Mitsubishi Electric Melservo-J5 User Manual

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Mitsubishi Electric AC Servo System

MR-J5 User's Manual (Object Dictionary)

-MR-J5-_G_

-MR-J5W_-_G

SAFETY INSTRUCTIONS

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

(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.

In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into

"POINT".

After reading this guide, keep it accessible to the operator.

[Installation/wiring]

WARNING

● To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring and/or inspection.

● To prevent an electric shock, ground the servo amplifier.

● To prevent an electric shock, any person who is involved in wiring should be fully competent to do the

work.

● To prevent an electric shock, mount the servo amplifier before wiring.

● To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the

symbol) of the servo amplifier to the protective earth (PE) of the cabinet.

● To prevent an electric shock, do not touch the conductive parts.

[Setting/adjustment]

WARNING

● To prevent an electric shock, do not operate the switches with wet hands.

[Operation]

WARNING

● To prevent an electric shock, do not operate the switches with wet hands.

[Maintenance]

WARNING

● To prevent an electric shock, any person who is involved in inspection should be fully competent to do the work.

● To prevent an electric shock, do not operate the switches with wet hands.

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]

-4

Moment of inertia 1 [(× 10

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

kg•m2)] 5.4675 [oz•inch2]

SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

CHAPTER 1 SUMMARY OF OBJECT DICTIONARY 12

1.1 Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CHAPTER 2 General Objects 14

2.1 [Device Type (Obj. 1000h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

[Device Type (Obj. 1000h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.2 [Error Register (Obj. 1001h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

[Error Register (Obj. 1001h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3 [Manufacturer Device Name (Obj. 1008h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

[Manufacturer Device Name (Obj. 1008h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.4 [Manufacturer Hardware Version (Obj. 1009h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

[Manufacturer Hardware Version (Obj. 1009h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.5 [Manufacturer Software Version (Obj. 100Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

[Manufacturer Software Version (Obj. 100Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.6 [Store parameters (Obj. 1010h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

[Store parameters (Obj. 1010h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

[Save all parameters (Obj. 1010h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.7 [Restore default parameters (Obj. 1011h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

[Restore default parameters (Obj. 1011h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

[Restore all default parameters (Obj. 1011h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.8 [Identity Object (Obj. 1018h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

[Identity Object (Obj. 1018h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

[Vendor ID (Obj. 1018h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

[Product Code (Obj. 1018h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

[Revision Number (Obj. 1018h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

[Serial Number (Obj. 1018h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.9 [Version number (Obj. 67FEh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

[Version number (Obj. 67FEh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CONTENTS

CHAPTER 3 PDO Mapping Objects 19

3.1 [1st Receive PDO Mapping (Obj. 1600h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

[1st Receive PDO Mapping (Obj. 1600h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 20

3.2 [2nd Receive PDO Mapping (Obj. 1601h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

[2nd Receive PDO Mapping (Obj. 1601h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 22

3.3 [1st Transmit PDO Mapping (Obj. 1A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] . . . . . . . . . . . . . . . . . . . . . . 24

3.4 [2nd Transmit PDO Mapping (Obj. 1A01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] . . . . . . . . . . . . . . . . . . . . . . 26

3.5 [1st PDO Config (Obj. 1C00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[1st PDO Config (Obj. 1C00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[PDO Assignment (Obj. 1C00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[PDO Enable (Obj. 1C00h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[Error Handling (Obj. 1C00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[Memory Address (Obj. 1C00h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3.6 [2nd PDO Config (Obj. 1C01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[2nd PDO Config (Obj. 1C01h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[PDO Assignment (Obj. 1C01h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[PDO Enable (Obj. 1C01h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[Error Handling (Obj. 1C01h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[Memory Address (Obj. 1C01h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

CHAPTER 4 Sync Manager Communication Objects 31

4.1 [Watchdog counter DL (Obj. 1D01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Watchdog counter DL (Obj. 1D01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Watchdog counter DL 1 (Obj. 1D01h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2 [Watchdog counter UL (Obj. 1D02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Watchdog counter UL (Obj. 1D02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Watchdog counter UL 1 (Obj. 1D02h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

CHAPTER 5 Parameter Objects 33

5.1 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.2 [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.3 [PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.4 [PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.5 [PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.6 [PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.7 [PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.8 [PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.9 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

CHAPTER 6 Alarm Objects 35

6.1 [Alarm history newest (Obj. 2A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm history newest (Obj. 2A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm No. (Obj. 2A00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm time (Hour) (Obj. 2A00h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm2 No. (Obj. 2A00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm time (second) (Obj. 2A00h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Alarm time (nanosecond) (Obj. 2A00h: 05h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Alarm time (time zone) (Obj. 2A00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Alarm time (summer time) (Obj. 2A00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.2 [Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.3 [Clear alarm history (Obj. 2A40h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Clear alarm history (Obj. 2A40h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.4 [Current alarm (Obj. 2A41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Current alarm (Obj. 2A41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.5 [Parameter error number (Obj. 2A44h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Parameter error number (Obj. 2A44h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.6 [Parameter error list (Obj. 2A45h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Parameter error list (Obj. 2A45h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)] . . . . . . . . . . . . . . . . . 38

6.7 [Reset alarm (Obj. 2A46h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Reset alarm (Obj. 2A46h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.8 [Drive recorder history newest (Obj. 2A70h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history newest (Obj. 2A70h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history index (Obj. 2A70h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history alarm number (Obj. 2A70h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history power on time (Obj. 2A70h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history time (second) (Obj. 2A70h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Drive recorder history (time zone) (Obj. 2A70h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Drive recorder history (summer time) (Obj. 2A70h: 07h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

6.9 [Drive recorder history_1 (Obj. 2A71h)] - [Drive recorder history_15 (Obj. 2A7Fh)] . . . . . . . . . . . . . . . . . . 41

CHAPTER 7 Monitor Objects 42

7.1 [Cumulative feedback pulses (Obj. 2B01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Cumulative feedback pulses (Obj. 2B01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.2 [Servo motor speed (Obj. 2B02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Servo motor speed (Obj. 2B02h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.3 [Droop pulses (Obj. 2B03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Droop pulses (Obj. 2B03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.4 [Cumulative command pulses (Obj. 2B04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Cumulative command pulses (Obj. 2B04h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.5 [Command pulse frequency (Obj. 2B05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Command pulse frequency (Obj. 2B05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.6 [Regenerative load ratio (Obj. 2B08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Regenerative load ratio (Obj. 2B08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.7 [Effective load ratio (Obj. 2B09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Effective load ratio (Obj. 2B09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.8 [Peak load ratio (Obj. 2B0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Peak load ratio (Obj. 2B0Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.9 [Instantaneous torque (Obj. 2B0Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Instantaneous torque (Obj. 2B0Bh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.10 [Within one-revolution position (Obj. 2B0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Within one-revolution position (Obj. 2B0Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.11 [ABS counter (Obj. 2B0Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[ABS counter (Obj. 2B0Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.12 [Load inertia moment ratio (Obj. 2B0Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Load inertia moment ratio (Obj. 2B0Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.13 [Bus voltage (Obj. 2B0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Bus voltage (Obj. 2B0Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.14 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Load-side encoder information 1 Z-phase counter (Obj. 2B12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.15 [Load-side encoder information 2 (Obj. 2B13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Load-side encoder information 2 (Obj. 2B13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.16 [Cumulative encoder out pulses (Obj. 2B16h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Cumulative encoder out pulses (Obj. 2B16h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.17 [Temperature of motor thermistor (Obj. 2B17h)] . . . . . .

[Temperature of motor thermistor (Obj. 2B17h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.18 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.19 [Electrical angle (Obj. 2B19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

CONTENTS

[Electrical angle (Obj. 2B19h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.20 [Internal temperature of encoder (Obj. 2B25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Internal temperature of encoder (Obj. 2B25h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.21 [Settling time (Obj. 2B26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Settling time (Obj. 2B26h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.22 [Oscillation detection frequency (Obj. 2B27h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Oscillation detection frequency (Obj. 2B27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.23 [Number of tough drive operations (Obj. 2B28h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Number of tough drive operations (Obj. 2B28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.24 [Internal temperature of amplifier (Obj. 2B2Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Internal temperature of amplifier (Obj. 2B2Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.25 [Unit power consumption (Obj. 2B2Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Unit power consumption (Obj. 2B2Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.26 [Unit total power consumption (Obj. 2B2Eh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Unit total power consumption (Obj. 2B2Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.27 [Error excessive alarm margin (Obj. 2B3Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Error excessive alarm margin (Obj. 2B3Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.28 [Overload alarm margin (Obj. 2B40h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Overload alarm margin (Obj. 2B40h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.29 [Overshoot amount (Obj. 2B41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Overshoot amount (Obj. 2B41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.30 [Torque/thrust equivalent to disturbance (Obj. 2B42h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Torque/thrust equivalent to disturbance (Obj. 2B42h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.31 [Unit power consumption 2 (Obj. 2B43h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

[Unit power consumption 2 (Obj. 2B43h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

CHAPTER 8 Manufacturer Specific Control Object 50

8.1 [Drive recorder status (Obj. 2C02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Drive recorder status (Obj. 2C02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.2 [Clear drive recorder history (Obj. 2C03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Clear drive recorder history (Obj. 2C03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.3 [Power ON cumulative time (Obj. 2C18h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Power ON cumulative time (Obj. 2C18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.4 [Inrush relay ON/OFF number (Obj. 2C19h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Inrush relay ON/OFF number (Obj. 2C19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.5 [Dynamic relay ON/OFF number (Obj. 2C1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.6 [Machine diagnostic status (Obj. 2C20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Machine diagnostic status (Obj. 2C20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.7 [Coulomb friction torque in positive direction (Obj. 2C21h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Coulomb friction torque in positive direction (Obj. 2C21h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.8 [Friction torque at rated speed in positive direction (Obj. 2C22h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Friction torque at rated speed in positive direction (Obj. 2C22h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.9 [Coulomb friction torque in negative direction (Obj. 2C23h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Coulomb friction torque in negative direction (Obj. 2C23h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.10 [Friction torque at rated speed in negative direction (Obj. 2C24h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Friction torque at rated speed in negative direction (Obj. 2C24h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

8.11 [Oscillation frequency during motor stop (Obj. 2C25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Oscillation frequency during motor stop (Obj. 2C25h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.12 [Vibration level during motor stop (Obj. 2C26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Oscillation frequency during motor stop (Obj. 2C26h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.13 [Oscillation frequency during motor operating (Obj. 2C27h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Oscillation frequency during motor operating (Obj. 2C27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.14 [Vibration level during motor operating (Obj. 2C28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Vibration level during motor operating (Obj. 2C28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.15 [Fault prediction status (Obj. 2C29h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[Fault prediction status (Obj. 2C29h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.16 [Friction based fault prediction upper threshold (Obj. 2C2Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.17 [Friction based fault prediction lower threshold (Obj. 2C2Bh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Friction based fault prediction lower threshold (Obj. 2C2Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.18 [Friction based fault prediction prepare status (Obj. 2C2Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Friction based fault prediction prepare status (Obj. 2C2Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.19 [Vibration based fault prediction threshold (Obj. 2C2Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.20 [Vibration based fault prediction prepare status (Obj. 2C2Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.21 [Machine total distance (Obj. 2C2Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Machine total distance (Obj. 2C2Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.22 [Friction estimate status (Obj. 2C31h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Friction estimate status (Obj. 2C31h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.23 [Backlash estimation value (Obj. 2C32h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Backlash estimation value (Obj. 2C32h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.24 [Static frictionbased fault prediction upper threshold (obj. 2C33h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Static frictionbased fault prediction upper threshold (obj. 2C33h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.25 [Static friction based fault prediction lower threshold (obj. 2C34h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Static friction based fault prediction lower threshold (obj. 2C34h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.26 [Static friction based fault prediction prepare status (obj. 2C35h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Static friction based fault prediction prepare status (obj. 2C35h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.27 [Tension estimation value (obj. 2C36h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Tension estimation value (obj. 2C36h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.28 [Supported Control DI (Obj. 2D00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

[Supported Control DI (Obj. 2D00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Supported Control DI 1 (Obj. 2D00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Supported Control DI 2 (Obj. 2D00h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Supported Control DI 3 (Obj. 2D00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Supported Control DI 4 (Obj. 2D00h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Supported Control DI 5 (Obj. 2D00h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Supported Control DI 6 (Obj. 2D00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Supported Control DI 7 (Obj. 2D00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Supported Control DI 8 (Obj. 2D00h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Supported Control DI 9 (Obj. 2D00h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Supported Control DI 10 (Obj. 2D00h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.29 [Control DI 1 (Obj. 2D01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Control DI 1 (Obj. 2D01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.30 [Control DI 2 (Obj. 2D02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Control DI 2 (Obj. 2D02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.31 [Control DI 3 (Obj. 2D03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Control DI 3 (Obj. 2D03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.32 [Control DI 4 (Obj. 2D04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Control DI 4 (Obj. 2D04h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

