Mitsubishi Electric MELSERVO-JE MR-JE-C Instruction Manual

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus/TCP)

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction 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 Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to 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.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

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

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

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.

.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire. When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in regenerative resistor and wiring from the servo amplifier. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury, malfunction, etc. may occur. Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products. To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

Operation 0 °C to 55 °C (non-freezing)

Operation

5 %RH to 90 %RH (non-condensing)

A - 3

r

(2) Wiring

CAUTION

Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated otherwise. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifie

DOCOM

Control output signal

For source output interface

24 V DC

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly.

A - 4

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 5

CAUTION

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

B

Electromagnetic brake

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

RA

U

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes

Compliance with global standards

For the compliance with global standards, refer to app. 3 of "MR-JE-_C Servo Amplifier Instruction Manual".

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.

Relevant manuals

Manual name Manual No.

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual SH(NA)030257ENG

MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode) SH(NA)030254ENG

MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

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

Temperature N [°C] × 9/5 + 32 N [°F]

A - 7

MEMO

A - 8

1. FUNCTIONS AND CONFIGURATION

1.1 Summary of Modbus-TCP

The Modbus protocol, developed for programmable controllers by Modicon Inc., has evolved into the Modbus/TCP protocol for use over TCP/IP. The Modbus master acts as a TCP client, and the Modbus slave acts as a TCP server for client-server communication. Using the functions in the message frames enables to read or write data from/to parameters, write input commands, and check operation status of servo amplifiers. For MR-JE-_C servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive profile. A Modbus-compatible controller, the client, can communicate with the MR-JE-_C servo amplifiers that are servers by accessing assigned holding registers.

1.2 Function List

The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.

Function Description

Position control mode (P) (pulse train input)

Speed control mode (S) (Analog input/DI input)

Torque control mode (T) (Analog input)

Position/speed control switching mode (P/S)

Speed/torque control switch mode (S/T)

Torque/position control switch mode (T/P)

Profile position mode (pp) The servo amplifier operates in the profile position mode.

Profile velocity mode (pv) The servo amplifier operates in the profile velocity mode.

Profile torque mode (tq) The servo amplifier operates in the profile torque mode.

Homing mode (hm) The servo amplifier operates in the home position return mode.

Absolute position detection system

Model adaptive control

Touch probe function

Command pulse selection Command pulse train form can be selected from among three different types.

High-resolution encoder

This servo amplifier is used as a position control servo.

This servo amplifier is used as a speed control servo.

This servo amplifier is used as a torque control servo.

Using an input device, control can be switched between position control and speed control.

Using an input device, control can be switched between speed control and torque control.

Using an input device, control can be switched between torque control and position control.

Setting a home position once makes home position return unnecessary at every power-on.

This function achieves a high response and stable control following the ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to the command and a response to the disturbance separately.

Additionally, this function can be disabled. To disable this function, refer to section

7.4 of "MR-JE-C_ Servo Amplifier Instruction Manual".

The touch probe function is available only in the profile mode. When the touch probe 1 signal turns on, the current position latch function will latch the current position. The latched data can be read with communication commands.

High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo motor compatible with the MELSERVO-JE series.

Detailed

explanation

"MR-JE-_C Servo Amplifier Instruction Manual"

"MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)"

"MR-JE-_C Servo Amplifier Instruction Manual" / "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)"

Section 6.4.8

"MR-JE-_C Servo Amplifier Instruction Manual"

1 - 1

1. FUNCTIONS AND CONFIGURATION

Function Description

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

Machine analyzer function

Robust filter

Slight vibration suppression control

Electronic gear

S-pattern acceleration/deceleration time constant

Auto tuning

Regenerative option

Alarm history clear Clears alarm histories.

Input signal selection (device settings)

Output signal selection (device settings)

Output signal (DO) forced output

Torque limit Limits the servo motor torque.

Speed limit Servo motor speed can be limited to any value.

Automatic VC offset

Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code.

Test operation mode

MR Configurator2

One-touch tuning

You can switch gains during rotation and during stop, and can use an input device to switch gains during operation.

This function suppresses vibration or residual vibration at an arm end.

This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration of high frequency. The shaft resonance suppression filter suppresses the vibration.

