mapped Object 101 00000001h Mapped Object 102 00000001h Mapped Object 103 E7000810h Mapped Object 104 E7000210h 4 PDO Mapping Objects 4.5 [9th Receive PDO Mapping (Obj.
Page 78: 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 Supported firmware version       ...
Page 79: [Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 80 ■For EtherNet/IP The I/O communication mapping (output) is returned. Index Name Default 1A00h 1st Transmit PDO Mapping Mapped Object 001 60610008h Mapped Object 002 00000008h Mapped Object 003 60410010h Mapped Object 004 2D110010h Mapped Object 005 2D120010h Mapped Object 006 2D130010h Mapped Object 007 60640020h...
Page 81: 2Nd Transmit Pdo Mapping (Obj. 1A01H)]
[2nd Transmit PDO Mapping (Obj. 1A01h)] [2nd Transmit PDO Mapping (Obj. 1A01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...
Page 82: [Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 83: 3Rd Transmit Pdo Mapping (Obj. 1A02H)]
[3rd Transmit PDO Mapping (Obj. 1A02h)] [3rd Transmit PDO Mapping (Obj. 1A02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 20h Impossible PDO mapping Supported firmware version       ...
Page 84: [Mapped Object 001 (Obj. 1A08H: 01H)] - [Mapped Object 104 (Obj. 1A08H: 68H)]
[Mapped Object 001 (Obj. 1A08h: 01h)] - [Mapped Object 104 (Obj. 1A08h: 68h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to Impossible PDO mapping FFFFFFFFh Supported firmware version       ...
Page 85 ■1-axis servo amplifier Index Name Default 1A08h 9th Transmit PDO Mapping Mapped Object 001 E6000108h Mapped Object 002 F6010101h Mapped Object 003 F6010201h Mapped Object 004 00000001h Mapped Object 005 F6010301h Mapped Object 006 00000001h Mapped Object 007 00000001h Mapped Object 008 00000001h Mapped Object 009 F6010401h...
Page 86 ■2-axis servo amplifier Index Name Default 1A08h 9th Transmit PDO Mapping Mapped Object 001 E6000108h Mapped Object 002 F6010101h Mapped Object 003 F6010201h Mapped Object 004 00000001h Mapped Object 005 F6010301h Mapped Object 006 00000001h Mapped Object 007 00000001h Mapped Object 008 00000001h Mapped Object 009 F6010401h...
Page 87 Index Name Default 1A08h Mapped Object 049 F6110A01h Mapped Object 050 F6110B01h Mapped Object 051 F6110C01h Mapped Object 052 E6000510h Mapped Object 053 F6110D01h Mapped Object 054 F6110E01h Mapped Object 055 F6110F01h Mapped Object 056 F6111001h Mapped Object 057 F6111101h Mapped Object 058 F6111201h Mapped Object 059...
Page 88 ■3-axis servo amplifier Index Name Default 1A08h 9th Transmit PDO Mapping Mapped Object 001 E6000108h Mapped Object 002 F6010101h Mapped Object 003 F6010201h Mapped Object 004 00000001h Mapped Object 005 F6010301h Mapped Object 006 00000001h Mapped Object 007 00000001h Mapped Object 008 00000001h Mapped Object 009 F6010401h...
Page 89 Index Name Default 1A08h Mapped Object 049 F6110A01h Mapped Object 050 F6110B01h Mapped Object 051 F6110C01h Mapped Object 052 E6000510h Mapped Object 053 F6110D01h Mapped Object 054 F6110E01h Mapped Object 055 F6110F01h Mapped Object 056 F6111001h Mapped Object 057 F6111101h Mapped Object 058 F6111201h Mapped Object 059...
Page 90 Index Name Default 1A08h Mapped Object 097 00000001h Mapped Object 098 00000001h Mapped Object 099 00000001h Mapped Object 100 00000001h Mapped Object 101 00000001h Mapped Object 102 00000001h Mapped Object 103 E6000810h Mapped Object 104 E6000210h 4 PDO Mapping Objects 4.10 [9th Transmit PDO Mapping (Obj.
Page 91: Chapter 5 Sync Manager Communication Objects
Sync Manager Communication Objects [Sync Manager Communication Type (Obj. 1C00h)] [Sync Manager Communication Type (Obj. 1C00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 04h (fixed) Impossible Supported firmware version      ...
Page 92: [Sync Manager 2 (Obj. 1C00H: 03H)]
[Sync Manager 2 (Obj. 1C00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 03h (fixed) Impossible Supported firmware version              Description This means Process Data Write (Outputs) (from the master station to the slave station). [Sync Manager 3 (Obj.
Page 93: Sync Manager Rxpdo Assign (Obj. 1C12H)]
[Sync Manager RxPDO assign (Obj. 1C12h)] [Sync Manager RxPDO assign (Obj. 1C12h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 04h Impossible Supported firmware version         ...
Page 94: [Assigned Pdo 002 (Obj. 1C12H: 02H)]
[Assigned PDO 002 (Obj. 1C12h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 1600h to 1623h Impossible Supported firmware version              Description Set which mapping table to be assigned to Sync Manager 2 (RxPDO).
Page 95: Sync Manager Txpdo Assign (Obj. 1C13H)]
[Sync Manager TxPDO assign (Obj. 1C13h)] [Sync Manager TxPDO assign (Obj. 1C13h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 04h Impossible Supported firmware version         ...
Page 96: [Assigned Pdo 002 (Obj. 1C13H: 02H)]
[Assigned PDO 002 (Obj. 1C13h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 1A00h to 1A23h Impossible Supported firmware version              Description Set which mapping table to be assigned to Sync Manager 3 (TxPDO).
Page 97: 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 20h (fixed) Impossible Supported firmware version            ...
Page 98: [Cycle Time (Obj. 1C32H: 02H)]
[Cycle Time (Obj. 1C32h: 02h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 250000 Refer to the Impossible following. Supported firmware version              Description Select an RxPDO communication cycle. 125000: 0.125 ms 250000: 0.25 ms 500000: 0.5 ms...
Page 99: [Synchronization Types Supported (Obj. 1C32H: 04H)]
[Synchronization Types supported (Obj. 1C32h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0005h 0005h (fixed)  Impossible  Supported firmware version              Description Bit 0: FreeRun supported Bit 1: Synchronous supported (not supported) Bit 2 to Bit 4: DC Type supported 000 = No DC (not supported)
Page 100: [Calc And Copy Time (Obj. 1C32H: 06H)]
[Calc and Copy Time (Obj. 1C32h: 06h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Impossible Supported firmware version              Description The minimum value of the delay time from data receiving to outputting is returned. The received value varies depending on the setting of the communication cycle.