. . . . . . . . . . . . . 58

CONTENTS

8.33 [Control DI 5 (Obj. 2D05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Control DI 5 (Obj. 2D05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8.34 [Control DI 6 (Obj. 2D06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Control DI 6 (Obj. 2D06h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8.35 [Control DI 7 (Obj. 2D07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Control DI 7 (Obj. 2D07h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8.36 [Control DI 8 (Obj. 2D08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Control DI 8 (Obj. 2D08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.37 [Control DI 9 (Obj. 2D09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Control DI 9 (Obj. 2D09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.38 [Control DI 10 (Obj. 2D0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Control DI 10 (Obj. 2D0Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.39 [Supported Status DO (Obj. 2D10h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Supported Status DO (Obj. 2D10h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Supported Status DO 1 (Obj. 2D10h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Supported Status DO 2 (Obj. 2D10h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Supported Status DO 3 (Obj. 2D10h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Supported Status DO 4 (Obj. 2D10h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Supported Status DO 5 (Obj. 2D10h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Supported Status DO 6 (Obj. 2D10h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Supported Status DO 7 (Obj. 2D10h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Supported Status DO 8 (Obj. 2D10h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Supported Status DO 9 (Obj. 2D10h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Supported Status DO 10 (Obj. 2D10h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

8.40 [Status DO 1 (Obj. 2D11h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Status DO 1 (Obj. 2D11h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.41 [Status DO 2 (Obj. 2D12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Status DO 2 (Obj. 2D12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.42 [Status DO 3 (Obj. 2D13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Status DO 3 (Obj. 2D13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.43 [Status DO 4 (Obj. 2D14h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Status DO 4 (Obj. 2D14h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

8.44 [Status DO 5 (Obj. 2D15h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

[Status DO 5 (Obj. 2D15h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.45 [Status DO 6 (Obj. 2D16h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

[Status DO 6 (Obj. 2D16h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.46 [Status DO 7 (Obj. 2D17h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

[Status DO 7 (Obj. 2D17h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.47 [Status DO 8 (Obj. 2D18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

[Status DO 8 (Obj. 2D18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

8.48 [Status DO 9 (Obj. 2D19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Status DO 8 (Obj. 2D19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.49 [Status DO 10 (Obj. 2D1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Status DO 10 (Obj. 2D1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.50 [Velocity limit value (Obj. 2D20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Velocity limit value (Obj. 2D20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.51 [Motor rated speed (Obj. 2D28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Motor rated speed (Obj. 2D28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

8.52 [Encoder status (Obj. 2D35h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[Encoder status (Obj. 2D35h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[Encoder status 1 (Obj. 2D35h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

. . . . . . . . . . . . . 66

8.53 [One-touch tuning mode (Obj. 2D50h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[One-touch tuning mode (Obj. 2D50h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

8.54 [One-touch tuning status (Obj. 2D51h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[One-touch tuning status (Obj. 2D51h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

8.55 [One-touch tuning Stop (Obj. 2D52h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

[One-touch tuning Stop (Obj. 2D52h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

8.56 [One-touch tuning Clear (Obj. 2D53h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

[One-touch tuning Clear (Obj. 2D53h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

8.57 [One-touch tuning Error Code (Obj. 2D54h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[One-touch tuning Error Code (Obj. 2D54h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

CHAPTER 9 PDS Control Objects 71

9.1 [Controlword (Obj. 6040h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

[Controlword (Obj. 6040h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

9.2 [Statusword (Obj. 6041h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Statusword (Obj. 6041h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

9.3 [Quick stop option code (Obj. 605Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Quick stop option code (Obj. 605Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

9.4 [Halt option code (Obj. 605Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Halt option code (Obj. 605Dh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

9.5 [Modes of operation (Obj. 6060h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Modes of operation (Obj. 6060h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

9.6 [Modes of operation display (Obj. 6061h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Modes of operation display (Obj. 6061h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

9.7 [Supported drive modes (Obj. 6502h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Supported drive modes (Obj. 6502h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

CONTENTS

CHAPTER 10 Position Control Function Objects 77

10.1 [Position actual internal value (Obj. 6063h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Position actual internal value (Obj. 6063h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

10.2 [Position actual value (Obj. 6064h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Position actual value (Obj. 6064h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

10.3 [Following error window (Obj. 6065h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Following error window (Obj. 6065h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

10.4 [Following error time out (Obj. 6066h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Following error time out (Obj. 6066h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

10.5 [Positioning option code (Obj. 60F2h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Positioning option code (Obj. 60F2h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

10.6 [Following error actual value (Obj. 60F4h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Following error actual value (Obj. 60F4h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

10.7 [Control effort (Obj. 60FAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Control effort (Obj. 60FAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

CHAPTER 11 Profile Velocity Mode Objects 79

11.1 [Velocity demand value (Obj. 606Bh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Velocity demand value (Obj. 606Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

11.2 [Velocity actual value (Obj. 606Ch)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Velocity actual value (Obj. 606Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

11.3 [Target velocity (Obj. 60FFh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Target velocity (Obj. 60FFh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

CHAPTER 12 Profile Torque Mode Objects 81

12.1 [Target torque (Obj. 6071h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Target torque (Obj. 6071h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

12.2 [Max torque (Obj. 6072h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Max torque (Obj. 6072h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

12.3 [Torque demand value (Obj. 6074h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Torque demand value (Obj. 6074h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

12.4 [Torque actual value (Obj. 6077h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Torque actual value (Obj. 6077h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

12.5 [Torque slope (Obj. 6087h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Torque slope (Obj. 6087h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

12.6 [Torque profile type (Obj. 6088h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Torque profile type (Obj. 6088h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

12.7 [Positive torque limit value (Obj. 60E0h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Positive torque limit value (Obj. 60E0h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

12.8 [Negative torque limit value (Obj. 60E1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Negative torque limit value (Obj. 60E1h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

CHAPTER 13 Profile Position Mode Objects 84

13.1 [Target position (Obj. 607Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Target position (Obj. 607Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

13.2 [Position range limit (Obj. 607Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Position range limit (Obj. 607Bh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Min position range limit (Obj. 607Bh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Max position range limit (Obj. 607Bh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

13.3 [Software position limit (Obj. 607Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Software position limit (Obj. 607Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Min position limit (Obj. 607Dh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Max position limit (Obj. 607Dh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

13.4 [Max motor speed (Obj. 6080h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Max motor speed (Obj. 6080h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

13.5 [Profile velocity (Obj. 6081h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Profile velocity (Obj. 6081h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

13.6 [Profile acceleration (Obj. 6083h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Profile acceleration (Obj. 6083h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

13.7 [Profile deceleration (Obj. 6084h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Profile deceleration (Obj. 6084h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

13.8 [Quick stop deceleration (Obj. 6085h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

[Quick stop deceleration (Obj. 6085h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

CHAPTER 14 Homing Mode Objects 88

14.1 [Home offset (Obj. 607Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Home offset (Obj. 607Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

14.2 [Homing method (Obj. 6098h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Homing method (Obj. 6098h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

14.3 [Homing speeds (Obj. 6099h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Homing speeds (Obj. 6099h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Speed during search for switch (Obj. 6099h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Speed during search for zero (Obj. 6099h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

14.4 [Homing acceleration (Obj. 609Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Homing acceleration (Obj. 609Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

14.5 [Supported homing method (Obj. 60E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Supported homing method (Obj. 60E3h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[1st supported homing method (Obj. 60E3h: 01h)] - [39th supported homing method (Obj. 60E3h: 27h)] . . . . . 90

CHAPTER 15 Factor Group Objects 91

15.1 [Polarity (Obj. 607Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[Polarity (Obj. 607Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

15.2 [Position encoder resolution (Obj. 608Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Position encoder resolution (Obj. 608Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Encoder increments (Obj. 608Fh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Motor revolutions (Obj. 608Fh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

15.3 [Gear ratio (Obj. 6091h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Gear ratio (Obj. 6091h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Motor revolutions (Obj. 6091h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Shaft revolutions (Obj. 6091h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

15.4 [Feed constant (Obj. 6092h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Feed constant (Obj. 6092h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Feed (Obj. 6092h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Shaft revolutions (Obj. 6092h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

15.5 [SI unit position (Obj. 60A8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[SI unit position (Obj. 60A8h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

15.6 [SI unit velocity (Obj. 60A9h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

[SI unit velocity (Obj. 60A9h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

15.7 [SI unit acceleration (Obj. 60AAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

[SI unit acceleration (Obj. 60AAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

CONTENTS

CHAPTER 16 Optional application FE Objects 96

16.1 [Digital inputs (Obj. 60FDh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Digital inputs (Obj. 60FDh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .98

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .99

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

1 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). The aggregate of these objects is called object dictionary.

1.1 Structure

The following shows the detailed structure of the object dictionary.

Item Explanation

Data Type Indicates the object size.

Access Indicates whether the object can be read or written.

RO: Only reading is available RW: Readable and writable

Mapping Indicates whether the object can be mapped in cyclic communication.

Default Indicates the initial value of the object.

Range Indicates the object range. If a value outside the range is written, a parameter external error (error code CCD4h) occurs.

Units Indicates the object unit.

Save Indicates whether data can be stored in the non-volatile memory.

Parameter Indicates where data is stored in the non-volatile memory.

Description Describes the object.

Impossible: The object cannot be mapped to TXPDO and RXPDO. TXPDO: The object can be mapped to TXPDO. RXPDO: The object can be mapped to RXPDO. TXPDO, RXPDO: The object can be mapped to TXPDO and RXPDO.

Impossible: Data cannot be stored in the memory. The value of the data written from the controller returns to the value of "Default" when the power is shut off. Possible: Data can be stored in the non-volatile memory with [Store Parameters (Obj. 1010h)]. Data is saved in the servo parameter corresponding to the object. For the corresponding servo parameters, refer to "Parameter".

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

MEMO

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

2 General Objects

2.1 [Device Type (Obj. 1000h)]

[Device Type (Obj. 1000h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00020192h 00020192h

(fixed)

Description

Indicates supported profile information. The value "00020192h", which indicates a servo drive defined with the CiA 402 profile

is returned.

Bit Symbol Description

0 to 7  0192h (CiA 402)

8 to 15  0002h (Servo drive)

2.2 [Error Register (Obj. 1001h)]

[Error Register (Obj. 1001h: 00h)]

 Impossible 

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible  00h to 01h  Impossible 

Description

The alarm occurrence is returned.

Bit Symbol Description

0  Always on while an alarm is occurring.

1 to 7 

2.3 [Manufacturer Device Name (Obj. 1008h)]

[Manufacturer Device Name (Obj. 1008h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

Description

The model name of the servo amplifier is returned.

RO Impossible Impossible 

2 General Objects

2.1 [Device Type (Obj. 1000h)]

2.4 [Manufacturer Hardware Version (Obj. 1009h)]

[Manufacturer Hardware Version (Obj. 1009h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

RO Impossible Impossible 

Description

The hardware version of the servo amplifier is returned.

2.5 [Manufacturer Software Version (Obj. 100Ah)]

[Manufacturer Software Version (Obj. 100Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

Description

The software version of the servo amplifier is returned.

RO Impossible Impossible 

2.6 [Store parameters (Obj. 1010h)]

[Store parameters (Obj. 1010h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

Description

The total number of Sub Index is returned. Supported Sub Index differ depending on the Network. The following shows the

Network and supported Sub Index.

Model Network Default Range Description

MR-J5-_G_ CC-Link IE TSN 01h 01h (fixed) Sub Index 1 is supported.

[Save all parameters (Obj. 1010h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000001h 00000000h to

FFFFFFFFh

Description

Writing "save" (= 65766173h) saves all parameters (servo parameters and network parameters) that can be stored in the non-

volatile memory.

The descriptions of the read values are as follows.

Bit Symbol Description

0  0: The parameters cannot be saved with the command. (The parameters are being saved.)

1: The parameters can be saved with the command. (No parameters are being saved.)

1  0: The parameters are not automatically saved.

2 to 7 

 Impossible 

2 General Objects

2.4 [Manufacturer Hardware Version (Obj. 1009h)]

2.7 [Restore default parameters (Obj. 1011h)]

[Restore default parameters (Obj. 1011h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

Description

The total number of Sub Index is returned. Supported Sub Index differ depending on the Network. The following shows the

Network and supported Sub Index.

Network Default Range Description

CC-Link IE TSN 01h 01h (fixed) Sub Index 1 is supported.

[Restore all default parameters (Obj. 1011h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000001h 00000000h to

FFFFFFFFh

Description

All parameters (servo parameters and network parameters) that can be stored in the non-volatile memory can be reset to the

factory setting. To reset the servo parameters and network parameters to the factory setting, write "64616F6Ch" (= reverse

order of ASCII code of "load") in this object, and cycle the power or reset the software.

The read value is always "1" (initializing values).

 Impossible 

2 General Objects

2.7 [Restore default parameters (Obj. 1011h)]

2.8 [Identity Object (Obj. 1018h)]

[Identity Object (Obj. 1018h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 04h 04h (fixed)  Impossible 

Description

The total number of Sub Index is returned.

[Vendor ID (Obj. 1018h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000002h

(fixed)

 Impossible 

Description

The vendor ID of the servo amplifier is returned.