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as the servo system response is increased.

Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo amplifier.

MR Configurator2 is necessary for this function.

Improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio, such as a roll feed axis.

Suppresses vibration of ±1 pulse generated at a servo motor stop.

The position control is performed based on a value obtained by multiplying the position command from the controller by the set electronic gear ratio.

When the position control mode is used, the input pulses can be multiplied by 1/10 to 4000.

When the profile position mode is used, the position commands can be multiplied by 1/27649 to 8484.

Enables smooth acceleration and deceleration. Set S-pattern acceleration/deceleration time constants with [Pr. PC03]. As compared with linear acceleration/deceleration, the acceleration/deceleration

time will be longer for the S-pattern acceleration/deceleration time constants regardless of command speed.

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for a large regenerative power generated.

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and other input device can be assigned to certain pins of the CN3 connector.

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN3 connector.

Turns on/off the output signals forcibly independently of the servo status. Use this function for checking output signal wiring, etc.

Voltage is automatically offset to stop the servo motor if it does not come to a stop when VC (Analog speed command) is 0 V.

MR Configurator2 is necessary for this function.

Jog operation, positioning operation, motor-less operation, DO forced output, and program operation

MR Configurator2 is necessary for this function.

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Gain adjustment is performed just by one click on MR Configurator2. This function is available with MR Configurator2 or via a network.

Detailed

explanation

"MR-JE-_C Servo Amplifier Instruction Manual"

Section 5.2 "MR-JE-_C

Servo Amplifier Instruction Manual"

1 - 2

1. FUNCTIONS AND CONFIGURATION

Function Description

This function makes the equipment continue operating even under the condition that

Tough drive function

Drive recorder function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Modbus/TCP

CC-Link IE Field Network Basic

SLMP

IP address filtering function

Operation specification IP address function

Lost motion compensation function

Limit switch

Software limit

an alarm occurs. The tough drive function includes two types: the vibration tough drive and the

instantaneous power failure tough drive.

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data by clicking the Waveform-Display button in the drive recorder window of MR Configurator2.

However, the drive recorder is not available when:

1. You are using the graph function of MR Configurator2.

2. You are using the machine analyzer function.

3. [Pr. PF21] is set to "-1".

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.

This function is available with MR Configurator2 or via a network. (Refer to section

6.4.)

This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing.

This function is available with MR Configurator2 or via a network. (Refer to section

6.3.)

The Modbus/TCP uses dedicated message frames for the Ethernet communication between a client (master) and servers (slaves). The dedicated message frames have functions for reading and writing data, you can set the parameters of servo amplifiers and monitor it by using this function. In the profile mode, driving the servo motor is also possible.

CC-Link IE Field Network Basic enables fixed cycle communication between the master and slave stations using a general-purpose Ethernet connector. The parameters of servo amplifiers can be set (read/written) and monitored. In the profile mode, driving the servo motor is also possible.

SLMP (SeamLess Message Protocol) is a protocol to access SLMP-compatible devices from external devices (such as a personal computer and an HMI) or programmable controller CPU via Ethernet. The parameters of servo amplifiers can be set (read/written) and monitored. In the profile mode, driving the servo motor is also possible.

Register the range of IP addresses in advance to limit the network devices allowed to be connected to the servo amplifier.

In Ethernet communication (CC-Link IE Field Network Basic, SLMP, or Modbus/TCP), to limit the network devices to which the operation right is given, set the range of the device IP addresses.

Monitoring/parameter reading can be performed with the network devices having no operation right.

This function improves the response delay generated when the machine moving direction is reversed.

Limits travel intervals using LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

Limits travel intervals by address using parameters. Enables the same function with the limit switch by setting parameters.

Detailed

explanation

"MR-JE-_C Servo Amplifier Instruction Manual"

Chapter 2

"MR-JE-_C Servo Amplifier Instruction Manual (CCLink IE Field Network Basic)"

Chapter 4 "MR-JE-_C

Servo Amplifier Instruction Manual (CCLink IE Field Network Basic)"

"MR-JE-_C Servo Amplifier Instruction Manual"

Section 6.4.5

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.3 Communication specifications

The following table lists the Modbus/TCP communication specifications.