Page 101: [Shift Time Too Short (Obj. 1C32H: 0Dh)]
[Shift Time Too Short (Obj. 1C32h: 0Dh)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0000h 0000h to FFFFh  Impossible  Supported firmware version              Description "0000h"...
Page 102: Sm Input Parameter (Obj. 1C33H)]
[SM input parameter (Obj. 1C33h)] [SM input parameter (Obj. 1C33h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 20h (fixed) Impossible Supported firmware version            ...
Page 103: [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. Supported firmware version              Description Select a TxPDO communication cycle. 125000: 0.125 ms 250000: 0.25 ms 500000: 0.5 ms...
Page 104: [Synchronization Types Supported (Obj. 1C33H: 04H)]
[Synchronization Types supported (Obj. 1C33h: 04h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0005h 0005h (fixed) Impossible Supported firmware version              Description Bit 0: FreeRun supported Bit 1: Synchronous supported (not supported) Bit 2 to Bit 4: DC Type supported 000 = No DC (not supported)
Page 105: [Minimum Cycle Time (Obj. 1C33H: 05H)]
[Minimum Cycle Time (Obj. 1C33h: 05h)] Data Type Access Mapping Default Range Units Save Parameter Impossible   Impossible  Supported firmware version              Description The minimum communication cycle is returned. Servo amplifier Minimum communication cycle MR-J5-_G_-_N1...
Page 106: [Delay Time (Obj. 1C33H: 09H)]
[Delay Time (Obj. 1C33h: 09h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 0 (fixed) Impossible Supported firmware version              Description The delay time from Sync0 to input is returned. The received value varies depending on the setting of the communication cycle.
Page 107: [Shift Time Too Short (Obj. 1C33H: 0Dh)]
[Shift Time Too Short (Obj. 1C33h: 0Dh)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0000h 0000h to FFFFh  Impossible  Supported firmware version              Description "0000h"...
Page 108: Chapter 6 Parameter Objects
Parameter Objects The objects of Parameter Objects are structured as follows. Access servo parameters other than [PV group parameters] with Sub Index set to 00h. Data Type Access Mapping Default Range Units Save Parameter Impossible    Possible Supported firmware version ...
Page 109: Pv Group Parameters (Obj. 2691H)]
6.10 [PV group parameters (Obj. 2691h)] The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 28h of Sub Indexes correspond to [Pr. PV01] to [Pr. PV40]. [PV group parameters (Obj. 2691h: 00h)] Data Type Access Mapping...
Page 110: Chapter 7 Alarm Objects
Alarm Objects [Alarm history newest (Obj. 2A00h)] [Alarm history newest (Obj. 2A00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 7 (fixed) Impossible Alarm history Supported firmware version         ...
Page 111: [Alarm2 No. (Obj. 2A00H: 03H)]
[Alarm2 No. (Obj. 2A00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0000h 0000h to FFFFh  Impossible Alarm history Supported firmware version             Description The value "0000h" is returned. Bit 0 to Bit 7: Alarm detail number Bit 8 to Bit 15: Alarm number [Alarm time (second) (Obj.
Page 112: [Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
[Alarm time (time zone) (Obj. 2A00h: 06h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 80000000h to minute Impossible Alarm history 7FFFFFFFh Supported firmware version             Description The time zone at an alarm occurrence time is returned as a 32-bit integer.
Page 113: Alarm History 1 (Obj. 2A01H)] - [Alarm History 15 (Obj. 2A0Fh)]
[Alarm history 1 (Obj. 2A01h)] - [Alarm history 15 (Obj. 2A0Fh)] When the command interface of the servo amplifier is EtherNet/IP, this object is not available. 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.
Page 114: Point Table Error (Obj. 2A43H)]
[Point table error (Obj. 2A43h)] [Point table error (Obj. 2A43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 2 (fixed) Impossible Point table Supported firmware version           ...
Page 115: Parameter Error Number (Obj. 2A44H)]
[Parameter error number (Obj. 2A44h)] [Parameter error number (Obj. 2A44h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to FFFFh Impossible Supported firmware version          ...
Page 116: Parameter Error List (Obj. 2A45H)]
[Parameter error list (Obj. 2A45h)] [Parameter error list (Obj. 2A45h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 254 (fixed) Impossible Parameter error list Supported firmware version          ...
Page 117: Reset Alarm (Obj. 2A46H)]
[Reset alarm (Obj. 2A46h)] [Reset alarm (Obj. 2A46h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h to FFFFh Impossible Supported firmware version            ...
Page 118: Drive Recorder History Newest (Obj. 2A70H)]
7.10 [Drive recorder history newest (Obj. 2A70h)] [Drive recorder history newest (Obj. 2A70h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Supported firmware version         ...
Page 119: [Drive Recorder History Power On Time (Obj. 2A70H: 03H)]
[Drive recorder history power on time (Obj. 2A70h: 03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h 00000000h to  Impossible  FFFFFFFFh Supported firmware version            ...
Page 120: [Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
[Drive recorder history (time zone) (Obj. 2A70h: 06h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 00000000h 80000000h to minute Impossible 7FFFFFFFh Supported firmware version             Description Returns the time zone when data was recorded using the drive recorder.
Page 121: Chapter 8 Monitor Objects
Monitor Objects For the contents of the monitor signals, refer to "Monitor signal (analog) and analog monitor [G]" in the following manual. MR-J5 User's Manual (Function) [Cumulative feedback pulses (Obj. 2B01h)] [Cumulative feedback pulses (Obj. 2B01h: 00h)] Data Type Access Mapping Default Range...
Page 122: Droop Pulses (Obj. 2B03H)]
[Droop pulses (Obj. 2B03h)] [Droop pulses (Obj. 2B03h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO pulse Impossible Supported firmware version             Description The value of droop pulses (encoder pulse unit) is returned.
Page 123: Regenerative Load Ratio (Obj. 2B08H)]
[Regenerative load ratio (Obj. 2B08h)] [Regenerative load ratio (Obj. 2B08h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version             Description The regenerative load ratio is returned.
Page 124: Instantaneous Torque (Obj. 2B0Bh)]
[Instantaneous torque (Obj. 2B0Bh)] [Instantaneous torque (Obj. 2B0Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version             Description The instantaneous torque is returned. 8.10 [Within one-revolution position (Obj.
Page 125: Abs Counter (Obj. 2B0Dh)]
8.11 [ABS counter (Obj. 2B0Dh)] [ABS counter (Obj. 2B0Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version             Description The ABS counter is returned.