[Product Code (Obj. 1018h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The product code of the servo amplifier is returned. The following show the product codes for the models.

• MR-J5-_G_: 00001005h

• MR-J5-_G_-RJ: 00001014h

• MR-J5W2_-_G: 00001006h

• MR-J5W3_-_G: 00001007h

 Impossible 

[Revision Number (Obj. 1018h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

 Impossible 

Description

The revision number of a servo amplifier is returned.

[Serial Number (Obj. 1018h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The serial number of a servo amplifier is returned.

 Impossible 

2 General Objects

2.8 [Identity Object (Obj. 1018h)]

2.9 [Version number (Obj. 67FEh)]

[Version number (Obj. 67FEh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00040100h 00040100h

(fixed)

Description

The version number of the supported CiA 402 profile is returned.

Bit Symbol Description

0 to 7  Sub version No. (0)

8 to 15  Minor version No. (1)

16 to 23  Major version No. (4)

24 to 31  Reserved (0)

 Impossible 

2 General Objects

2.9 [Version number (Obj. 67FEh)]

3 PDO Mapping Objects

3.1 [1st Receive PDO Mapping (Obj. 1600h)]

[1st Receive PDO Mapping (Obj. 1600h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible  00h to 20h  Impossible PDO mapping

Description

Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the

object. After setting the value for objects of Sub Index 1 or later, write the total number of objects mapped to PDO.

3 PDO Mapping Objects

3.1 [1st Receive PDO Mapping (Obj. 1600h)]

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values for the Index and Sub Index

of the object to "0000h" and "00h", respectively.

Index Sub Name Default

1600h 00h 1st Receive PDO Mapping 10h

01h Mapped Object 001 1D010110h

02h Mapped Object 002 60600008h

03h Mapped Object 003 00000008h

04h Mapped Object 004 607A0020h

05h Mapped Object 005 60FF0020h

06h Mapped Object 006 60400010h

07h Mapped Object 007 60E00010h

08h Mapped Object 008 60E10010h

09h Mapped Object 009 60710010h

0Ah Mapped Object 010 2D200020h

0Bh Mapped Object 011 2D010010h

0Ch Mapped Object 012 2D020010h

0Dh Mapped Object 013 2D030010h

0Eh Mapped Object 014 2D040010h

0Fh Mapped Object 015 2D050010h

10h Mapped Object 016 00000010h

11h Mapped Object 017 00000000h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000000h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000000h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

CC-Link IE TSN

3 PDO Mapping Objects

3.1 [1st Receive PDO Mapping (Obj. 1600h)]

3.2 [2nd Receive PDO Mapping (Obj. 1601h)]

[2nd Receive PDO Mapping (Obj. 1601h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible  00h to 20h  Impossible PDO mapping

Description

Indicates the total number of objects included in PDO. To set a value in an object of Sub Index 1 or later, write "00h" in the

object. After setting the value for objects of Sub Index 1 or later, write the total number of objects mapped to PDO.

3 PDO Mapping Objects

3.2 [2nd Receive PDO Mapping (Obj. 1601h)]

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

Set the object to be mapped to RPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index

of the object to "0000h" and "00h", respectively.

Index Sub Name Default

1601h 00h 2nd Receive PDO Mapping 6h

01h Mapped Object 001 1D010110h

02h Mapped Object 002 60600008h

03h Mapped Object 003 00000008h

04h Mapped Object 004 607A0020h

05h Mapped Object 005 60400010h

06h Mapped Object 006 2D040010h

07h Mapped Object 007 00000000h

08h Mapped Object 008 00000000h

09h Mapped Object 009 00000000h

0Ah Mapped Object 010 00000000h

0Bh Mapped Object 011 00000000h

0Ch Mapped Object 012 00000000h

0Dh Mapped Object 013 00000000h

0Eh Mapped Object 014 00000000h

0Fh Mapped Object 015 00000000h

10h Mapped Object 016 00000000h

11h Mapped Object 017 00000000h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000000h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000000h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

CC-Link IE TSN

3 PDO Mapping Objects

3.2 [2nd Receive PDO Mapping (Obj. 1601h)]

3.3 [1st Transmit PDO Mapping (Obj. 1A00h)]

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible  00h to 20h  Impossible PDO mapping

Description

The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the

object. After setting the value for objects of Sub Index 1 or later, write the total number of objects mapped to PDO.

3 PDO Mapping Objects

3.3 [1st Transmit PDO Mapping (Obj. 1A00h)]

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index

of the object to "0000h" and "00h", respectively.

Index Sub Name Default

1A00h 00h 1st Transmit PDO Mapping 11h

01h Mapped Object 001 1D020110h

02h Mapped Object 002 60610008h

03h Mapped Object 003 00000008h

04h Mapped Object 004 60640020h

05h Mapped Object 005 606C0020h

06h Mapped Object 006 60F40020h

07h Mapped Object 007 60410010h

08h Mapped Object 008 00000010h

09h Mapped Object 009 60770010h

0Ah Mapped Object 010 2D110010h

0Bh Mapped Object 011 2D120010h

0Ch Mapped Object 012 2D130010h

0Dh Mapped Object 013 2D140010h

0Eh Mapped Object 014 2D150010h

0Fh Mapped Object 015 2A410020h

10h Mapped Object 016 2D210020h

11h Mapped Object 017 2D220010h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000000h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000000h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

CC-Link IE TSN

3 PDO Mapping Objects

3.3 [1st Transmit PDO Mapping (Obj. 1A00h)]

3.4 [2nd Transmit PDO Mapping (Obj. 1A01h)]

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible  00h to 20h  Impossible PDO mapping

Description

The total number of objects included in PDO is returned. To set a value in an object of Sub Index 1 or later, write "00h" in the

object. After setting the value for objects of Sub Index 1 or later, write the total number of objects mapped to PDO.

3 PDO Mapping Objects

3.4 [2nd Transmit PDO Mapping (Obj. 1A01h)]

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

Set the object to be mapped to TPDO. When an alignment GAP is defined in PDO, set the values of the Index and Sub Index

of the object to "0000h" and "00h", respectively.

Index Sub Name Default

1A01h 00h 2nd Transmit PDO Mapping 0Ah

01h Mapped Object 001 1D020110h

02h Mapped Object 002 60610008h

03h Mapped Object 003 00000008h

04h Mapped Object 004 60640020h

05h Mapped Object 005 60410010h

06h Mapped Object 006 2D110010h

07h Mapped Object 007 2D140010h

08h Mapped Object 008 60770010h

09h Mapped Object 009 606C0020h

0Ah Mapped Object 010 2A410020h

0Bh Mapped Object 011 00000000h

0Ch Mapped Object 012 00000000h

0Dh Mapped Object 013 00000000h

0Eh Mapped Object 014 00000000h

0Fh Mapped Object 015 00000000h

10h Mapped Object 016 00000000h

11h Mapped Object 017 00000000h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000000h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000000h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

CC-Link IE TSN

3 PDO Mapping Objects

3.4 [2nd Transmit PDO Mapping (Obj. 1A01h)]

3.5 [1st PDO Config (Obj. 1C00h)]

[1st PDO Config (Obj. 1C00h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 04h 04h (fixed)  Impossible 

Description

The total number of Sub Index (= 4) is returned.

[PDO Assignment (Obj. 1C00h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 1600h 0000h to FFFFh  Impossible PDO mapping

Description

Set the addresses of RPDO and TPDO (1600h to 1601h, 1A00h to 1A01h) to be used in communication.

[PDO Enable (Obj. 1C00h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0001h 0000h to 0001h  Impossible 

Description

Set enabled/disabled of PDO set in Sub Index 1.

0: PDO disabled

1: PDO enabled

[Error Handling (Obj. 1C00h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0001h 0000h to 0002h  Impossible 

Description

Perform the setting for the detection of RPDO receive errors. This object is available when an object that set in Sub Index 1 is

mapped to RPDO.

0: No receive error detected.

1: Receive error detected.

2: Error detection starts after receipt of the initial PDO.

3 PDO Mapping Objects

3.5 [1st PDO Config (Obj. 1C00h)]

[Memory Address (Obj. 1C00h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000000h 00000000h to

FFFFFFFFh

Description

When the object set in Sub Index 1 is mapped to RPDO, set the memory address of the sub payload. When the object set in

Sub Index 1 is mapped to TPDO, set the start address of the data to be stored in the sub payload.

Index Sub Name Default

CC-Link IE TSN (Motion mode) CC-Link IE TSN (Motion mode

1C00h 00h 1st PDO Config 4 4

01h PDO Assignment 1600h 1601h

02h PDO Enable 0001h (PDO enabled) 0001h (PDO enabled)

03h Error Handling 0001h (Receive error detected) 0001h (Receive error detected)

04h Memory Address 

 Impossible 

(high-speed))

3 PDO Mapping Objects

3.5 [1st PDO Config (Obj. 1C00h)]

3.6 [2nd PDO Config (Obj. 1C01h)]

[2nd PDO Config (Obj. 1C01h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 04h 04h (fixed)  Impossible 

Description

The total number of Sub Index (= 4) is returned.

[PDO Assignment (Obj. 1C01h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 1600h 0000h to FFFFh  Possible PDO mapping

Description

Set the addresses of RPDO and TPDO (1600h to 1601h, 1A00h to 1A01h) to be used in communication.

[PDO Enable (Obj. 1C01h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0001h 0000h to 0001h  Impossible 

Description

Set enabled/disabled of PDO set in Sub Index 1.

0: PDO disabled

1: PDO enabled

[Error Handling (Obj. 1C01h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0001h 0000h to 0002h  Impossible 

Description

Perform the setting for the detection of RPDO receive errors. This object is available when an object that set in Sub Index 1 is

mapped to RPDO.

0: No receive error detected.

1: Receive error detected.

2: Error detection starts after receipt of the initial PDO.

3 PDO Mapping Objects

3.6 [2nd PDO Config (Obj. 1C01h)]

[Memory Address (Obj. 1C01h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000000h 00000000h to

FFFFFFFFh

Description

When the object set in Sub Index 1 is mapped to RPDO, set the memory address of the sub payload. When the object set in

Sub Index 1 is mapped to TPDO, set the start address of the data to be stored in the sub payload.

Index Sub Name Default

CC-Link IE TSN (Motion mode) CC-Link IE TSN (Motion mode

1C01h 00h 2nd PDO Config 4 4

01h PDO Assignment 1A00h 1A01h

02h PDO Enable 0001h (PDO enabled) 0001h (PDO enabled)

03h Error Handling 0000h 0000h

04h Memory Address 

 Impossible 

(high-speed))

3 PDO Mapping Objects

3.6 [2nd PDO Config (Obj. 1C01h)]

4 Sync Manager Communication Objects

4.1 [Watchdog counter DL (Obj. 1D01h)]

[Watchdog counter DL (Obj. 1D01h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 01h 01h (fixed)  Impossible 

Description

The total number of Sub Index (= 1) is returned.

[Watchdog counter DL 1 (Obj. 1D01h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

Mapping the object to RPDO notifies the servo amplifier of the watchdog counter value.

Bit Symbol Description

0 to 14  Watchdog counter

15  0: Watchdog counter disabled

1: Watchdog counter enabled

4.2 [Watchdog counter UL (Obj. 1D02h)]

[Watchdog counter UL (Obj. 1D02h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 01h 01h (fixed)  Impossible 

Description

The total number of Sub Index (= 1) is returned.

[Watchdog counter UL 1 (Obj. 1D02h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW TXMAP 0000h 0000h to FFFFh  Impossible 

Description

Mapping the object to TPDO allows the master station to obtain the watchdog counter value from the servo amplifier. Every

time TPDO is sent, 1 is added to the watchdog counter value previously sent.

Bit Symbol Description

0 to 14  Watchdog counter

15  0: Watchdog counter disabled

1: Watchdog counter enabled

4 Sync Manager Communication Objects

4.1 [Watchdog counter DL (Obj. 1D01h)]

MEMO

4 Sync Manager Communication Objects

4.2 [Watchdog counter UL (Obj. 1D02h)]

5 Parameter Objects

5.1 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)]

The values of the basic setting servo parameters ([Pr. PA _ _ ]) can be obtained and set.

5.2 [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)]

The values of the gain/filter setting servo parameters ([Pr. PB _ _ ]) can be obtained and set.

5.3 [PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]

The values of the extension setting servo parameters ([Pr. PC _ _ ]) can be obtained and set.

5.4 [PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]

The values of the I/O setting servo parameters ([Pr. PD _ _ ]) can be obtained and set.

5.5 [PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)]

The values of the extension setting 2 servo parameters ([Pr. PE _ _ ]) can be obtained and set.

5.6 [PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)]

The values of the extension setting 3 servo parameters ([Pr. PF _ _ ]) can be obtained and set.

5.7 [PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)]

The values of the servo motor extension setting servo parameters ([Pr. PL _ _ ]) can be obtained and set.

5.8 [PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)]

The values of the positioning control servo parameters ([Pr. PT _ _ ]) can be obtained and set.

5.9 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]

The values of the network setting servo parameters ([Pr. PN_ _ ]) can be obtained and set.