Communication protocol Modbus/TCP protocol

Conformed standard OPEN Modbus/TCP SPECIFICATION

Port No. No. 502

IP address

Subnet mask Default value (recommended): 255.255.255.0

Message format Refer to section 2.

Physical layer 1000BASE-T

Communication connector RJ45, 1 port (CN1)

Communication cable CAT5e, shielded twisted pair (4 pair) straight cable

Network topology Star

Variable communication speed 100 Mbps

Transmission speed between stations Max. 100 m

Waiting time setting None

Maximum number of connections 3

Server function

Function Description

IPv4 range: 0.0.0.0 to 255.255.255.255 Use the same network address for both a client and servers. Default value: 192.168.3.0

Number of request messages that are receivable simultaneously

1

1 - 4

2. MODBUS/TCP PROTOCOL

POINT

If connection with a client disconnects during establishment, the connection may not close and this may cause reconnection failure. In case you cannot reconnect, cycle the power of the servo amplifier.

2.1 Summary

In Modbus/TCP communication, a command that a client (controller) sends to servers (servo amplifiers) is called "Query Message", and a command that the servers return to the client is called "Response Message". When a servo amplifier receives a Query Message, it returns a Response Message to the client after the servo amplifier response time. In Modbus/TCP communication, as in the case of TCP/IP, make sure to establish the connection before sending and receiving commands. Check that the connection has been established, and then send a Query Message.

Client (controller)

Server (servo amplifier)

Note. The servo amplifier response time differs depending on the command to send.

Query Message

Response Message

Servo amplifier response time (Note)

Query Message

Response Message

2.2 Modbus/TCP Communication Message Frame

Query Messages sent from the client (controller) and Response Messages sent from the servers (servo amplifiers) are both sent in the following message frame format. Messages are sent by using TCP/IP.

Unit Identifier

Function

Data

Query Message

Client (controller)

Response Message

Unit Identifier

Function

Data

Server (servo amplifier)

A message frame is composed of six message fields. When a server (servo amplifier) received a Query Message sent from the client (controller) without errors, the function code in the Query Message is copied into the Function in a Response Message. When a server (servo amplifier) received a Query Message with an error, the server returns a value obtained by adding "80h" to the function code value in the Query Message to the client. Judge the occurrence of an error by checking the function code in the Response Message on the controller side.

2 - 1

2. MODBUS/TCP PROTOCOL

Message frame

Transaction

Identifier

2 × 8 bits 2 × 8 bits 2 × 8 bits 8 bits 8 bits n × 8 bits

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 2 × 8 bits Client → Server Set the byte length from Unit Identifier to Data.

Unit Identifier (Unit identifier) 8 bits Client → Server The value is fixed to "255".

Function (Function field)

Data (Data field) n × 8 bits Client → Server The format changes depending on the function code selected.

Protocol Identifier

Message field Size

Length Field

Unit

Identifier

2 × 8 bits Client → Server This is the data to be added by the client for transaction

2 × 8 bits Client → Server The value is fixed to "0".

8 bits Client → Server Set a function code to request to the server.

Function Data

Communication

path

management. Set a value available for transaction management.

Server → Client Transaction Identifier received from the client (controller) is

copied and returned.

If the server receives a value other than "0", the received value is discarded and no value is returned.

Server → Client The value "0" is returned.

Server → Client The byte length from Unit Identifier to Data is returned.

If the server receives a value other than "255", the received value is discarded and no value is returned.

Server → Client Unit Identifier received from the client (controller) is copied and

returned.

Server → Client Send the function code requested by the client.

When a communication error has occurred, send a value obtained by adding "80h" to the function code requested by the client.

Server → Client

Refer to section 2.3 for details.

Description

2 - 2

2. MODBUS/TCP PROTOCOL

2.3 Function Codes

2.3.1 List of function codes

The MR-JE-_C servo amplifier supports the following function codes.

Code Function name Description

03h Read Holding Registers Reading data in holding registers

The data in the registered holding registers can be read from the client.

08h Diagnostics Function diagnostics

When this function code is sent from the client to a server, the server returns the received data to the client without any changes.

Communication checks can be performed.