Page 126: Bus Voltage (Obj. 2B0Fh)]
8.13 [Bus voltage (Obj. 2B0Fh)] [Bus voltage (Obj. 2B0Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version             Description The bus voltage is returned.
Page 127: Load-Side Encoder Information 1 Z-Phase Counter (Obj. 2B12H)]
8.16 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)] [Load-side encoder information 1 Z-phase counter (Obj. 2B12h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO pulse Impossible Supported firmware version     ...
Page 128: Cumulative Encoder Out Pulses (Obj. 2B16H)]
8.18 [Cumulative encoder out pulses (Obj. 2B16h)] [Cumulative encoder out pulses (Obj. 2B16h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO pulse Impossible Supported firmware version         ...
Page 129: Electrical Angle (Obj. 2B19H)]
8.21 [Electrical angle (Obj. 2B19h)] [Electrical angle (Obj. 2B19h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO pulse Impossible Supported firmware version             Description The electrical angle is returned.
Page 130: Internal Temperature Of Encoder (Obj. 2B25H)]
8.24 [Internal temperature of encoder (Obj. 2B25h)] [Internal temperature of encoder (Obj. 2B25h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO °C Impossible Supported firmware version         ...
Page 131: Number Of Tough Drive Operations (Obj. 2B28H)]
8.27 [Number of tough drive operations (Obj. 2B28h)] [Number of tough drive operations (Obj. 2B28h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO number of times Impossible Supported firmware version     ...
Page 132: Unit Total Power Consumption (Obj. 2B2Eh)]
8.30 [Unit total power consumption (Obj. 2B2Eh)] [Unit total power consumption (Obj. 2B2Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version          ...
Page 133: Remaining Command Distance (Obj. 2B31H)]
8.33 [Remaining command distance (Obj. 2B31h)] [Remaining command distance (Obj. 2B31h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO pos units Impossible Supported firmware version          ...
Page 134: Overload Alarm Margin (Obj. 2B40H)]
8.36 [Overload alarm margin (Obj. 2B40h)] [Overload alarm margin (Obj. 2B40h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0.1 % Impossible Supported firmware version          ...
Page 135: Unit Power Consumption 2 (Obj. 2B43H)]
8.39 [Unit power consumption 2 (Obj. 2B43h)] [Unit power consumption 2 (Obj. 2B43h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Impossible Supported firmware version          ...
Page 136: Fsoe Safety Statusword Monitor (Obj. 2Dc5H)]
8.42 [FSoE safety statusword monitor (Obj. 2DC5h)] [FSoE safety statusword monitor (Obj. 2DC5h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 01h to 01h Impossible Supported firmware version        ...
Page 137: Fsoe Safety Controlword Monitor (Obj. 2Dc6H)]
8.43 [FSoE safety controlword monitor (Obj. 2DC6h)] [FSoE safety controlword monitor (Obj. 2DC6h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 01h to 01h Impossible Supported firmware version        ...
Page 138: Chapter 9 Manufacturer Specific Control Objects
Manufacturer Specific Control Objects [Drive recorder status (Obj. 2C02h)] [Drive recorder status (Obj. 2C02h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 1 Impossible Supported firmware version       ...
Page 139: External Output Pin Display (Obj. 2C11H)]
[External output pin display (Obj. 2C11h)] [External output pin display (Obj. 2C11h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to FFh Impossible Supported firmware version         ...
Page 140: [External Output Pin Display1 (Obj. 2C11H: 01H)]
[External output pin display1 (Obj. 2C11h: 01h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 00000000h to Impossible FFFFFFFFh Supported firmware version             Description The external output pin status 1 is returned.
Page 141 • MR-J5W3-_G_-_N1 Connector pin Connector pin Connector pin Connector pin    CN3-12 CN3-11       CN3-24 CN3-25       CN3-13           ...
Page 142: Power On Cumulative Time (Obj. 2C18H)]
[Power ON cumulative time (Obj. 2C18h)] [Power ON cumulative time (Obj. 2C18h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h to hour Impossible FFFFFFFFh Supported firmware version        ...
Page 143 [Machine diagnostic status (Obj. 2C20h)] [Machine diagnostic status (Obj. 2C20h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Supported firmware version          ...
Page 144 [Static friction torque at forward rotation (Obj. 2C21h)] [Static friction torque at forward rotation (Obj. 2C21h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 0.1 % Impossible Supported firmware version   ...
Page 145 9.11 [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h)] [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 0.1 % Impossible Supported firmware version ...
Page 146 9.14 [Oscillation frequency during motor operating (Obj. 2C27h)] [Oscillation frequency during motor operating (Obj. 2C27h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -32768 to 32767 Impossible Supported firmware version      ...
Page 147 9.16 [Fault prediction status (Obj. 2C29h)] [Fault prediction status (Obj. 2C29h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Supported firmware version         ...
Page 148 9.17 [Friction based fault prediction upper threshold (Obj. 2C2Ah)] [Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  -2147483648 to 0.1 % Impossible  2147483647 Supported firmware version  ...
Page 149 9.20 [Vibration based fault prediction threshold (Obj. 2C2Dh)] [Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Supported firmware version    ...
Page 150 9.23 [Friction estimate status (Obj. 2C31h)] [Friction estimate status (Obj. 2C31h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 100 Impossible Supported firmware version          ...
Page 151 9.26 [Static friction based fault prediction lower threshold (Obj. 2C34h)] [Static friction based fault prediction lower threshold (Obj. 2C34h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible -2147483648 to 0.1 % Impossible 2147483647 Supported firmware version ...
Page 152 9.29 [Phase current (Obj. 2C37h)] [Phase current (Obj. 2C37h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 3 (fixed) Impossible Supported firmware version            ...
Page 153 9.30 [Supported Control DI (Obj. 2D00h)] [Supported Control DI (Obj. 2D00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 10 (fixed) Impossible Supported firmware version           ...
Page 154 [Supported Control DI 3 (Obj. 2D00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Supported firmware version             Description The supported input device is returned.
Page 155 [Supported Control DI 6 (Obj. 2D00h: 06h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Supported firmware version             Description The supported input device is returned.
Page 156 [Supported Control DI 9 (Obj. 2D00h: 09h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Supported firmware version             Description The supported input device is returned.
Page 157 9.31 [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 Supported firmware version         ...
Page 158 9.34 [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 Supported firmware version         ...
Page 159 9.37 [Control DI 7 (Obj. 2D07h)] [Control DI 7 (Obj. 2D07h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Supported firmware version         ...