5 Parameter Objects

5.1 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)]

MEMO

5 Parameter Objects

5.9 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]

6 Alarm Objects

6.1 [Alarm history newest (Obj. 2A00h)]

[Alarm history newest (Obj. 2A00h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 7 7 (fixed)  Possible Alarm history

Description

The total number of Sub Index (= 7) is returned.

[Alarm No. (Obj. 2A00h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

The number of the alarm that has occurred is returned. The description is as follows.

When no history exists, "00000000h" is returned.

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

For example, if [AL. 538.1] occurs, "05380001h" is returned.

 Possible Alarm history

[Alarm time (Hour) (Obj. 2A00h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

hour Possible Alarm history

Description

The accumulated power-on time from factory setting until an alarm occurrence is returned. When no history exists,

"00000000h" is returned.

[Alarm2 No. (Obj. 2A00h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0000h 0000h to FFFFh  Possible Alarm history

Description

The value "0000h" is returned.

Bit 0 to Bit 7: Alarm detail number

Bit 8 to Bit 15: Alarm number

6 Alarm Objects

6.1 [Alarm history newest (Obj. 2A00h)]

[Alarm time (second) (Obj. 2A00h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

second Possible Alarm history

Description

The alarm time (hour) is returned as a 32-bit integer (time passed from January 1, 1970, 0:00:00.000000000).

If time data cannot be obtained from the network, alarm occurrence time shows the cumulative power-on time from January 1,

1970, 0:00:00.000000000.

Use this object together with [Alarm time (nanosecond) (Obj. 2A00h: 05h)] according to the system.

[Alarm time (nanosecond) (Obj. 2A00h: 05h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

The digits after the ones indicating a second in alarm occurrence time are returned as a 32-bit integer. A value is returned in

units of nanoseconds, but only the values in milliseconds increase.

If an alarm occurs on January 1, 2000, 12:00:00.001, "1000000" will be returned.

nanosecond Possible Alarm history

[Alarm time (time zone) (Obj. 2A00h: 06h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

minute Possible Alarm history

Description

The alarm time (hour) is adjusted for the time zone and returned as a 32-bit integer.

If no setting exists, "80000000h" will be returned.

[Alarm time (summer time) (Obj. 2A00h: 07h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

Description

The alarm time (hour) is adjusted for daylight saving time and returned as a 32-bit integer.

If no setting exists, "80000000h" will be returned.

minute Possible Alarm history

6 Alarm Objects

6.1 [Alarm history newest (Obj. 2A00h)]

6.2 [Alarm history _1 (Obj. 2A01h)] - [Alarm history

_15 (Obj. 2A0Fh)]

The second (2A01h) to 16th (2A0Fh) latest alarm information of the alarm history is returned. The description of each Sub

Index is the same as that of [Alarm history newest (Obj. 2A00h: 00h)].

6.3 [Clear alarm history (Obj. 2A40h)]

[Clear alarm history (Obj. 2A40h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h to FFFFh  Impossible 

Description

Writing "1EA5h" clears the alarm history.

When read is performed, "0000h" is returned.

6.4 [Current alarm (Obj. 2A41h)]

[Current alarm (Obj. 2A41h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

The latest alarm that has occurred in the servo amplifier is returned. When no alarm has occurred, "00000000h" is returned.

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

For example, if [AL. 538.1] occurs, "05380001h" is returned.

6.5 [Parameter error number (Obj. 2A44h)]

[Parameter error number (Obj. 2A44h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0000h 0000h to FFFFh  Impossible 

Description

During [AL. 037 Parameter error] occurrence, the number of the servo parameters that caused the error is returned.

Refer to the following object for the number of each servo parameter which causes the error. Page 38 [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)]

6 Alarm Objects

6.2 [Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)]

6.6 [Parameter error list (Obj. 2A45h)]

[Parameter error list (Obj. 2A45h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 254 254 (fixed)  Impossible Parameter error

list

Description

The total number of Sub Index (= 254) is returned.

[Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0000h 0000h to FFFFh  Impossible Parameter error

Description

During [AL. 037 Parameter error] occurrence, a list of servo parameter numbers that caused the alarm is returned.

The descriptions of [Parameter error list 1 (Obj. 2A45h: 01h)] to [Parameter error list 254 (Obj. 2A45h: FEh)] are as follows.

If [Pr. PC01] is an error factor, "0201h" is returned.

When no error has occurred, "0000h" is returned.

Bit Description

0 to 7 Servo parameter number

8 to 15 Servo parameter group number

00h: [Pr. PA _ _ ] 01h: [Pr. PB _ _ ] 02h: [Pr. PC _ _ ] 03h: [Pr. PD _ _ ] 04h: [Pr. PE _ _ ] 05h: [Pr. PF _ _ ] 0Bh: [Pr. PL _ _ ] 0Ch: [Pr. PT _ _ ] 0Eh: [Pr. PN _ _ ]

list

6.7 [Reset alarm (Obj. 2A46h)]

[Reset alarm (Obj. 2A46h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h to FFFFh  Impossible 

Description

The alarm that has occurred in the servo amplifier is cleared.

Writing "1EA5h" resets an alarm. Any value other than "1EA5h" is invalid.

When read is performed, "0000h" is returned.

6 Alarm Objects

6.6 [Parameter error list (Obj. 2A45h)]

6.8 [Drive recorder history newest (Obj. 2A70h)]

[Drive recorder history newest (Obj. 2A70h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 7 7 (fixed)  Impossible 

Description

The total number of Sub Index (= 7) is returned.

The data of a different history number may be read from the drive recorder depending on when [Drive recorder history newest

(Obj. 2A70h)] is read and when the history is recorded in the drive recorder. Check if the data of the desired history number

has been read.

[Drive recorder history index (Obj. 2A70h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 0 0 to 9999  Impossible 

Description

The save Index of the drive recorder is returned.

[Drive recorder history index] represents serial data numbers "0" to "9999" in the drive recorder. When data is recorded in the

drive recorder, the number will increase. If the number exceeds "9999", it will return to "0" and increase again.

If the drive recorder history is cleared, the save Index will be counted from "0".

When the stored Index is read before and after the data of the desired history number is read, if the Index value has not

changed, the read data is data of the same history number.

[Drive recorder history alarm number (Obj. 2A70h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

The number of the alarm that occurred while the drive recorder was recording data is returned. The description is as follows.

When no history exists or the drive recorder (settings made by user) records data, "00000000h" is returned.

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

For example, if [AL. 538.1] occurs, "05380001h" is returned.

[Drive recorder history power on time (Obj. 2A70h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

Return the power-on cumulative time when recording the drive recorder. When no history exists, "00000000h" is returned.

 Impossible 

6 Alarm Objects

6.8 [Drive recorder history newest (Obj. 2A70h)]

[Drive recorder history time (second) (Obj. 2A70h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

The recording time of the drive recorder is returned as a 32-bit integer (time passed from January 1, 1970,

0:00:00.000000000).

If time data cannot be obtained from the network, alarm occurrence time shows the cumulative power-on time from January 1,

1970, 0:00:00.000000000.

Use this object together with [Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)] according to the system.

[Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

The digits after the ones indicating a second in recording time of the drive recorder are returned as a 32-bit integer. A value is

returned in units of ns, but only the values in milliseconds increase.

If an alarm occurs on January 1, 2000, 12:00:00.001, "1000000" will be returned.

 Impossible 

[Drive recorder history (time zone) (Obj. 2A70h: 06h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

minute Possible 

Description

Return the time zone when recording the drive recorder.

If no setting exists, "80000000h" will be returned.

[Drive recorder history (summer time) (Obj. 2A70h: 07h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

Description

Daylight saving time at when the data was saved in the drive recorder is returned.

If no setting exists, "80000000h" will be returned.

minute Possible 

6 Alarm Objects

6.8 [Drive recorder history newest (Obj. 2A70h)]

6.9 [Drive recorder history_1 (Obj. 2A71h)] - [Drive

recorder history_15 (Obj. 2A7Fh)]

The 2nd (2A71h) to 16th (2A7Fh) of the latest history information in the drive recorder is returned. The description of each

Sub Index is the same as that of [Drive recorder history newest (Obj. 2A70h)].

6 Alarm Objects

6.9 [Drive recorder history_1 (Obj. 2A71h)] - [Drive recorder history_15 (Obj. 2A7Fh)]

7 Monitor Objects

7.1 [Cumulative feedback pulses (Obj. 2B01h)]

[Cumulative feedback pulses (Obj. 2B01h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW TXMAP  80000000h to

7FFFFFFFh

Description

The cumulative feedback pulses are returned. The accumulation of the feedback pulse can be cleared by writing

"00001EA5h".

7.2 [Servo motor speed (Obj. 2B02h)]

[Servo motor speed (Obj. 2B02h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

r/min mm/s

Impossible 

Description

The servo motor speed is returned. The unit is [mm/s] for linear servo motor control mode, and [r/min] for other than the linear

servo motor control mode.

7.3 [Droop pulses (Obj. 2B03h)]

[Droop pulses (Obj. 2B03h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The value of droop pulses (encoder pulse unit) is returned.

pulse Impossible 

7.4 [Cumulative command pulses (Obj. 2B04h)]

[Cumulative command pulses (Obj. 2B04h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

Description

The value of cumulative command pulses (command pulse unit) is returned.

7 Monitor Objects

7.1 [Cumulative feedback pulses (Obj. 2B01h)]

7.5 [Command pulse frequency (Obj. 2B05h)]

[Command pulse frequency (Obj. 2B05h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The command pulse frequency is returned.

kpulse/s Impossible 

7.6 [Regenerative load ratio (Obj. 2B08h)]

[Regenerative load ratio (Obj. 2B08h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The regenerative load ratio is returned.

7.7 [Effective load ratio (Obj. 2B09h)]

[Effective load ratio (Obj. 2B09h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The effective load ratio is returned.

7.8 [Peak load ratio (Obj. 2B0Ah)]

[Peak load ratio (Obj. 2B0Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The peak load ratio is returned.

7.9 [Instantaneous torque (Obj. 2B0Bh)]

[Instantaneous torque (Obj. 2B0Bh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh % Impossible 

Description

The instantaneous torque is returned.

7 Monitor Objects

7.5 [Command pulse frequency (Obj. 2B05h)]

7.10 [Within one-revolution position (Obj. 2B0Ch)]

[Within one-revolution position (Obj. 2B0Ch: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The position within one-revolution (encoder pulse unit) is returned.

pulse Impossible 

7.11 [ABS counter (Obj. 2B0Dh)]

[ABS counter (Obj. 2B0Dh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The ABS counter is returned. For the linear servo motor control mode, the value for manufacturer setting is returned.

rev Impossible 

7.12 [Load inertia moment ratio (Obj. 2B0Eh)]

[Load inertia moment ratio (Obj. 2B0Eh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh 0.01 times Impossible 

Description

The load to motor inertia ratio/load to motor mass ratio are returned.

7.13 [Bus voltage (Obj. 2B0Fh)]

[Bus voltage (Obj. 2B0Fh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh V Impossible 

Description

The bus voltage is returned.

7 Monitor Objects

7.10 [Within one-revolution position (Obj. 2B0Ch)]

7.14 [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

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The position within one-revolution of the load-side encoder is returned.

When an incremental type linear encoder is used for the load-side encoder, the Z-phase counter of the load-side encoder is

returned in units of encoder pulses.

When an absolute position type linear encoder is used for the load-side encoder, the encoder absolute position is returned.

pulse Impossible 

7.15 [Load-side encoder information 2 (Obj. 2B13h)]

[Load-side encoder information 2 (Obj. 2B13h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

rev Impossible 

Description

When the load-side encoder is an incremental type or an absolute position type of linear encoder, "00000000h" is returned.

When a rotary encoder is used for the load-side encoder, the multi-revolution counter value of the encoder is returned.

7.16 [Cumulative encoder out pulses (Obj. 2B16h)]

[Cumulative encoder out pulses (Obj. 2B16h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The A/B-phase pulse output feedback total value is returned.

pulse Impossible 

7.17 [Temperature of motor thermistor (Obj. 2B17h)]

[Temperature of motor thermistor (Obj. 2B17h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh °C Impossible 

Description

The temperature of servo motor thermistor is returned.

7 Monitor Objects

7.14 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)]

7.18 [Motor-side cumu. feedback pulses (before gear)

(Obj. 2B18h)]

[Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The servo motor-side cumulative feedback pulses (before gear) (motor unit) are returned.

pulse Impossible 

7.19 [Electrical angle (Obj. 2B19h)]

[Electrical angle (Obj. 2B19h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

Description

The electrical angle is returned.

7.20 [Internal temperature of encoder (Obj. 2B25h)]

[Internal temperature of encoder (Obj. 2B25h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh °C Impossible 

Description

The internal temperature of encoder is returned.

7.21 [Settling time (Obj. 2B26h)]

[Settling time (Obj. 2B26h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh ms Impossible 

Description

The settling time is returned.

7 Monitor Objects

7.18 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)]

7.22 [Oscillation detection frequency (Obj. 2B27h)]

[Oscillation detection frequency (Obj. 2B27h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh Hz Impossible 

Description

The oscillation detection frequency is returned.