10h Preset Multiple Registers Writing data in multiple holding registers

Consecutive multiple data sets can be written in the registered holding registers from the client.

2.3.2 Read Holding Registers (Reading data in holding registers: 03h)

Data in consecutive registers is read for the specified number of data points starting from the specified register address.

(1) Message frame

Query Message

Transaction

Identifier

16 bits 0000h 0006h FFh 03h 8 bits 8 bits 8 bits 8 bits

Protocol Identifier

Length Field

Unit

Identifier

Function

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits Set "0006h".

Unit Identifier (Unit identifier) 8 bits Set "FFh".

Function (Function field) 8 bits Set "03h".

Starting Address (Start address) (Note 1)

No. of Points (Number of read points)

16 bits Set any value.

16 bits Set "0000h".

16 bits Set a start address of the holding registers to read.

16 bits Set the number of points of data to read starting from the start address of the

holding registers from which data is read. Set the number of read points described in the list of holding registers. To read the data in continuous registers, set a value obtained by adding the

number of read points of the target registers to this number.

Starting Address No. of Points

H L H L

2 - 3

2. MODBUS/TCP PROTOCOL

Response Message

Transaction

Identifier

16 bits 0000h 16 bits FFh 03h 8 bits 8 bits 8 bits to 8 bits 8 bits

Protocol Identifier

Length Field

Unit

Identifier

Function Byte Count

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) 8 bits When the message was received without errors, "03h" is returned.

Byte Count (Byte count) 16 bits The Data frame size (in units of bytes) is returned.

Data (Read data) (Note 2) 16 bits × n Data starting from the start address specified in the Query Message is returned.

16 bits Transaction Identifier received from the client (controller) is copied and returned.

16 bits The value "0000h" is returned.

A value obtained by multiplying the value set for No. of Points in the Query Message by 2 is returned.

Data is read in order of H (higher bits) and L (lower bits). Data is read in order starting from the start address.

Note 1. Registers can be classified into two types: registers that can be continuously accessed and particular registers that cannot be

continuously accessed.

To read particular registers, read only the target registers.

For the details on whether the target registers can be continuously accessed or not, refer to chapter 6.

2. Higher 8 bits of 1-byte data are set to "00h" when this data is returned.

To use the signed 1-byte data as 2-byte data, perform sign extension on the client (controller) side.

(2) Usage example

The following shows a setting example of when Modbus registers 2B05h (Command pulse frequency) to 2B07h (Analog torque limit voltage) are read.

Index Name Data type Read/write

2B05h Command pulse frequency

(Command pulse frequency)

2B06h Analog speed command voltage

(Analog speed command voltage)

Analog speed limit voltage

(Analog speed limit voltage)

2B07h Analog torque limit voltage

(Analog torque limit voltage)

Analog torque command voltage

(Analog torque command voltage)

4 bytes Read 2

2 bytes Read 1

Data

H L to H L

No. of Points

(Number of

read points)

Continuous

read/write

Register value

(Read data)

12345678h

1000h

2000h

2 - 4

2. MODBUS/TCP PROTOCOL

Query Message

Transaction

Identifier

16 bits 0000h 0006h FFh 03h 2Bh 05h 00h 04h

Protocol

Identifier

Length Field

Unit

Identifier

Function

Set the following values to each Query Message.

Message field Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) Set "0006h".

Unit Identifier (Unit identifier) Set "FFh".

Function (Function field) Set "03h".

Starting Address (Start address) Set "2B05h", the start address to read.

No. of Points (Number of read points)

Set any value.

Set "0000h".

Set "04h", because the total number of read points from Modbus registers 2B05h to 2B07h is 4.

Response Message

Transaction

Identifier

16 bits 0000h 000Bh FFh 03h 08h 56h 78h 12h 34h 10h 00h 20h 00h

Protocol

Identifier

Length Field

Unit

Identifier

Function Byte Count

The following shows the information in each Response Message.

Message field Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) When the message was received without errors, "03h" is returned.

Byte Count (Byte count) The value "08h" is returned. This means that data of 8 frames is returned.

Data (Read data) Data starting from the start address is returned.

Transaction Identifier received from the client (controller) is copied and returned.

The value "0000h" is returned.