Page 160 9.40 [Control DI 10 (Obj. 2D0Ah)] [Control DI 10 (Obj. 2D0Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0000h 0000h to FFFFh Impossible Supported firmware version         ...
Page 161 [Supported Status DO 2 (Obj. 2D10h: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Supported firmware version             Description The supported output device is returned.
Page 162 [Supported Status DO 5 (Obj. 2D10h: 05h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 0000h to FFFFh Impossible Supported firmware version             Description The supported output device is returned.
Page 163 [Supported Status DO 8 (Obj. 2D10h: 08h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  0000h to FFFFh  Impossible  Supported firmware version             Description The supported output device is returned.
Page 164 9.42 [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 Supported firmware version         ...
Page 165 9.45 [Status DO 4 (Obj. 2D14h)] [Status DO 4 (Obj. 2D14h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Supported firmware version         ...
Page 166 9.48 [Status DO 7 (Obj. 2D17h)] [Status DO 7 (Obj. 2D17h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Supported firmware version         ...
Page 167 9.51 [Status DO 10 (Obj. 2D1Ah)] [Status DO 10 (Obj. 2D1Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Supported firmware version         ...
Page 168 9.53 [Motor rated speed (Obj. 2D28h)] [Motor rated speed (Obj. 2D28h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 Refer to the Impossible following. Supported firmware version      ...
Page 169 9.56 [Encoder status (Obj. 2D35h)] [Encoder status (Obj. 2D35h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             Description The number of entries of the encoder status is returned.
Page 170 [Encoder status 2 (Obj. 2D35h: 02h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible 00000007h Supported firmware version             Description The status of the scale measurement encoder is returned. When the scale measurement mode is disabled, "00000000h"...
Page 171 9.57 [Scale cycle counter (Obj. 2D36h)] [Scale cycle counter (Obj. 2D36h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0 to 4294967295 pulse Impossible Supported firmware version         ...
Page 172 9.59 [Scale measurement encoder resolution (Obj. 2D38h)] [Scale measurement encoder resolution (Obj. 2D38h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0 to 4294967295 inc/rev Impossible Supported firmware version       ...
Page 173 9.61 [Servo motor serial number (Obj. 2D46h)] [Servo motor serial number (Obj. 2D46h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Supported firmware version       ...
Page 174 [Motor ID 2 (Obj. 2D48h: 02h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version             Description The servo motor type ID is returned. When an encoder is not connected, "00000000h"...
Page 175 9.63 [One-touch tuning mode (Obj. 2D50h)] [One-touch tuning mode (Obj. 2D50h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00h to 03h Impossible Supported firmware version          ...
Page 176 9.65 [One-touch tuning Stop (Obj. 2D52h)] [One-touch tuning Stop (Obj. 2D52h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0000h 0000h, 1EA5h Impossible Supported firmware version          ...
Page 177 9.67 [One-touch tuning Error Code (Obj. 2D54h)] [One-touch tuning Error Code (Obj. 2D54h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Supported firmware version      ...
Page 178 9.69 [Speed override (Obj. 2DB0h)] [Speed override (Obj. 2DB0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0 to 360 mpossible Supported firmware version             Description The override value is returned and set.
Page 179 [Writing data (Obj. 2DB1h: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00000000h 80000000h to  Impossible  7FFFFFFFh Supported firmware version              Description The data to be set with the write instruction code is returned and set. For details on the corresponding instruction codes and specifications, refer to "Instruction code"...
Page 180 9.71 [User defined output data (Obj. 2E00h)] [User defined output data (Obj. 2E00h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Supported firmware version         ...
Page 181 [User defined output data 2 (Obj. 2E00h: 03h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO  0000h to FFFFh  Impossible  Supported firmware version             ...
Page 182 [User defined output data 5 (Obj. 2E00h: 06h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 00000000h 00000000h to Impossible FFFFFFFFh Supported firmware version             ...
Page 183 9.72 [User defined input data (Obj. 2E01h)] [User defined input data (Obj. 2E01h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Supported firmware version         ...
Page 184 [User defined input data 2 (Obj. 2E01h: 03h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to FFFFh Impossible Supported firmware version             ...
Page 185 [User defined input data 5 (Obj. 2E01h: 06h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO 00000000h 00000000h to  Impossible  FFFFFFFFh Supported firmware version             ...
Page 186 [User defined output data monitor 0 (Obj. 2E02h: 01h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Supported firmware version            ...
Page 187 [User defined output data monitor 3 (Obj. 2E02h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00000000h to  Impossible  FFFFFFFFh Supported firmware version            ...
Page 188 [User defined output data monitor 6 (Obj. 2E02h: 07h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Supported firmware version            ...
Page 189 [User defined input data monitor 1 (Obj. 2E03h: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible  00000000h to  Impossible  FFFFFFFFh Supported firmware version            ...
Page 190 [User defined input data monitor 4 (Obj. 2E03h: 05h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible 00000000h to Impossible FFFFFFFFh Supported firmware version            ...
Page 191 PDS Control Objects 10.1 [Error code (Obj. 603Fh)] [Error code (Obj. 603Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 0000h 0000h to FFFFh Impossible Supported firmware version        ...
Page 192 Description PDS status switching command is given, or control commands are returned and set. Use bit 0 to bit 3 and bit 7 in the PDS status transition. Name Description Switch-on Enable voltage Quick stop Enable operation Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details. Page 190 [Bit 4: OMS] Differs depending on the value of [Modes of operation].
Page 193 ■[Bit 5: OMS] Setting value Symbol Description 1 (pp) Change set 0: Set of set-points immediately 1: Single set-point 3 (pv)   4 (tq) 6 (hm) 8 (csp) 9 (csv) 10 (cst) -100 (jg) Direction 0: Forward rotation (Address increasing) 1: Reverse rotation (Address decreasing) -101 (pt) ...
Page 194 ■[Bit 9: OMS] Setting value Symbol Description 1 (pp) Change on Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0"). set-point 0: Shifts to the next positioning after completing the current positioning. 1: Shifts to the next positioning after performing positioning up to the current set-point with the setting of [profile velocity (Obj.
Page 195 10.3 [Statusword (Obj. 6041h)] [Statusword (Obj. 6041h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to FFFFh Impossible Supported firmware version             Description The PDS status transition and other drive conditions are returned.
Page 196 ■[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 197 ■[Bit 12: OMS] Setting value Name Description 1 (pp) Set-point 0: Positioning completed (waiting for next command) acknowledge 1: Positioning in progress (possible to overwrite a setpoint) 3 (pv) Speed 0: Speed is not equal 0 1: Speed is equal 0 Judgment condition of Speed is not equal 0: When the time set in [Velocity threshold time (Obj.