7.23 [Number of tough drive operations (Obj. 2B28h)]

[Number of tough drive operations (Obj. 2B28h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh number of times Impossible 

Description

The number of tough drive operations is returned.

7.24 [Internal temperature of amplifier (Obj. 2B2Ah)]

[Internal temperature of amplifier (Obj. 2B2Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh °C Impossible 

Description

The internal temperature of the servo amplifier is returned.

7.25 [Unit power consumption (Obj. 2B2Dh)]

[Unit power consumption (Obj. 2B2Dh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh W Impossible 

Description

The unit power consumption is returned.

7.26 [Unit total power consumption (Obj. 2B2Eh)]

[Unit total power consumption (Obj. 2B2Eh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The unit total power consumption is returned.

Wh Impossible 

7 Monitor Objects

7.22 [Oscillation detection frequency (Obj. 2B27h)]

7.27 [Error excessive alarm margin (Obj. 2B3Fh)]

[Error excessive alarm margin (Obj. 2B3Fh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The excessive error alarm margin (encoder pulse unit) is returned.

pulse Impossible 

7.28 [Overload alarm margin (Obj. 2B40h)]

[Overload alarm margin (Obj. 2B40h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh 0.1 % Impossible 

Description

The overload alarm margin is returned.

7.29 [Overshoot amount (Obj. 2B41h)]

[Overshoot amount (Obj. 2B41h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

8FFFFFFFh

Description

The overshoot amount (encoder pulse unit) is returned.

pulse Impossible 

7.30 [Torque/thrust equivalent to disturbance (Obj.

2B42h)]

[Torque/thrust equivalent to disturbance (Obj. 2B42h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  8000h to 7FFFh 0.1 % Impossible 

Description

The torque/thrust equivalent to disturbance are returned.

7 Monitor Objects

7.27 [Error excessive alarm margin (Obj. 2B3Fh)]

7.31 [Unit power consumption 2 (Obj. 2B43h)]

[Unit power consumption 2 (Obj. 2B43h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The unit power consumption is returned.

WImpossible

7 Monitor Objects

7.31 [Unit power consumption 2 (Obj. 2B43h)]

8 Manufacturer Specific Control Object

8.1 [Drive recorder status (Obj. 2C02h)]

[Drive recorder status (Obj. 2C02h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0 0 to 1  Impossible 

Description

The enabled/disabled status of the drive recorder is returned.

When the drive recorder does not operate or when one-shot sampling ends in manual setting mode, this object returns "0"

(disabled status).

When the drive recorder function is operating, this object returns "1" (enabled status).

0: Disabled status

1: Enabled status

8.2 [Clear drive recorder history (Obj. 2C03h)]

[Clear drive recorder history (Obj. 2C03h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h to FFFFh  Impossible 

Description

Writing "1EA5h", cycling the power, or performing a software reset clears the data in the drive recorder history.

When the object is read, "0000h" is returned.

8.3 [Power ON cumulative time (Obj. 2C18h)]

[Power ON cumulative time (Obj. 2C18h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The cumulative energization time of the servo amplifier is returned.

hour Impossible 

8.4 [Inrush relay ON/OFF number (Obj. 2C19h)]

[Inrush relay ON/OFF number (Obj. 2C19h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The number of on/off times of the inrush relay of the servo amplifier is returned.

8 Manufacturer Specific Control Object

8.1 [Drive recorder status (Obj. 2C02h)]

number of times Impossible 

8.5 [Dynamic relay ON/OFF number (Obj. 2C1Ah)]

[Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The number of times that the dynamic brake of the servo amplifier has been used is returned.

number of times Impossible 

8.6 [Machine diagnostic status (Obj. 2C20h)]

[Machine diagnostic status (Obj. 2C20h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The machine diagnostic status is returned.

[Bit 0 to 3: Friction estimation status at forward rotation]

0: During estimation. (normal)

1: Estimation is completed. (normal)

2: The motor may rotate or travel in one direction too frequently. (warning)

3: The servo motor speed may be slow for friction estimation. (warning)

4: The change in the servo motor speed may be small for friction estimation. (warning)

5: The acceleration/deceleration time constants may be short for friction estimation. (warning)

6: The operation time may not be enough. (warning)

When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.

Even when the estimation is completed after the warning has occurred, the status changes to "Estimation is completed" .

[Bit 4 to 7: Friction estimation status at reverse rotation]

0: Friction is being estimated. (normal)

1: Estimation is completed. (normal)

2: The motor may rotate or travel in one direction too frequently. (warning)

3: The servo motor speed may be slow for friction estimation. (warning)

4: The change in the servo motor speed may be small for friction estimation. (warning)

5: The acceleration/deceleration time constants may be short for friction estimation. (warning)

6: The operation time may not be enough. (warning)

When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.

Even when the estimation is completed after the warning has occurred, the status changes to "Estimation is completed" .

[Bit 8 to 11: Vibration estimation status]

0: During estimation.

1: Estimation is completed.

[Bit 12 to 15: reserved]

8 Manufacturer Specific Control Object

8.5 [Dynamic relay ON/OFF number (Obj. 2C1Ah)]

8.7 [Coulomb friction torque in positive direction (Obj.

2C21h)]

[Coulomb friction torque in positive direction (Obj. 2C21h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Static friction at forward rotation torque is returned.

8.8 [Friction torque at rated speed in positive

direction (Obj. 2C22h)]

[Friction torque at rated speed in positive direction (Obj. 2C22h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Dynamic friction at forward rotation torque at the rated speed is returned.

8.9 [Coulomb friction torque in negative direction

(Obj. 2C23h)]

[Coulomb friction torque in negative direction (Obj. 2C23h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Static friction at reverse rotation torque is returned.

8.10 [Friction torque at rated speed in negative

direction (Obj. 2C24h)]

[Friction torque at rated speed in negative direction (Obj. 2C24h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Dynamic friction at reverse rotation torque at the rated speed is returned.

8 Manufacturer Specific Control Object

8.7 [Coulomb friction torque in positive direction (Obj. 2C21h)]

8.11 [Oscillation frequency during motor stop (Obj.

2C25h)]

[Oscillation frequency during motor stop (Obj. 2C25h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 Hz Impossible 

Description

Vibration frequency during stop and servo-lock is returned.

8.12 [Vibration level during motor stop (Obj. 2C26h)]

[Oscillation frequency during motor stop (Obj. 2C26h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Vibration level during stop/servo-lock is returned.

8.13 [Oscillation frequency during motor operating

(Obj. 2C27h)]

[Oscillation frequency during motor operating (Obj. 2C27h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 Hz Impossible 

Description

Vibration frequency during operation is returned.

8.14 [Vibration level during motor operating (Obj.

2C28h)]

[Vibration level during motor operating (Obj. 2C28h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

Vibration level during operation is returned.

8 Manufacturer Specific Control Object

8.11 [Oscillation frequency during motor stop (Obj. 2C25h)]

8.15 [Fault prediction status (Obj. 2C29h)]

[Fault prediction status (Obj. 2C29h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The friction failure prediction status is returned.

[Bit 0 to 3: Friction failure prediction status]

0: Friction failure prediction disabled

1: During preparation for friction failure prediction

2: During execution of friction failure prediction

3: During friction failure prediction warning

[Bit 4 to 7: Vibration failure prediction status]

0: Vibration failure prediction disabled

1: During preparation for vibration failure prediction

2: During execution of vibration failure prediction

3: During vibration failure prediction warning

[Bit 8 to 11: Total travel distance failure prediction status]

0: Motor total travel distance failure prediction disabled

1: Motor total travel distance failure prediction being executed

2: Motor total travel distance failure prediction at warning

[Bit 12 to 15: Motor total travel distance calculation status]

0: During stop of motor total travel distance calculation

1: During calculation of motor total travel distance

[Bit 16 to 19: reserved]

[Bit 20 to 23: Static friction failure prediction status]

0: Static friction failure prediction disabled

1: During preparation for static friction failure prediction

2: During execution of static friction failure prediction

3: During static friction failure prediction warning

[Bit 24 to 27: Belt tension deterioration prediction status]

0: Belt tension deterioration prediction disabled

1: Belt tension deterioration prediction in progress

2: During belt tension deterioration warning

[Bit 28 to 31: Belt tension estimation status]

0: Belt tension estimation in progress

1: Belt tension estimation is completed

7: Belt tension estimation is not set

 Impossible 

8 Manufacturer Specific Control Object

8.15 [Fault prediction status (Obj. 2C29h)]

8.16 [Friction based fault prediction upper threshold

(Obj. 2C2Ah)]

[Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible  -2147483648 to

2147483647

Description

The upper limit threshold for friction failure prediction is returned.

0.1 % Impossible 

8.17 [Friction based fault prediction lower threshold

(Obj. 2C2Bh)]

[Friction based fault prediction lower threshold (Obj. 2C2Bh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible  -2147483648 to

2147483647

0.1 % Impossible 

Description

The lower limit threshold for friction failure prediction is returned.

8.18 [Friction based fault prediction prepare status

(Obj. 2C2Ch)]

[Friction based fault prediction prepare status (Obj. 2C2Ch: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  0 to 100 % Impossible 

Description

The preparation progress for friction failure prediction is returned.

8.19 [Vibration based fault prediction threshold (Obj.

2C2Dh)]

[Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible  -2147483648 to

2147483647

0.1 % Impossible 

Description

The threshold for vibration failure prediction is returned.

8 Manufacturer Specific Control Object

8.16 [Friction based fault prediction upper threshold (Obj. 2C2Ah)]

8.20 [Vibration based fault prediction prepare status

(Obj. 2C2Eh)]

[Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  0 to 100 % Impossible 

Description

The preparation progress for vibration failure prediction is returned.

8.21 [Machine total distance (Obj. 2C2Fh)]

[Machine total distance (Obj. 2C2Fh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

rev m

Impossible 

Description

The machine total travel distance is returned.

8.22 [Friction estimate status (Obj. 2C31h)]

[Friction estimate status (Obj. 2C31h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0 to 100 % Impossible 

Description

The progress of friction estimation is returned.

8.23 [Backlash estimation value (Obj. 2C32h)]

[Backlash estimation value (Obj. 2C32h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  0 to 3600000 0.01 degree Impossible 

Description

The result of backlash estimation is returned. When backlash estimated gear ratio numerator or backlash estimated gear ratio

denominator is set to "0", the backlash estimation amount is returned as the rotation angle on the servo motor side.

When the backlash estimated gear ratio is set to other than "0", a backlash estimated amount is returned considering the

backlash estimated gear ratio.

8 Manufacturer Specific Control Object

8.20 [Vibration based fault prediction prepare status (Obj. 2C2Eh)]

8.24 [Static frictionbased fault prediction upper

threshold (obj. 2C33h)]

[Static frictionbased fault prediction upper threshold (obj. 2C33h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible  -2147483648 to

2147483647

Description

The upper limit threshold used for static friction failure prediction is displayed in increments of 0.1 % assuming the rated

torque as 100 %.

0.1 % Impossible 

8.25 [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

I32 RO Impossible  -2147483648 to

2147483647

The lower limit threshold used for static friction failure prediction is displayed in increments of 0.1 % assuming the rated torque

as 100 %.

0.1 % Impossible 

8.26 [Static friction based fault prediction prepare

status (obj. 2C35h)]

[Static friction based fault prediction prepare status (obj. 2C35h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  0 to 100 % Impossible 

The threshold creation progress used for static friction failure prediction is displayed as a percentage. Creation of friction

failure prediction for upper and a lower limit threshold will be completed at 100 %.

8.27 [Tension estimation value (obj. 2C36h)]

[Tension estimation value (obj. 2C36h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible  -2147483648 to

2147483647

The tension estimate value used by the belt tension deterioration function is expressed in 0.1 N units.

8.24 [Static frictionbased fault prediction upper threshold (obj. 2C33h)]

0.1 N Impossible 

8 Manufacturer Specific Control Object

8.28 [Supported Control DI (Obj. 2D00h)]

[Supported Control DI (Obj. 2D00h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 10 10 (fixed)  Impossible 

Description

The number of supported Control DI is returned.