Lower-bit value of the register 2B05h: "5678h" Higher-bit value of the register 2B05h: "1234h" Value of the register 2B06h: "1000h" Value of the register 2B07h: "2000h"

Starting Address No. of Points

H L H L

Data

H L H L H L H L

2 - 5

2. MODBUS/TCP PROTOCOL

2.3.3 Diagnostics (Function diagnostics: 08h)

Use this register when performing the communication check from the client (controller). When a server (servo amplifier) receives a Query Message, it sends the received data as a Response Message without any changes to the client (controller).

(1) Message frame

Query Message

Transaction

Identifier

16 bits 0000h 0006h FFh 08h 00h 00h 8 bits 8 bits

Protocol

Identifier

Length Field

Unit

Identifier

Function

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits Set "0006h".

Unit Identifier (Unit identifier) 8 bits Set "FFh".

Function (Function field) 8 bits Set "08h".

Sub Function (Sub function) 16 bits Set "0000h".

Data (Data) 16 bits Set 2-byte length data.

16 bits Set any value.

16 bits Set "0000h".

When a value other than "0000h" is set, a communication error occurs.

Response Message

Transaction

Identifier

16 bits 0000h 0006h FFh 08h 00h 00h 8 bits 8 bits

Protocol

Identifier

Length Field

Unit

Identifier

Function

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) 8 bits When the message was received without errors, "08h" is returned.

Sub Function (Sub function) 16 bits The value "0000h" is returned.

Data (Data) 16 bits The data set in the Query Message is returned.

16 bits Transaction Identifier received from the client (controller) is copied and returned.

16 bits The value "0000h" is returned.

Sub Function Data

H L H L

Sub Function Data

H L H L

2 - 6

2. MODBUS/TCP PROTOCOL

(2) Usage example

The following shows a setting example of when the diagnosis function is used.

Query Message

Transaction

Identifier

16 bits 0000h 0006h FFh 08h 00h 00h 12h 34h

Protocol

Identifier

Length Field

Unit

Identifier

Function

Set the following values to each Query Message.

Message field Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) Set "0006h".

Unit Identifier (Unit identifier) Set "FFh".

Function (Function field) Set "08h".

Sub Function (Sub function) Set "0000h".

Data (Data) When setting 1234h, set values as follows:

Set any value.

Set "0000h".

H: "12h" L: "34h"

Response Message

Transaction

Identifier

16 bits 0000h 0006h FFh 08h 00h 00h 12h 34h

Protocol

Identifier

Length Field

Unit

Identifier

Function

The following shows the information in each Response Message.

Message field Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) When the message was received without errors, "08h" is returned.

Sub Function (Sub function) The value "0000h" is returned.

Data (Data) The value "1234h" set in the Query Message is returned.

Transaction Identifier received from the client (controller) is copied and returned.

The value "0000h" is returned.

H: "12h" L: "34h"

Sub Function Data

H L H L

Sub Function Data

H L H L

2 - 7

2. MODBUS/TCP PROTOCOL

2.3.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h)

Data is written to consecutive holding registers for the specified number of data points starting from the specified register address.

(1) Message frame

Query Message

Transaction

Identifier

16 bits 0000h 16 bits FFh 10h 8

Protocol

Identifier

Length Field

Unit

Identifier

Function

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits Set the byte length from Unit Identifier to Data.

Unit Identifier (Unit identifier) 8 bits Set "FFh".

Function (Function field) 8 bits Set "10h".

Starting Address (Start address) (Note)

No. of Registers (Number of registers to write)

Byte Count (Byte count) 16 bits Set the size of the data to write.

Data (Writing data) (Note) 16 bits × n Set the data to write.

16 bits Set any value.

16 bits Set "0000h".

16 bits Set the start address of the holding registers to which data is written.

16 bits Set the number of points of data to write starting from the start address of the

holding registers to which data is written. Set the number of write points described in the list of holding registers. To write data in continuous registers, set a value obtained by adding the number

of write points of the target registers to this number.

Response Message

Transaction

Identifier

16 bits 0000h 0006h FFh 10h 8 bits 8 bits 8 bits 8 bits

Protocol

Identifier

Length Field

Unit

Identifier

Function

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) 8 bits When the message was received without errors, "10h" is returned.