Page 198 10.4 [Quick stop option code (Obj. 605Ah)] [Quick stop option code (Obj. 605Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 2 (fixed) Possible [Pr. PT68.0] Supported firmware version        ...
Page 199 *1 Available on servo amplifiers with firmware version D0 or later. *2 When canceling Quick stop in the cyclic synchronous position mode (csp), cancel it after servo-off or perform position follow-up with the controller. If Quick stop is canceled without performing position follow-up, the servo motor may suddenly accelerate. *3 When the controller being used cannot perform follow-up in the "Quick stop active"...
Page 200 10.5 [Halt option code (Obj. 605Dh)] [Halt option code (Obj. 605Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  Impossible 1 (fixed) Possible [Pr. PT68.2] Supported firmware version          ...
Page 201 10.6 [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. Supported firmware version         ...
Page 202 10.7 [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. Supported firmware version      ...
Page 203 10.8 [Supported drive modes (Obj. 6502h)] [Supported drive modes (Obj. 6502h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     TxPDO Impossible Supported firmware version           ...
Page 204 Position Control Function Objects 11.1 [Position demand value (Obj. 6062h)] [Position demand value (Obj. 6062h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version    ...
Page 205 11.4 [Following error window (Obj. 6065h)] [Following error window (Obj. 6065h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00C00000h 00000000h to pos units Possible [Pr. PC67] FFFFFFFFh Supported firmware version       ...
Page 206 11.6 [Position window (Obj. 6067h)] [Position window (Obj. 6067h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 00000190h pos units Possible [Pr. PC70] Supported firmware version           ...
Page 207 11.8 [Positioning option code (Obj. 60F2h)] [Positioning option code (Obj. 60F2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0000h 0000h (fixed) Possible [Pr. PT03.2] Supported firmware version         ...
Page 208 11.9 [Following error actual value (Obj. 60F4h)] [Following error actual value (Obj. 60F4h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version      ...
Page 209 Profile Velocity Mode Objects 12.1 [Velocity demand value (Obj. 606Bh)] [Velocity demand value (Obj. 606Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO -2147483648 to vel units Impossible 2147483647 Supported firmware version    ...
Page 210 12.3 [Velocity window (Obj. 606Dh)] [Velocity window (Obj. 606Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 65535 vel units Possible Refer to the following. following. Supported firmware version    ...
Page 211 12.5 [Velocity threshold (Obj. 606Fh)] [Velocity threshold (Obj. 606Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to 65535 vel units Possible Refer to the following. following. Supported firmware version    ...
Page 212 12.7 [Target velocity (Obj. 60FFh)] [Target velocity (Obj. 60FFh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO -2147483648 to vel units Impossible 2147483647 Supported firmware version           ...
Page 213 Profile Torque Mode Objects 13.1 [Positive/Negative torque limit 2 (Obj. 2D6Dh)] [Positive/Negative torque limit 2 setting (Obj. 2D6Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 03h (fixed) Impossible Supported firmware version    ...
Page 214 [Positive torque limit value 2 (Obj. 2D6Dh: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 10000 0 to 10000 0.1 % Possible [Pr. PC43]/[Pr. PC44] Supported firmware version          ...
Page 215 13.2 [Target torque (Obj. 6071h)] [Target torque (Obj. 6071h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -32768 to 32767 0.1 % Impossible Supported firmware version          ...
Page 216 13.4 [Max current (Obj. 6073h)] [Max current (Obj. 6073h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0 to 65535 0.1 % Impossible Supported firmware version          ...
Page 217 13.7 [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 Supported firmware version        ...
Page 218 13.10 [Torque profile type (Obj. 6088h)] [Torque profile type (Obj. 6088h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 0 (fixed) Impossible Supported firmware version           ...
Page 219 13.12 [Negative torque limit value (Obj. 60E1h)] [Negative torque limit value (Obj. 60E1h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0 to 10000 0.1 % Possible [Pr. PA11]/[Pr. PA12] Supported firmware version    ...
Page 220 Profile Position Mode Objects 14.1 [Target position (Obj. 607Ah)] [Target position (Obj. 607Ah: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO Refer to the pos units Impossible following. Supported firmware version     ...
Page 221 14.2 [Position range limit (Obj. 607Bh)] [Position range limit (Obj. 607Bh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...
Page 222 14.3 [Software position limit (Obj. 607Dh)] [Software position limit (Obj. 607Dh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...
Page 223 [Max position limit (Obj. 607Dh: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO -2147483648 to pos units Possible [Pr. PT15] 2147483647 Supported firmware version             Description Refer to the following object.
Page 224 14.4 [Max profile velocity (Obj. 607Fh)] [Max profile velocity (Obj. 607Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the vel units Possible Refer to the following. following. following. Supported firmware version ...
Page 225 14.6 [Profile velocity (Obj. 6081h)] [Profile velocity (Obj. 6081h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Supported firmware version   ...
Page 226 14.7 [Profile acceleration (Obj. 6083h)] [Profile acceleration (Obj. 6083h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Supported firmware version   ...
Page 227 14.8 [Profile deceleration (Obj. 6084h)] [Profile deceleration (Obj. 6084h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Supported firmware version   ...
Page 228 14.9 [Quick stop deceleration (Obj. 6085h)] [Quick stop deceleration (Obj. 6085h: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the Refer to the acc units Possible Refer to the following. following. following. Supported firmware version ...
Page 229 14.10 [Motion profile type (Obj. 6086h)] [Motion profile type (Obj. 6086h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO -1 (fixed) Impossible Supported firmware version           ...
Page 230 14.12 [Max deceleration (Obj. 60C6h)] [Max deceleration (Obj. 60C6h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 0 to 4294967295 acc units Impossible [Pr. PV31] Supported firmware version         ...
Page 231 Homing Mode Objects 15.1 [Home offset (Obj. 607Ch)] [Home offset (Obj. 607Ch: 00h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO -2147483648 to pos units Possible [Pr. PT08] 2147483647 Supported firmware version       ...
Page 232 15.3 [Homing speeds (Obj. 6099h)] [Homing speeds (Obj. 6099h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             Description The total number of Sub Indexes (= 2) is returned.
Page 233 [Speed during search for zero (Obj. 6099h: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO Refer to the 0 to maximum vel units Possible Refer to the following. speed following. Supported firmware version     ...
Page 234 15.5 [Supported homing methods (Obj. 60E3h)] [Supported homing methods (Obj. 60E3h: 00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version           ...