[Supported Control DI 1 (Obj. 2D00h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 2 (Obj. 2D00h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 3 (Obj. 2D00h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 4 (Obj. 2D00h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.28 [Supported Control DI (Obj. 2D00h)]

[Supported Control DI 5 (Obj. 2D00h: 05h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 6 (Obj. 2D00h: 06h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 7 (Obj. 2D00h: 07h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 8 (Obj. 2D00h: 08h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Control DI 9 (Obj. 2D00h: 09h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.28 [Supported Control DI (Obj. 2D00h)]

[Supported Control DI 10 (Obj. 2D00h: 0Ah)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following. MR-J5 User's Manual (Communication Function)

8.29 [Control DI 1 (Obj. 2D01h)]

[Control DI 1 (Obj. 2D01h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.30 [Control DI 2 (Obj. 2D02h)]

[Control DI 2 (Obj. 2D02h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.31 [Control DI 3 (Obj. 2D03h)]

[Control DI 3 (Obj. 2D03h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.29 [Control DI 1 (Obj. 2D01h)]

8.32 [Control DI 4 (Obj. 2D04h)]

[Control DI 4 (Obj. 2D04h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.33 [Control DI 5 (Obj. 2D05h)]

[Control DI 5 (Obj. 2D05h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.34 [Control DI 6 (Obj. 2D06h)]

[Control DI 6 (Obj. 2D06h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.35 [Control DI 7 (Obj. 2D07h)]

[Control DI 7 (Obj. 2D07h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.32 [Control DI 4 (Obj. 2D04h)]

8.36 [Control DI 8 (Obj. 2D08h)]

[Control DI 8 (Obj. 2D08h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.37 [Control DI 9 (Obj. 2D09h)]

[Control DI 9 (Obj. 2D09h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.38 [Control DI 10 (Obj. 2D0Ah)]

[Control DI 10 (Obj. 2D0Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

The input device status is returned or set. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.39 [Supported Status DO (Obj. 2D10h)]

[Supported Status DO (Obj. 2D10h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 10 10 (fixed)  Impossible 

Description

The number of supported Status DO is returned.

8 Manufacturer Specific Control Object

8.36 [Control DI 8 (Obj. 2D08h)]

[Supported Status DO 1 (Obj. 2D10h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 2 (Obj. 2D10h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 3 (Obj. 2D10h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 4 (Obj. 2D10h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 5 (Obj. 2D10h: 05h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.39 [Supported Status DO (Obj. 2D10h)]

[Supported Status DO 6 (Obj. 2D10h: 06h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 7 (Obj. 2D10h: 07h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 8 (Obj. 2D10h: 08h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 9 (Obj. 2D10h: 09h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

[Supported Status DO 10 (Obj. 2D10h: 0Ah)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.39 [Supported Status DO (Obj. 2D10h)]

8.40 [Status DO 1 (Obj. 2D11h)]

[Status DO 1 (Obj. 2D11h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.41 [Status DO 2 (Obj. 2D12h)]

[Status DO 2 (Obj. 2D12h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.42 [Status DO 3 (Obj. 2D13h)]

[Status DO 3 (Obj. 2D13h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.43 [Status DO 4 (Obj. 2D14h)]

[Status DO 4 (Obj. 2D14h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.40 [Status DO 1 (Obj. 2D11h)]

8.44 [Status DO 5 (Obj. 2D15h)]

[Status DO 5 (Obj. 2D15h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.45 [Status DO 6 (Obj. 2D16h)]

[Status DO 6 (Obj. 2D16h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.46 [Status DO 7 (Obj. 2D17h)]

[Status DO 7 (Obj. 2D17h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.47 [Status DO 8 (Obj. 2D18h)]

[Status DO 8 (Obj. 2D18h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

8.44 [Status DO 5 (Obj. 2D15h)]

8.48 [Status DO 9 (Obj. 2D19h)]

[Status DO 8 (Obj. 2D19h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.49 [Status DO 10 (Obj. 2D1Ah)]

[Status DO 10 (Obj. 2D1Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP 0000h 0000h to FFFFh  Impossible 

Description

The output device status is returned. Refer to the following for details. MR-J5 User's Manual (Communication Function)

8.50 [Velocity limit value (Obj. 2D20h)]

[Velocity limit value (Obj. 2D20h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

Description

Set the speed limit value of the cyclic synchronous torque mode (cst).

Connected servo motor Unit Parameter Default

Rotary servo motor 0.01 r/min [Pr. PT67] 300000

Linear servo motor 0.01 mm/s [Pr. PT67] 300000

0 to 4294967295

vel units Possible Refer to the

following.

8.51 [Motor rated speed (Obj. 2D28h)]

[Motor rated speed (Obj. 2D28h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  0 to 4294967295 r/min

mm/s

Impossible 

Description

The servo motor rated speed is returned.

8 Manufacturer Specific Control Object

8.48 [Status DO 9 (Obj. 2D19h)]

8.52 [Encoder status (Obj. 2D35h)]

[Encoder status (Obj. 2D35h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The number of entries is returned.

[Encoder status 1 (Obj. 2D35h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

00000001h

Description

The encoder status is returned.

Bit Description

0 The servo amplifier is returned regardless of whether it is an absolute position detection system.

0: Incremental system 1: Absolute position detection system

1 to 31 

 Impossible 

8.53 [One-touch tuning mode (Obj. 2D50h)]

[One-touch tuning mode (Obj. 2D50h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible 00h 00h to 03h  Impossible 

Description

One-touch tuning command is returned and set. After one-touch tuning, the setting value automatically changes to "0".

0: During one-touch tuning stop

1: Basic mode

2: High mode

3: Low mode

8.54 [One-touch tuning status (Obj. 2D51h)]

[One-touch tuning status (Obj. 2D51h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I8 RO Impossible  0 to 100 % Impossible 

Description

The one-touch tuning progress is returned. Regardless of whether one-touch tuning is properly completed or not, "100" is

returned at the completion.

8 Manufacturer Specific Control Object

8.52 [Encoder status (Obj. 2D35h)]

8.55 [One-touch tuning Stop (Obj. 2D52h)]

[One-touch tuning Stop (Obj. 2D52h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h, 1EA5h  Impossible 

Description

Set a one-touch tuning stop command. To check whether the setting is reflected, read [One-touch tuning mode (Obj. 2D50h)].

• 1EA5h: Stops one-touch tuning.

• Other than 1EA5h: Triggers a parameter out of range error.

When the object is read, whether one-touch tuning can be stopped is returned.

Bit Description

0 0: One-touch tuning can be stopped with the command. (One-touch tuning in progress)

1: One-touch tuning cannot be stopped with the command. (One-touch tuning not in progress)

1 to 31 

8.56 [One-touch tuning Clear (Obj. 2D53h)]

[One-touch tuning Clear (Obj. 2D53h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h to 0001h  Impossible 

Description

The servo parameter that was changed in one-touch tuning is returned to the value before the change. To check whether the

setting is reflected, read [One-touch tuning mode (Obj. 2D50h)].

• 0000h: Restores factory setting

• 0001h: Restores the value before one-touch tuning

When the object is read, whether the servo parameter that changed in one-touch tuning can be restored to the value before

the change is returned.

Bit Description

0 0: Cannot be set to the initial value with the command. (One-touch tuning in progress)

1: Can be set to the initial value with the command. (One-touch tuning not in progress)

1 0: Cannot be set to the value before one-touch tuning with the command. (Different axis numbers are used for one-touch tuning not

performed, one-touch tuning in progress, and one-touch tuning has been performed.) 1: Can be set to the value before one-touch tuning with the command. (One-touch tuning executed)

2 to 31 Unused

8 Manufacturer Specific Control Object

8.55 [One-touch tuning Stop (Obj. 2D52h)]

8.57 [One-touch tuning Error Code (Obj. 2D54h)]

[One-touch tuning Error Code (Obj. 2D54h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h, C000h to

C00Ah, C00Fh

Description

An error code of the one-touch tuning is returned.

Refer to "One-touch tuning error" in the following manual. MR-J5 User's Manual (Adjustment)

0000h: Finished normally

C000h: Tuning canceled

C_01h: Overshoot exceeded

C_02h: Servo-off during tuning

C_03h: Control mode error

C_04h: Time-out

C_05h: Load to motor inertia ratio miscalculated

C_06h: Servo amplifier built-in command start error

C_07h: Servo amplifier built-in command generation error

C_08h: Stop signal

C_09h: Parameter

C_0Ah: Alarm

C00Fh: One-touch tuning disabled

 Impossible 

8 Manufacturer Specific Control Object

8.57 [One-touch tuning Error Code (Obj. 2D54h)]

9 PDS Control Objects

9.1 [Controlword (Obj. 6040h)]

[Controlword (Obj. 6040h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h to FFFFh  Impossible 

Description

PDS status switching command is given, or control commands are returned and set.

Use bit 0 to bit 3 and bit 7 in the PDS status transition.

Bit Name Description

0 SO Switch-on

1 EV Enable voltage

2 QS Quick stop

3 EO Enable Operation

4 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 71 [Bit 4: OMS]

5 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

Page 71 [Bit 5: OMS]

6 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

Page 72 [Bit 6: OMS]

7 FR Fault reset

8 HALT 0: Operation ready

1: Pauses the operation according to [Halt option code (Obj. 6050h)]. Refer to the following for details. Page 72 [Bit 8: OMS]

9 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

Page 72 [Bit 9: OMS]

10 

■[Bit 4: OMS]

Setting value

6 (hm) HOS Homing operation start

8 (csp) 

9 (csv)

10 (cst)

Symbol Description

0: Do not start homing procedure 1: Start or continue homing procedure

■[Bit 5: OMS]

Setting value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

9 PDS Control Objects

9.1 [Controlword (Obj. 6040h)]

■[Bit 6: OMS]

Setting value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

■[Bit 8: OMS]

Setting value

6 (hm) HALT 0: The servo motor is driven.

8 (csp) 

9 (csv)

10 (cst)

Symbol Description

1: The servo motor is stopped according to [Halt option code (Obj. 605Dh)].

■[Bit 9: OMS]

Setting value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

9 PDS Control Objects

9.1 [Controlword (Obj. 6040h)]

9.2 [Statusword (Obj. 6041h)]

[Statusword (Obj. 6041h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh  Impossible 

Description

The PDS status transition and other drive conditions are returned.

Bit Symbol Description

0 RTSO Ready-to-switch-on

1 SO Switch-on

2 OE Operation-enabled

3FFault

4 VE Voltage-enabled

0: The bus voltage is lower than the certain (RA) level. 1: The bus voltage is equal to or higher than the certain level.

5 QS Quick stop

0: In a Quick stop 1: Not in a Quick stop (including in the test mode)

6 SOD Switch on disabled

7WWarning

0: No warning has occurred. 1: A warning has occurred.

8 

9RMRemote

0: Not following the Controlword 1: In operation following the Controlword

10 TR Target reached

Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details. Page 73 [Bit 10: OMS]

11 ILA Internal limit active

0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have not been reached. 1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has been reached.

12 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 74 [Bit 12: OMS]

13 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 74 [Bit 13: OMS]

14 

15 

■[Bit 10: OMS]

Setting value

6 (hm)  Bit 13 off/bit 12 off/bit 10 off: Homing procedure is in progress.

8 (csp) 

9 (csv)

10 (cst)

Name Description

Bit 13 off/bit 12 off/bit 10 on: Homing procedure is interrupted or not started. Bit 13 off/bit 12 on/bit 10 off: Homing is attained, but target is not reached. Bit 13 off/bit 12 on/bit 10 on: Homing procedure is completed successfully. Bit 13 on/bit 12 off/bit 10 off: Homing error occurred, velocity is not 0. Bit 13 on/bit 12 off/bit 10 on: Homing error occurred, velocity is 0. Bit 13 on/bit 12 on/bit 10 off: -

9 PDS Control Objects

9.2 [Statusword (Obj. 6041h)]

■[Bit 12: OMS]

Setting value

6 (hm) Homing

8 (csp) Drive follows

9 (csv) 0: [Target velocity (Obj. 60FFh)] is being discarded.

10 (cst) 0: [Target torque (Obj. 6071h)] is being discarded.

Name Description

Refer to the following.

attained

the command value

Page 73 [Bit 10: OMS]

0: [Target position (Obj. 607Ah)] is being discarded. 1: [Target position (Obj. 607Ah)] is being used as a position control loop input.

1: [Target velocity (Obj. 60FFh)] is being used as a speed control loop input.

1: [Target torque (Obj. 6071h)] is being used as a torque control loop input.

■[Bit 13: OMS]

Setting value

6 (hm) Homing error Refer to the following.

8 (csp) Following error 0: No following error

9 (csv) 

10 (cst)

Name Description

Page 73 [Bit 10: OMS]

1: Following error When the time set in [Following error time out (Obj. 6066h)] elapses in a state that the value of [Following error actual value (Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit becomes "1".

9.3 [Quick stop option code (Obj. 605Ah)]

[Quick stop option code (Obj. 605Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RW Impossible 2 2 (fixed)  Possible [Pr. PT68.0]

Description

Set how to decelerate the servo motor to a stop at Quick Stop reception.

Setting value

0 

1 Not supported by MR-J5-_G_.

2 In the cyclic synchronous mode (csp/csv) and homing mode (hm), the servo motor decelerates to a stop with [Quick stop deceleration (Obj.

3 Not supported by MR-J5-_G_.

Description

6085h)] and the state shifts to "Switch On Disabled". In the cyclic synchronous torque mode (cst), the state immediately shifts to "Switch On Disabled", and the servo motor stops with the dynamic brake.

9 PDS Control Objects

9.3 [Quick stop option code (Obj. 605Ah)]

9.4 [Halt option code (Obj. 605Dh)]

[Halt option code (Obj. 605Dh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RW Impossible 1 1 (fixed)  Possible [Pr. PT68.2]

Description

Set how to decelerate the servo motor to a stop at Halt reception.