Starting Address (Start address) 16 bits The start address of the holding registers to which the data was written is

No. of Registers (Number of registers to write)

16 bits Transaction Identifier received from the client (controller) is copied and returned.

16 bits The value "0000h" is returned.

returned.

16 bits The number of points of written data starting from the start address of the holding

registers to which the data was written is returned.

Note. Registers can be classified into two types: registers to which data can be continuously written and particular registers to which

data cannot be continuously written.

To write data in particular registers, write data in the target registers one by one.

For the details on whether the target registers can be continuously accessed or not, refer to chapter 6.

Starting

Address

H L H L H L to H L

Bit 8 Bit 8 Bit 8 Bit 8 Bit 8 Bit 8 Bit

Starting Address No. of Points

H L H L

No. of

Registers

Byte

Count

Data

8

to

Bit 8 Bit

2 - 8

2. MODBUS/TCP PROTOCOL

(2) Usage example

The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]).

Index Name Data type Read/write

2102h PC02 4 bytes Read/write 2

Query Message

Transaction

Identifier

16 bits 0000h 000Ah FFh 10h 21h 02h 00h 02h 04h 01h 00h 00h 00h

Protocol

Identifier

Length Field

Unit

Identifier

Function

Starting

Address

H L H L H L H L

Set the following values to each Query Message.

Message field Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) Set the byte length from Unit Identifier to Data.

Unit Identifier (Unit identifier) Set "FFh".

Function (Function field) Set "10h".

Starting Address (Start address) Set "2102h", the start address of the registers to which data is written.

No. of Registers (Number of registers to write)

Byte Count (Byte count) Set "04h". This means that data of 4 frames is sent.

Data (Writing data) Set values in order starting from the start address.

Set any value.

Set "0000h".

Set "02h", because the total number of write points of the Modbus register 2102h is 2.

Lower-bit value of the register 2102h: "0100h" Higher-bit value of the register 2102h: "0000h"

Response Message

Transaction

Identifier

2 × 8 bits 0000h 0006h FFh 10h 21h 02h 00h 02h

Protocol

Identifier

Length Field

Unit

Identifier

Function

Starting Address No. of Points

H L H L

The following shows the information in each Response Message.

Message field Size Description

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) 8 bits When the message was received without errors, "10h" is returned.

Starting Address (Start address) 16 bits The value "2102h", the start address of the holding registers to which the data

No. of Registers (Number of registers to write)

16 bits Transaction Identifier received from the client (controller) is copied and returned.

16 bits The value "0000h" is returned.

was written is returned. H: "21h" L: "02h"

16 bits The number of registers to write "02h" is returned.

No. of

Registers (Number of registers to

write)

No. of

Registers

Byte

Count

Continuous

read/write

Data

Setting value

00000100h

2 - 9

2. MODBUS/TCP PROTOCOL

2.3.5 Processing at occurrence of an error

In Modbus/TCP communication, when the Query Message sent from the client (controller) includes an incorrect value, the server (servo amplifier) returns an exception response to the client (controller). If an error is detected in the TCP/IP layer, the server (servo amplifier) returns no message to the client (controller). When an exception response occurs, a value obtained by adding "80h" to the function code sent in the Query Message is returned with an exception code. However, no exception response occurs in the following cases.

Function code "03h" (Read Holding Registers) When data can be read from even one of consecutive registers, no exception response occurs. In this case, "0" is returned to the register data that cannot be read. Function code "10h" (Preset Multiple Registers) When data can be written into even one of consecutive registers, no exception response occurs.

Response Message

Transaction

Identifier

16 bits 0000h 0003h FFh 8 bits 8 bits

Transaction Identifier (Transaction identifier)

Protocol Identifier (Protocol identifier)

Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.

Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.

Function (Function field) 8 bits A value obtained by adding "80h" to the function code of the Query Message is

Exception Code (Exception code) 8 bits An exception code is set. For details of exception codes, refer to the following

List of exception codes

Code Error name Description

01h ILLEGAL FUNCTION

02h ILLEGAL DATA ADDRESS

03h ILLEGAL DATA VALUE

Protocol

Identifier

Message field Size Description

Length Field

(Illegal function code)

(Illegal address)

(Illegal data)

Unit

Identifier

16 bits Transaction Identifier received from the client (controller) is copied and returned.