Page 235 Description The supported homing type is returned. "Range" is fixed to the value in "Default". For the contents of the homing methods, refer to "Homing method list" in the following manual. MR-J5 User's Manual (Function) The following table lists the homing methods and "Default" values for firmware version C0. Sub Index Name Default...
Page 236 Point table Mode Objects 16.1 [Point table 001 (Obj. 2801h)] [Point table 001 (Obj. 2801h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 7 (fixed) Impossible Supported firmware version       ...
Page 237 [Speed (Obj. 2801h: 02h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 to maximum vel units Possible Point table speed Supported firmware version              Description Set the command speed of the servo motor while positioning is executed.
Page 238 [Deceleration (Obj. 2801h: 04h)] Data Type Access Mapping Default Range Units Save Parameter Impossible Refer to the acc units Possible Point table following. Supported firmware version              Description Set the time required for the servo motor to stop from the rated speed or the deceleration from the command speed to the stop.
Page 239 [Auxiliary (Obj. 2801h: 06h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 0 to 3, 8 to 11  Possible Point table Supported firmware version              Description Set the auxiliary function of the point table.
Page 240 16.2 [Point table 002 (Obj. 2802h)] - Point table 255 (Obj. 28FFh)] Positioning data of the point table can be obtained and set. The contents of each Sub Index are the same as [Point table 001]. 16.3 [Target point table (Obj. 2D60h)] [Target point table (Obj.
Page 241 16.5 [Point actual value (Obj. 2D69h)] [Point actual value (Obj. 2D69h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0 to 255 Impossible Supported firmware version         ...
Page 242 Factor Group Objects 17.1 [Polarity (Obj. 607Eh)] [Polarity (Obj. 607Eh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 00h to E0h Possible [Pr. PA14] [Pr. PC29.3] Supported firmware version        ...
Page 243 17.2 [Position encoder resolution (Obj. 608Fh)] [Position encoder resolution (Obj. 608Fh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version           ...
Page 244 17.3 [Gear ratio (Obj. 6091h)] [Gear ratio (Obj. 6091h: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             Description The total number of Sub Indexes (= 2) is returned.
Page 245 17.4 [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] is calculated from [Gear ratio (Obj. 6091h)] and [Feed constant (Obj. 6092h)] as follows. [Position actual internal value (Obj. 6063h)] × [Feed constant (Obj. 6092h)] [Position actual value (Obj. 6064h)] = [Position encoder resolution (Obj.
Page 246 17.5 [SI unit position (Obj. 60A8h)] [SI unit position (Obj. 60A8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Supported firmware version        ...
Page 247 17.7 [SI unit acceleration (Obj. 60AAh)] [SI unit acceleration (Obj. 60AAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    Impossible Refer to the Impossible following. Supported firmware version        ...
Page 248 Touch Probe Function Objects 18.1 [Touch probe function 2 (Obj. 2DE8h)] [Touch probe function 2 (Obj. 2DE8h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    RxPDO 0000h to 0037h Impossible Supported firmware version   ...
Page 249 18.2 [Touch probe status 2 (Obj. 2DE9h)] [Touch probe status 2 (Obj. 2DE9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to 00FFh Impossible Supported firmware version       ...
Page 250 18.4 [Touch probe 3 negative edge (Obj. 2DEBh)] [Touch probe 3 negative edge (Obj. 2DEBh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...
Page 251 18.6 [Touch probe time stamp 3 negative value (Obj. 2DF9h)] [Touch probe time stamp 3 negative value (Obj. 2DF9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...
Page 252 Description Set the detail of the touch probe function. By setting [Pr. PT26.4 Touch probe latch position selection], the reflecting patterns of [Pr. PA14 Travel direction selection] and [Pr. PT08 Homing position data] to the latched position feedback can be changed. When the touch probe function is not available for the servo amplifier being used, set "0000h".
Page 253 18.8 [Touch probe status (Obj. 60B9h)] [Touch probe status (Obj. 60B9h: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 0000h to 0707h Impossible Supported firmware version         ...
Page 254 18.9 [Touch probe 1 positive edge (Obj. 60BAh)] [Touch probe 1 positive edge (Obj. 60BAh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...
Page 255 18.12 [Touch probe 2 negative edge (Obj. 60BDh)] [Touch probe 2 negative edge (Obj. 60BDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO -2147483648 to pos units Impossible 2147483647 Supported firmware version     ...
Page 256 18.14 [Touch probe time stamp 1 negative value (Obj. 60D2h)] [Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...
Page 257 18.16 [Touch probe time stamp 2 negative value (Obj. 60D4h)] [Touch probe time stamp 2 negative value (Obj. 60D4h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  TxPDO 0 to 4294967295 Impossible Supported firmware version   ...
Page 258 Optional application FE Objects 19.1 [Digital inputs (Obj. 60FDh)] [Digital inputs (Obj. 60FDh: 00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO 00000000h to Impossible 037F0007h Supported firmware version       ...
Page 259 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 260 ■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 261 ■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 262 ■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 263 19.2 [Digital outputs (Obj. 60FEh)] [Digital outputs (Obj. 60FEh: 00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 2 (fixed) Impossible Supported firmware version             Description The total number of Sub Indexes (= 2) is returned.
Page 264 [Physical outputs (Obj. 60FEh: 01h)] Data Type Access Mapping Default Range Units Save Parameter   RxPDO 00000000h 00000000h to Impossible 000E0000h Supported firmware version             Description Set the ON/OFF states of the output devices connected to the servo amplifier. When DOA, DOB, and DOC are disabled with [Bitmask (Obj.
Page 265 [Bitmask (Obj. 60FEh: 02h)] Data Type Access Mapping Default Range Units Save Parameter RxPDO 00000000h 00000000h to  Impossible  000E0000h Supported firmware version             Description Set masks for the output devices connected to the servo amplifier. When DOA, DOB, and DOC are disabled with [Bitmask (Obj.
Page 266 Cyclic Synchronous Position Mode Objects 20.1 [Position offset (Obj. 60B0h)] [Position offset (Obj. 60B0h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO 80000000h to pos units Impossible 7FFFFFFFh Supported firmware version      ...
Page 267 20.3 [Torque offset (Obj. 60B2h)] [Torque offset (Obj. 60B2h: 00h)] Data Type Access Mapping Default Range Units Save Parameter  RxPDO -32768 to 32767 0.1 % (with rated Impossible torque being 100 Supported firmware version      ...
Page 268 SEMI Device Profile Objects 21.1 [Manufacturer Bootloader Version (Obj. 100Bh)] [Manufacturer Bootloader Version (Obj. 100Bh:00h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Supported firmware version      ...