Setting value

0 

1 In the homing mode (hm), the servo motor decelerates to a stop with [Homing acceleration (Obj. 609Ah)] and the status remains as

2 Not supported by MR-J5-_G_.

The following shows the case where Halt Bit (Bit 8 of [Controlword (Obj. 6040h)]) is set to "1" and "0", and the reflective timing

of the deceleration time setting in each control mode.

Control mode Halt Bit is set to "1" Halt Bit is set to "0" Reflective timing of

Homing mode (hm) When Halt Bit is set to "1", the servo motor decelerates to a stop with [Homing

Description

"Operation Enabled (servo-on)".

acceleration (609Ah)], and the status remain as Operation Enabled (servo-on). Then, homing is restarted with the following procedure: (1) set Halt Bit to "0", (2) reset Homing Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "0", and (3) change Homing Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "1".

deceleration time setting

Reflected when "Homing Operation Start" is set to "1".

9.5 [Modes of operation (Obj. 6060h)]

[Modes of operation (Obj. 6060h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I8 RW RXMAP 0 Refer to the

following.

Description

Set a control mode.

Setting value Description

0 No mode change/No mode assigned

2 

5 

6 Homing mode (hm)

7 

8 Cyclic synchronous position mode (csp)

9 Cyclic synchronous velocity mode (csv)

10 Cyclic synchronous torque mode (cst)

 Impossible 

9 PDS Control Objects

9.4 [Halt option code (Obj. 605Dh)]

9.6 [Modes of operation display (Obj. 6061h)]

[Modes of operation display (Obj. 6061h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I8 RO TXMAP  Refer to the

following.

Description

The current control mode is returned.

Setting value Description

0 No mode change/No mode assigned

2 

5 

6 Homing mode (hm)

7 

8 Cyclic synchronous position mode (csp)

9 Cyclic synchronous velocity mode (csv)

10 Cyclic synchronous torque mode (cst)

-1 Test Operation mode: JOG Operation

-2 Test Operation mode: Positioning Operation

-4 Test Operation mode: DO forced output

-6 Test Operation mode: Machine analyzer

-9 Test Operation mode: Test Exit

 Impossible 

9.7 [Supported drive modes (Obj. 6502h)]

[Supported drive modes (Obj. 6502h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP 000003A0h 000003A0h (fixed)  Impossible 

Description

The supported control mode is returned. The description is as follows. The fixed value "003003A0h" is returned.

Bit Description Defined value

0 Profile position mode (pp) 0

1 Velocity mode (vl) 0

2 Profile velocity mode (pv) 0

3 Profile torque mode (tq) 0

4 Reserved 0

5 Homing mode (hm) 1: Supported

6 Interpolated position mode (ip) 0

7 Cyclic synchronous position mode (csp) 1: Supported

8 Cyclic synchronous velocity mode (csv) 1: Supported

9 Cyclic synchronous torque mode (cst) 1: Supported

10 Cyclic synchronous torque mode with communication angle (cstca) 0

11 to 15 Reserved 0

22 to 31 Reserved 0

9 PDS Control Objects

9.6 [Modes of operation display (Obj. 6061h)]

10 Position Control Function Objects

10.1 [Position actual internal value (Obj. 6063h)]

[Position actual internal value (Obj. 6063h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The current position is returned.

10.2 [Position actual value (Obj. 6064h)]

[Position actual value (Obj. 6064h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

inc Impossible 

pos units Impossible 

Description

The current position of the command unit is returned.

10.3 [Following error window (Obj. 6065h)]

[Following error window (Obj. 6065h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 00C00000h 00000000h to

FFFFFFFFh

Description

In the cyclic synchronous position mode (csp), when the time set with [Following error time out (Obj. 6066h)] has elapsed with

the number of droop pulses exceeding the setting value of this object, bit 13 of [Statusword (Obj. 6041h)] is turned on. When

the setting value of this object is "FFFFFFFFh", bit 13 of [Statusword] is always off.

pos units Possible [Pr. PC67]

10.4 [Following error time out (Obj. 6066h)]

[Following error time out (Obj. 6066h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 10 0 to 65535 ms Possible [Pr. PC69]

Description

Refer to the following object. Page 77 [Following error window (Obj. 6065h)]

10 Position Control Function Objects

10.1 [Position actual internal value (Obj. 6063h)]

10.5 [Positioning option code (Obj. 60F2h)]

[Positioning option code (Obj. 60F2h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 0000h 0000h (fixed)  Possible [Pr. PT03.2]

Description

The value is fixed to "0000h".

10.6 [Following error actual value (Obj. 60F4h)]

[Following error actual value (Obj. 60F4h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The droop pulses are returned.

pos units Impossible 

10.7 [Control effort (Obj. 60FAh)]

[Control effort (Obj. 60FAh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The speed command is returned.

Connected servo motor Unit

Rotary servo motor 0.01 r/min

Linear servo motor 0.01 mm/s

vel units Impossible 

10 Position Control Function Objects

10.5 [Positioning option code (Obj. 60F2h)]

11 Profile Velocity Mode Objects

11.1 [Velocity demand value (Obj. 606Bh)]

[Velocity demand value (Obj. 606Bh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

vel units Impossible 

Description

The speed command is returned.

Connected servo motor Unit

Rotary servo motor 0.01 r/min

Linear servo motor 0.01 mm/s

11.2 [Velocity actual value (Obj. 606Ch)]

[Velocity actual value (Obj. 606Ch: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The current speed is returned.

Connected servo motor Unit

Rotary servo motor 0.01 r/min

Linear servo motor 0.01 mm/s

vel units Impossible 

11.3 [Target velocity (Obj. 60FFh)]

[Target velocity (Obj. 60FFh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

Description

Set the speed command used in the cyclic synchronous velocity mode (csv).

Connected servo motor Unit

Rotary servo motor 0.01 r/min

Linear servo motor 0.01 mm/s

vel units Impossible 

11 Profile Velocity Mode Objects

11.1 [Velocity demand value (Obj. 606Bh)]

MEMO

11 Profile Velocity Mode Objects

11.3 [Target velocity (Obj. 60FFh)]

12 Profile Torque Mode Objects

12.1 [Target torque (Obj. 6071h)]

[Target torque (Obj. 6071h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RW RXMAP  -32768 to 32767 0.1 % Impossible 

Description

Set the torque command used in the cyclic synchronous velocity mode (cst).

12.2 [Max torque (Obj. 6072h)]

[Max torque (Obj. 6072h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW TXMAP  0 to 65535 0.1 % Impossible 

Description

The maximum torque of the servo motor is returned. The values notified by this object are the maximum current and feedback

values and may not match the maximum torque described in "Rotary Servo Motor User's Manual (HK series)".

12.3 [Torque demand value (Obj. 6074h)]

[Torque demand value (Obj. 6074h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  -32768 to 32767 0.1 % Impossible 

Description

The torque command is returned.

12.4 [Torque actual value (Obj. 6077h)]

[Torque actual value (Obj. 6077h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  -32768 to 32767 0.1 % Impossible 

Description

The current torque is returned.

12 Profile Torque Mode Objects

12.1 [Target torque (Obj. 6071h)]

12.5 [Torque slope (Obj. 6087h)]

[Torque slope (Obj. 6087h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 0 0 (fixed) 0.1 %/s Possible [Pr. PT53]

Description

The value is fixed to "0".

12.6 [Torque profile type (Obj. 6088h)]

[Torque profile type (Obj. 6088h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I16 RW RXMAP 0 0 (fixed)  Impossible 

Description

Set the torque command pattern. Value of "1" cannot be set.

Setting value Description

0 Linear ramp

1 sin

ramp (Not supported)

12.7 [Positive torque limit value (Obj. 60E0h)]

[Positive torque limit value (Obj. 60E0h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP  0 to 10000 0.1 % Possible [Pr. PA11]/[Pr.

PA12]

Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value

of the torque of the servo motor in the CCW power running or CW regeneration, or the limit value of the thrust of the linear

servo motor in the positive direction power running or negative direction regeneration.

Setting "0" generates no torque or thrust.

When POL is disabled, the value of [Pr. PA11 Forward rotation torque limit] will be set, and when POL is disabled, the value of

[Pr. PA12 Reverse rotation torque limit] will be set.

12 Profile Torque Mode Objects

12.5 [Torque slope (Obj. 6087h)]

12.8 [Negative torque limit value (Obj. 60E1h)]

[Negative torque limit value (Obj. 60E1h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP  0 to 10000 0.1 % Possible [Pr. PA11]/[Pr.

PA12]

Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value

of the torque of the servo motor in the CW power running or CCW regeneration, or the limit value of the thrust of the linear

servo motor in the negative direction power running or positive direction regeneration.

Setting "0" generates no torque or thrust.

Corresponds to [Pr. PA12 Forward rotation torque limit] when POL is disabled, and [Pr. PA11 Reverse rotation torque limit]

when POL is enabled.

12 Profile Torque Mode Objects

12.8 [Negative torque limit value (Obj. 60E1h)]

13 Profile Position Mode Objects

13.1 [Target position (Obj. 607Ah)]

[Target position (Obj. 607Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP  80000000h to

7FFFFFFFh

Description

Set the position command used in the cyclic synchronous velocity mode (csp).

13.2 [Position range limit (Obj. 607Bh)]

[Position range limit (Obj. 607Bh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

pos units Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Min position range limit (Obj. 607Bh: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP  80000000h to

7FFFFFFFh

pos units Impossible 

Description

Set the range for limiting the command position.

[Position range limit (Obj. 607Bh)] cannot be written. If a value is written, this will result in witting error.

[Max position range limit (Obj. 607Bh: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP pos units Impossible 

Description

Refer to the following object. Page 84 [Min position range limit (Obj. 607Bh: 01h)]

13 Profile Position Mode Objects

13.1 [Target position (Obj. 607Ah)]

13.3 [Software position limit (Obj. 607Dh)]

[Software position limit (Obj. 607Dh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Min position limit (Obj. 607Dh: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

Description

Set the range for limiting the command position.

For [Min position limit (Obj. 607Dh: 01h)], set the stroke limit value for address increasing direction in command units.

For [Max position limit (Obj. 607Dh: 02h)], set the stroke limit value for address decreasing direction in command units.

[Target position (Obj. 607Ah)] is limited within the range between [Min position limit (Obj. 607Dh: 01h)] and [Max position limit

(Obj. 607Dh: 02h)].

When the same value is set for [Min position limit (Obj. 607Dh: 01h)] and [Max position limit (Obj. 607Dh: 02h)], the [Software

position limit (607Dh)] function is disabled.

Setting [Home offset (Obj. 607Ch)] will compensate for the software position limit.

After compensation [Max position range limit] = [Max position range limit] - [Home offset]

After compensation [Min position range limit] = [Min position range limit] - [Home offset]

When [Min position limit (Obj. 607Dh: 01 h)] is set to a value greater than [Max position limit (Obj. 607Dh: 02 h)], the function

of [Software position limit (Obj. 607Dh)] is disabled.

pos units Possible [Pr. PT17]

[Max position limit (Obj. 607Dh: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

Description

Refer to the following object. Page 85 [Min position limit (Obj. 607Dh: 01h)]

pos units Possible [Pr. PT15]

13 Profile Position Mode Objects

13.3 [Software position limit (Obj. 607Dh)]

13.4 [Max motor speed (Obj. 6080h)]

[Max motor speed (Obj. 6080h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP 10000 0 to 4294967295 Refer to the

following.

Description

The maximum speed of the servo motor is returned. Operation cannot be performed at a speed exceeding the value of this

object.

The data unit changes depending on the connected servo motor.

When changing the returning value to the permissible speed, set "1" in [Pr. PA28.4 Speed range limit selection].

Connected servo motor Unit

Rotary servo motor r/min

Linear servo motor mm/s

Impossible 

13.5 [Profile velocity (Obj. 6081h)]

[Profile velocity (Obj. 6081h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP  0 to Maximum

speed

vel units Possible 

Description

Set "0".

13.6 [Profile acceleration (Obj. 6083h)]

[Profile acceleration (Obj. 6083h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP acc units Possible 

Description

Set "0".

13.7 [Profile deceleration (Obj. 6084h)]

[Profile deceleration (Obj. 6084h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP acc units Possible 

Description

Set "0".

13 Profile Position Mode Objects

13.4 [Max motor speed (Obj. 6080h)]

13.8 [Quick stop deceleration (Obj. 6085h)]

[Quick stop deceleration (Obj. 6085h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP acc units Possible 

Description

Set a deceleration time constant for the Quick stop function. Set the time from the servo motor rated speed to stop. If the

setting value is "0", the deceleration time constant is 100 ms.

Unit Supported servo parameter Initial value Range

ms [Pr. PC24] 100 0 to 20000

13 Profile Position Mode Objects

13.8 [Quick stop deceleration (Obj. 6085h)]

14 Homing Mode Objects

14.1 [Home offset (Obj. 607Ch)]

[Home offset (Obj. 607Ch: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW TXMAP 0 -2147483648 to

2147483647

Description

Set the difference between zero position of the machine coordinate system and homing position.

14.2 [Homing method (Obj. 6098h)]

[Homing method (Obj. 6098h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I8 RW RXMAP 37 -43 to 37  Possible [Pr. PT45]

pos units Possible [Pr. PT08]

Description

Set a homing method.

14.3 [Homing speeds (Obj. 6099h)]

[Homing speeds (Obj. 6099h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Speed during search for switch (Obj. 6099h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

Description

Set the servo motor speed for homing. If the set speed exceeds 8000 r/min (or mm/s), the speed is clamped at 8000 r/min (or

mm/s). When changing the maximum value of Range to the permissible speed, set [Pr. PA28.4 Speed range limit selection] to

"1".

Connected servo motor Unit Supported servo parameter Initial value

Rotary servo motor 0.01 r/min [Pr. PT05] 10000

Linear servo motor 0.01 mm/s

0 to Maximum speed

vel units Possible Refer to the

following.

14 Homing Mode Objects

14.1 [Home offset (Obj. 607Ch)]

[Speed during search for zero (Obj. 6099h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

0 to Maximum speed

vel units Possible Refer to the

following.

Description

Set a creep speed after proximity dog at homing. If the set speed exceeds 8000 r/min (or mm/s), the speed is clamped at

8000 r/min (or mm/s). When changing the maximum value of Range to the permissible speed, set [Pr. PA28.4 Speed range

limit selection] to "1".

Connected servo motor Unit Supported servo parameter Initial value

Rotary servo motor 0.01 r/min [Pr. PT06] 1000

Linear servo motor 0.01 mm/s

14.4 [Homing acceleration (Obj. 609Ah)]

[Homing acceleration (Obj. 609Ah: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO RXMAP Refer to the

following.

Refer to the following.

acc units Possible Refer to the

following.

Description

Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed.

Unit Supported servo parameter Initial value Range

ms [Pr. PT56] 0 0 to 20000

14.5 [Supported homing method (Obj. 60E3h)]

[Supported homing method (Obj. 60E3h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

Description

The total number of Sub Index is returned.

14 Homing Mode Objects

14.4 [Homing acceleration (Obj. 609Ah)]

[1st supported homing method (Obj. 60E3h: 01h)] - [39th supported homing method (Obj. 60E3h: 27h)]

Data Type Access Mapping Default Range Units Save Parameter

I8 RO Impossible Impossible 

Description

The supported homing type is returned. Range values are fixed to the Default values.

Sub Index Name Default

01h 1st supported homing method 37

02h 2nd supported homing method 35

03h 3rd supported homing method 34

04h 4th supported homing method 33

05h 5th supported homing method 28

06h 6th supported homing method 27

07h 7th supported homing method 24

08h 8th supported homing method 23

09h 9th supported homing method 22

0Ah 10th supported homing method 21

0Bh 11th supported homing method 20

0Ch 12th supported homing method 19

0Dh 13th supported homing method 12

0Eh 14th supported homing method 11

0Fh 15th supported homing method 8

10h 16th supported homing method 7

11h 17th supported homing method 6

12h 18th supported homing method 5

13h 19th supported homing method 4

14h 20th supported homing method 3

15h 21st supported homing method -1

16h 22nd supported homing method -2

17h 23rd supported homing method -3

18h 24th supported homing method -4

19h 25th supported homing method -6

1Ah 26th supported homing method -7

1Bh 27th supported homing method -8

1Ch 28th supported homing method -9

1Dh 29th supported homing method -10

1Eh 30th supported homing method -11

1Fh 31st supported homing method -33

20h 32nd supported homing method -34

21h 33rd supported homing method -36

22h 34th supported homing method -38

23h 35th supported homing method -39

24h 36th supported homing method -40

25h 37th supported homing method -41

26h 38th supported homing method -42

27h 39th supported homing method -43

14 Homing Mode Objects

14.5 [Supported homing method (Obj. 60E3h)]

15 Factor Group Objects

15.1 [Polarity (Obj. 607Eh)]

[Polarity (Obj. 607Eh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW RXMAP 00h 00h to E0h  Possible [Pr. PA14]

[Pr. PC29.3]

Description

The rotation direction selection can be set.

Bit Description

0 reserved

1 reserved

2 reserved

3 reserved

4 reserved

5 0: Servo motor CCW rotation at positive torque

1: Servo motor CW rotation at positive torque

6 0: Servo motor CCW rotation at positive speed

1: Servo motor CW rotation at positive speed

7 0: Servo motor CCW rotation in positioning address increase direction

1: Servo motor CW rotation in positioning address increase direction

15 Factor Group Objects

15.1 [Polarity (Obj. 607Eh)]

15.2 [Position encoder resolution (Obj. 608Fh)]

[Position encoder resolution (Obj. 608Fh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Encoder increments (Obj. 608Fh: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP  0 to 4294967295 inc Impossible 

Description

The encoder resolution is returned. When the linear servo motor is connected, the virtual resolution per revolution is returned.

Writing a value triggers an error.

[Motor revolutions (Obj. 608Fh: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP 1 1 (fixed) rev Impossible 

Description

The number of revolutions of the servo motor is returned. The value is fixed to "1".

Writing a value triggers an error.

15 Factor Group Objects

15.2 [Position encoder resolution (Obj. 608Fh)]

15.3 [Gear ratio (Obj. 6091h)]

[Gear ratio (Obj. 6091h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Motor revolutions (Obj. 6091h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 1 1 to 2147483647 rev Possible [Pr. PA06]

Description

The number of revolutions of the servo motor shaft (numerator) can be set. Refer to "[Pr. PA06 Electronic gear numerator

(*CMX)]" in the following manual for the range of settable values. MR-J5-G/MR-J5W-G User's Manual (Parameters)

[Shaft revolutions (Obj. 6091h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 1 1 to 2147483647 rev Possible [Pr. PA07]

Description

The number of revolutions of the drive shaft (denominator) can be set. Refer to "[Pr. PA07 Electronic gear denominator

(*CDV)]" in the following manual for the range of settable values. MR-J5-G/MR-J5W-G User's Manual (Parameters)

15 Factor Group Objects

15.3 [Gear ratio (Obj. 6091h)]

15.4 [Feed constant (Obj. 6092h)]

[Position actual internal value (Obj. 6063h)] × [Feed constant (Obj. 6092h)]

[Position encoder resolution (Obj. 608Fh)] × [Gear ratio (Obj. 6091h)]

[Position actual value (Obj. 6064h)] =

[Position actual value (Obj. 6064h)] is calculated from [Gear ratio (Obj. 6091h)] and [Feed constant (Obj. 6092h)] as follows.

[Feed constant (Obj. 6092h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Index (= 2) is returned.

[Feed (Obj. 6092h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP pos units Impossible 

Description

The travel distance per revolution of the output shaft is returned.

[Shaft revolutions (Obj. 6092h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP  1 to 1000 rev Possible [Pr. PT03.0]

Description

The number of revolutions of the servo motor is returned. Writing a value triggers an error.

15.5 [SI unit position (Obj. 60A8h)]

[SI unit position (Obj. 60A8h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h

(fixed)

Description

This object value is set automatically.

 Impossible 

15 Factor Group Objects

15.4 [Feed constant (Obj. 6092h)]

15.6 [SI unit velocity (Obj. 60A9h)]

[SI unit velocity (Obj. 60A9h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  Refer to the

following.

Description

The SI unit speed is returned.

The SI unit acceleration is set automatically for each connected servo motor.

Connected servo motor Range

Rotary servo motor FEB44700h (0.01 r/min)

Linear servo motor FB010300h (0.01 mm/s)

 Impossible 

15.7 [SI unit acceleration (Obj. 60AAh)]

[SI unit acceleration (Obj. 60AAh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

I32 RW Impossible  FD030000h

(fixed)

 Impossible 

Description

The SI unit acceleration is returned.

The SI unit acceleration is set automatically.

15 Factor Group Objects

15.6 [SI unit velocity (Obj. 60A9h)]

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

[Digital inputs (Obj. 60FDh: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP  00000000h to

037F0007h

Description

The ON/OFF status of the input device connected to the servo amplifier is returned.

Bit Description

0 Negative limit switch

When [Pr. PA14] is set to "0": 0: LSN (Reverse rotation stroke end) off 1: LSN (Reverse rotation stroke end) on When [Pr. PA14] is set to "1": 0: LSP (Forward rotation stroke end) off 1: LSP (Forward rotation stroke end) on

1 Positive limit switch

When [Pr. PA14] is set to "0": 0: LSP (Forward rotation stroke end) off 1: LSP (Forward rotation stroke end) on When [Pr. PA14] is set to "1": 0: LSN (Reverse rotation stroke end) off 1: LSN (Reverse rotation stroke end) on

2 Home switch

0: DOG (Proximity dog) off 1: DOG (Proximity dog) on

3 to 16 (reserved)

The value at reading is undefined.

17 to 21 Not available.

22 EM2/EM1

When [Pr. PA04.3] is set to "0": 0: EM1 (Forced stop 1) off 1: EM1 (Forced stop 1) on When [Pr. PA04.3] is set to "2": 0: EM2 (Forced stop 2) off 1: EM2 (Forced stop 2) on

23 (reserved)

The value at reading is undefined.

24 Safe torque off 1

0: STO1 off 1: STO1 on

25 Safe torque off 2

0: STO2 off 1: STO2 on

26 to 31 (reserved)

The value at reading is undefined.

 Impossible 

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

MEMO

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision date *Manual number Description

June 2019 SH(NA)-030304ENG-A First edition

This manual confers no industrial property 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.

Mitsubishi Electric Melservo-J5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY INSTRUCTIONS

U.S. CUSTOMARY UNITS

CONTENTS

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

[Device Type (Obj. 1000h: 00h)]

2.2 [Error Register (Obj. 1001h)]

[Error Register (Obj. 1001h: 00h)]

2.3 [Manufacturer Device Name (Obj. 1008h)]

[Manufacturer Device Name (Obj. 1008h: 00h)]

2 General Objects

2.1 [Device Type (Obj. 1000h)]

[Manufacturer Hardware Version (Obj. 1009h: 00h)]

2.5 [Manufacturer Software Version (Obj. 100Ah)]

[Manufacturer Software Version (Obj. 100Ah: 00h)]

2.6 [Store parameters (Obj. 1010h)]

[Store parameters (Obj. 1010h: 00h)]

[Save all parameters (Obj. 1010h: 01h)]

2.4 [Manufacturer Hardware Version (Obj. 1009h)]

[Restore default parameters (Obj. 1011h: 00h)]

[Restore all default parameters (Obj. 1011h: 01h)]

2.7 [Restore default parameters (Obj. 1011h)]

[Identity Object (Obj. 1018h: 00h)]

[Vendor ID (Obj. 1018h: 01h)]

[Product Code (Obj. 1018h: 02h)]

[Revision Number (Obj. 1018h: 03h)]

[Serial Number (Obj. 1018h: 04h)]

2.8 [Identity Object (Obj. 1018h)]

[Version number (Obj. 67FEh: 00h)]

2.9 [Version number (Obj. 67FEh)]

[1st Receive PDO Mapping (Obj. 1600h: 00h)]

3 PDO Mapping Objects

3.1 [1st Receive PDO Mapping (Obj. 1600h)]

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]

[2nd Receive PDO Mapping (Obj. 1601h: 00h)]

3.2 [2nd Receive PDO Mapping (Obj. 1601h)]

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)]

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)]

3.3 [1st Transmit PDO Mapping (Obj. 1A00h)]

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)]

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]

3.4 [2nd Transmit PDO Mapping (Obj. 1A01h)]

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)]

[1st PDO Config (Obj. 1C00h: 00h)]

[PDO Assignment (Obj. 1C00h: 01h)]

[PDO Enable (Obj. 1C00h: 02h)]

[Error Handling (Obj. 1C00h: 03h)]

3.5 [1st PDO Config (Obj. 1C00h)]

[Memory Address (Obj. 1C00h: 04h)]

[2nd PDO Config (Obj. 1C01h: 00h)]

[PDO Assignment (Obj. 1C01h: 01h)]

[PDO Enable (Obj. 1C01h: 02h)]

[Error Handling (Obj. 1C01h: 03h)]

3.6 [2nd PDO Config (Obj. 1C01h)]

[Memory Address (Obj. 1C01h: 04h)]

[Watchdog counter DL (Obj. 1D01h: 00h)]

[Watchdog counter DL 1 (Obj. 1D01h: 01h)]

4.2 [Watchdog counter UL (Obj. 1D02h)]

[Watchdog counter UL (Obj. 1D02h: 00h)]

[Watchdog counter UL 1 (Obj. 1D02h: 01h)]

4 Sync Manager Communication Objects

4.1 [Watchdog counter DL (Obj. 1D01h)]

5.2 [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)]

5.3 [PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]

5.4 [PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]

5.5 [PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)]

5.6 [PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)]

5.7 [PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)]

5.8 [PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)]

5.9 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]

5 Parameter Objects

5.1 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)]

[Alarm history newest (Obj. 2A00h: 00h)]

[Alarm No. (Obj. 2A00h: 01h)]

[Alarm time (Hour) (Obj. 2A00h: 02h)]

[Alarm2 No. (Obj. 2A00h: 03h)]