Page 269    Description For the object groups defined by Mitsubishi Electric (2000h to 5FFFh), "1000h", which is the Index offset of the multi-axis servo amplifier, is returned. Refer to the following table for the breakdown of Indexes. Index Description...
Page 270 21.4 [Module Profile List (Obj. F010h)] [Module Profile List (Obj. F010h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version            ...
Page 271 [Profile Number (Obj. F010h:03h)] Data Type Access Mapping Default Range Units Save Parameter Impossible 00000000h   Impossible  Supported firmware version              Description The supported profile number is returned. For 1-axis and 2-axis servo amplifiers, this object cannot be used.
Page 272 21.6 [Active Device Warning Details (Obj. F381h)] [Active Device Warning Details (Obj. F381h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 273 [Active Device Warning Details (Obj. F381h:03h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO  Refer to the  Impossible  following. Supported firmware version              Description The warning status is returned.
Page 274 21.7 [Active Device Error Details (Obj. F383h)] [Active Device Error Details (Obj. F383h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 275 [Active Device Error Details (Obj. F383h:03h)] Data Type Access Mapping Default Range Units Save Parameter TxPDO  Refer to the  Impossible  following. Supported firmware version              Description The error status is returned.
Page 276 21.8 [Latched Exception Status (Obj. F390h)] [Latched Exception Status (Obj. F390h:00h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Refer to the Impossible following. Supported firmware version         ...
Page 277 21.9 [Latched Device Warning Details (Obj. F391h)] [Latched Device Warning Details (Obj. F391h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 278 [Latched Device Warning Details (Obj. F391h:02h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Refer to the Impossible following. Supported firmware version              Description The warning status is returned.
Page 279 21.10 [Latched Device Error Details (Obj. F393h)] [Latched Device Error Details (Obj. F393h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 280 [Latched Device Error Details (Obj. F393h:02h)] Data Type Access Mapping Default Range Units Save Parameter    TxPDO Refer to the Impossible following. Supported firmware version              Description The error status is returned.
Page 281 21.11 [Device Warning Mask (Obj. F3A1h)] [Device Warning Mask (Obj. F3A1h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version            ...
Page 282 [Device Warning Mask (Obj. F3A1h:03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible Refer to the Possible [Pr. PN33] following. Supported firmware version              Description Set the mask values in [Active Device Warning Details (Obj.
Page 283 21.12 [Device Error Mask (Obj. F3A3h)] [Device Error Mask (Obj. F3A3h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version            ...
Page 284 [Device Error Mask (Obj. F3A3h:03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible Refer to the Possible [Pr. PN34] following. Supported firmware version              Description Set the mask values in [Active Device Error Details (Obj.
Page 285 21.13 [Input Latch Local Timestamp (Obj. F6F0h)] [Input Latch Local Timestamp (Obj. F6F0h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 286 [Input Latch Local Timestamp (Obj. F6F0h:03h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO 00000000h to μs Impossible FFFFFFFFh Supported firmware version              Description The time when PDO data is written to Input SyncManager is returned in units of microseconds.
Page 287 21.15 [CDP Functional Generation Number (Obj. F9F1h)] [CDP Functional Generation Number (Obj. F9F1h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 288 [CDP Functional Generation Number (Obj. F9F1h:03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000002h 00000002h Impossible (fixed) Supported firmware version              Description Common Device Profile Functional Generation Number is returned. For 1-axis and 2-axis servo amplifiers, this object cannot be used.
Page 289 21.16 [SDP Functional Generation Number (Obj. F9F2h)] [SDP Functional Generation Number (Obj. F9F2h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 290 [SDP Functional Generation Number (Obj. F9F2h:03h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000000h 00000000h Impossible (fixed) Supported firmware version              Description Specific Device Profile Functional Generation Number is returned. "00000000h"...
Page 291 21.18 [Semiconductor SDP Device Name (Obj. F9F4h)] [Semiconductor SDP Device Name (Obj. F9F4h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 292 [Semiconductor SDP Device Name (Obj. F9F4h:03h)] Data Type Access Mapping Default Range Units Save Parameter     VISIBLE Impossible Impossible STRING Supported firmware version              Description Semiconductor SDP Device Name is returned.
Page 293 21.19 [Output Identifier (Obj. F9F5h)] [Output Identifier (Obj. F9F5h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version              Description The total number of Sub Indexes is returned.
Page 294 [Output Identifier (Obj. F9F5h:03h)] Data Type Access Mapping Default Range Units Save Parameter   TxPDO/RxPDO 00h to FFh Impossible Supported firmware version              Description The value written from the controller is returned. For 1-axis and 2-axis servo amplifiers, this object cannot be used.
Page 295 21.22 [Firmware Update Functional Generation Number (Obj. F9F8h)] [Firmware Update Functional Generation Number (Obj. F9F8h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 00000001h 00000001h Impossible (fixed) Supported firmware version       ...
Page 296 [Command (Obj. FBF0h:01h)] Data Type Access Mapping Default Range Units Save Parameter    OCTET STRING Impossible Refer to the Impossible following. Supported firmware version              Description When the following command is sent, the servo amplifier resets the software.
Page 297 [Response (Obj. FBF0h:03h)] Data Type Access Mapping Default Range Units Save Parameter OCTET STRING Impossible  Refer to the  Impossible  following. Supported firmware version              Description Response is returned.
Page 298 21.24 [Exception Reset Command (Obj. FBF1h)] [Exception Reset Command (Obj. FBF1h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 03h (fixed) Impossible Supported firmware version            ...
Page 299 [Response (Obj. FBF1h:03h)] Data Type Access Mapping Default Range Units Save Parameter OCTET STRING Impossible  Refer to the  Impossible  following. Supported firmware version              Description Response is returned.
Page 300 [Command (Obj. FBF2h:01h)] Data Type Access Mapping Default Range Units Save Parameter    OCTET STRING Impossible Refer to the Impossible following. Supported firmware version              Description Executing the following command saves all the parameters (servo parameters, network parameters, and point table data) that can be stored in the non-volatile memory.
Page 301 [Response (Obj. FBF2h:03h)] Data Type Access Mapping Default Range Units Save Parameter OCTET STRING Impossible  Refer to the  Impossible  following. Supported firmware version              Description Response is returned.
Page 302 [Command (Obj. FBF3h:01h)] Data Type Access Mapping Default Range Units Save Parameter    OCTET STRING Impossible Refer to the Impossible following. Supported firmware version              Description Executing the following command calculates the checksum of the parameters (servo parameters, network parameters, and point table data) stored in the non-volatile memory.
Page 303 [Response (Obj. FBF3h:03h)] Data Type Access Mapping Default Range Units Save Parameter OCTET STRING Impossible  Refer to the  Impossible  following. Supported firmware version              Description Response is returned.
Page 304 [Command (Obj. FBF4h:01h)] Data Type Access Mapping Default Range Units Save Parameter    OCTET STRING Impossible Refer to the Impossible following. Supported firmware version              Description Executing the following command reads all the parameters (servo parameters, network parameters, and point table data) stored in the non-volatile memory.
Page 305 [Response (Obj. FBF4h:03h)] Data Type Access Mapping Default Range Units Save Parameter OCTET STRING Impossible  Refer to the  Impossible  following. Supported firmware version              Description Response is returned.
Page 306 Safety Over EtherCAT Objects 22.1 [FSoE Slave Frame elements (Obj. E600h)] [FSoE Slave Frame elements (Obj. E600h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version      ...
Page 307 [FSoE Slave CRC_0 (Obj. E600h:03h)] Data Type Access Mapping Default Range Units Save Parameter SFTxPDO 0000h   Impossible  Supported firmware version              Description "CRC_0" sent by FSoE Slave is returned. [FSoE Slave CRC_1 (Obj.
Page 308 [FSoE Slave CRC_4 (Obj. E600h:07h)] Data Type Access Mapping Default Range Units Save Parameter    SFTxPDO 0000h Impossible Supported firmware version              Description "CRC_4" sent by FSoE Slave is returned. For 1-axis and 2-axis servo amplifiers, this object cannot be used.
Page 309 22.2 [FSoE Master Frame elements (Obj. E700h)] [FSoE Master Frame elements (Obj. E700h:00h)] Data Type Access Mapping Default Range Units Save Parameter     Impossible Impossible Supported firmware version          ...
Page 310 [FSoE Master CRC_0 (Obj. E700h:03h)] Data Type Access Mapping Default Range Units Save Parameter    SFTxPDO 0000h Impossible Supported firmware version              Description "CRC_0" sent by FSoE Master is returned. [FSoE Master CRC_1 (Obj.
Page 311 [FSoE Master CRC_4 (Obj. E700h:07h)] Data Type Access Mapping Default Range Units Save Parameter SFTxPDO 0000h   Impossible  Supported firmware version              Description "CRC_4" sent by FSoE Master is returned. For 1-axis and 2-axis servo amplifiers, this object cannot be used.
Page 312 22.3 [FSoE Communication Parameter (Obj. E901h)] [FSoE Communication Parameter (Obj. E901h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 08h (fixed) Impossible Supported firmware version            ...
Page 313 [ConnectionID (Obj. E901h:03h)] Data Type Access Mapping Default Range Units Save Parameter 0000h   Impossible  Supported firmware version              Description "Connection ID" is returned. [Watchdog Time (Obj. E901h:04h)] Data Type Access Mapping...
Page 314 [Application Parameter Length (Obj. E901h:08h)] Data Type Access Mapping Default Range Units Save Parameter   0000h 0000h (fixed) Impossible Supported firmware version              Description The data length of "Application parameter" mapped to "Safety Parameter Set" is returned. "0000h"...
Page 315 22.4 [SafeInputs (Obj. F601h)] [SafeInputs (Obj. F601h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 12h (fixed) Impossible Supported firmware version              Description The number of entries is returned. [STO Status (Obj.
Page 316 [Error (Obj. F601h:04h)] Data Type Access Mapping Default Range Units Save Parameter     BOOL SFTxPDO Impossible Supported firmware version              Description The error status of the functional safety sent by FSoE Slave is returned. [SS1 Status (Obj.
Page 317 [SDIN Status (Obj. F601h:08h)] Data Type Access Mapping Default Range Units Save Parameter BOOL SFTxPDO    Impossible  Supported firmware version              Description The output status of the functional safety sent by FSoE Slave is returned. SDINS (SDIN output) is returned. [SLS1 Status (Obj.
Page 318 [SLS4 Status (Obj. F601h:0Ch)] Data Type Access Mapping Default Range Units Save Parameter     BOOL SFTxPDO Impossible Supported firmware version              Description The output status of the functional safety sent by FSoE Slave is returned. SLS4S (SLS4 output) is returned. [SBC Status (Obj.
Page 319 [SLT2 Status (Obj. F601h:10h)] Data Type Access Mapping Default Range Units Save Parameter BOOL SFTxPDO    Impossible  Supported firmware version              Description The output status of the functional safety sent by FSoE Slave is returned. SLT2S (SLT2 output) is returned. [SLT3 Status (Obj.
Page 320 22.5 [SafeOutputs (Obj. F701h)] [SafeOutputs (Obj. F701h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 0Fh (fixed) Impossible Supported firmware version              Description The number of entries is returned. [STO Command (Obj.
Page 321 [SDIP Command (Obj. F701h:04h)] Data Type Access Mapping Default Range Units Save Parameter BOOL SFTxPDO    Impossible  Supported firmware version              Description The input status of the functional safety sent by FSoE Master is returned. SDIPC (SDIP command) is returned. [SDIN Command (Obj.
Page 322 [SLS2 Command (Obj. F701h:08h)] Data Type Access Mapping Default Range Units Save Parameter     BOOL SFTxPDO Impossible Supported firmware version              Description The input status of the functional safety sent by FSoE Master is returned. SLS2C (SLS2 command) is returned. [SLS3 Command (Obj.
Page 323 [SLT1 Command (Obj. F701h:0Ch)] Data Type Access Mapping Default Range Units Save Parameter BOOL SFTxPDO    Impossible  Supported firmware version              Description The input status of the functional safety sent by FSoE Master is returned. SLT1C (SLT1 command) is returned. [SLT2 Command (Obj.
Page 324 22.6 [Device FSoE Slave Address (Obj. F980h)] [Device FSoE Slave Address (Obj. F980h:00h)] Data Type Access Mapping Default Range Units Save Parameter   Impossible 01h (fixed) Impossible Supported firmware version          ...
Page 325 MEMO 22 Safety Over EtherCAT Objects 22.6 [Device FSoE Slave Address (Obj. F980h)]...
Page 326 EtherNet/IP 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 327: Warranty
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. (3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
Page 328 TRADEMARKS MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.   EtherCAT and Safety over EtherCAT are registered trademarks and patented technologies licensed by Beckhoff Automation GmbH, Germany. ODVA, CIP , and EtherNet/IP are registered trademarks of ODVA, Inc.
Page 330 SH(NA)-030376ENG-K(2501)MEE MODEL: MODEL CODE: HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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