16 bits The value "0000h" is returned.

Function

returned. When Function is "03h": "83h" When Function is "08h": "88h" When Function is "10h": "90h" When an unsupported Function (example: "01h") is used, "Function + 80h"

(example: "81h") is returned.

"List of exception codes".

The Query Message sent from the client set a function code that the server does not support.

The Query Message sent from the client set a register address that the server does not support. (Ex: No register address is set, or reading or writing data from/to registers is not available.)

The Query Message sent from the client set data that the register cannot handle. (Ex: A value out of the setting range is set, or "0" is set to No. of Registers.)

Exception

Code

2 - 10

3. STARTUP

POINT

When using Modbus/TCP communication, set [Pr. PN10 Ethernet communication time-out selection] before driving the servo motor. The servo motor may continue to operate after the communication is disabled due to a communication shut-off or other causes. Setting [Pr. PN10 Ethernet communication time-out selection] to several milliseconds may trigger [AL. 86.4] in the following condition. The power of the servo amplifier is cycled, or an instantaneous power failure occurs during Modbus/TCP communication.

This chapter describes the network setting of the MR-JE-_C servo amplifier. Refer to "MR-JE-_C Servo Amplifier Instruction Manual" and "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)" for other startup settings.

3.1 Modbus/TCP initial communication setting

Make the initial communication settings in the following procedure.

IP address setting

Network setting

Subnet mask setting

Default gateway setting

Server (servo amplifier)

power cycling

Client (controller)

Modbus/TCP communication start

[IP address setting] The initial value is 192.168.3.0. To change the initial value, set it with either of the

following (1) or (2). (Refer to section 3.2.) (1) Identification number setting rotary switch (SW1/SW2) (2) Parameter ([Pr. PN11] to [Pr. PN14])

[Subnet mask setting] The initial value is 255.255.255.0. Set it with the parameters ([Pr. PN15] to [Pr. PN18]).

(Refer to chapter 4.)

[Default gateway setting] The initial value is 192.168.3.1. Set it with the parameters ([Pr. PN19] to [Pr. PN22]).

(Refer to chapter 4.)

[Server (servo amplifier) power cycling] The settings of the IP address, subnet mask, and default gateway are reflected.

[Modbus/TCP communication start] Start Modbus/TCP communication of the client (controller).

Communication

start

3 - 1

3. STARTUP

3.2 IP address setting

POINT

Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as an Ethernet cable. The maximum cable length between nodes is 100 m. Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet communication using a switching hub. For the switching hub without the auto-negotiation function, set it to the transmission speed 100 Mbps and half duplex. The initial value of the IP address is 192.168.3.0. The 4th octet can be set to 1 to 255 by using the identification number setting rotary switch (SW1/SW2). Cycle the power of the servo amplifier after changing the parameter setting of the IP address or identification number setting rotary switch (SW1/SW2). The IP address range for Modbus/TCP communication is between 0.0.0.0 and

255.255.255.255. Set the IP address within the range.

Set the IP address with the identification number setting rotary switch (SW1/SW2) on the display of the servo amplifier or MR Configurator2. When the IP address is changed with the identification number setting rotary switch (SW1/SW2), change it before powering on the servo amplifier. The IP address you set can be checked in the system configuration window of MR Configurator 2. The IP address can be set as follows.

Identification number setting

rotary switch (SW1/SW2)

00h

01h to FFh

IP address

1st octet The setting value of [Pr. PN11] is used.

2nd octet The setting value of [Pr. PN12] is used.

3rd octet The setting value of [Pr. PN13] is used.

4th octet The setting value of [Pr. PN14] is used.

1st octet The setting value of [Pr. PN11] is used.

2nd octet The setting value of [Pr. PN12] is used.

3rd octet The setting value of [Pr. PN13] is used.

4th octet

The setting value of the identification number setting rotary switch (SW1/SW2) is used.

3 - 2

4. PARAMETERS

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting

CAUTION

4.1 List of communication-related parameters

Setting a value out of the range

Changing the fixed values in the digits of a parameter When you write parameters with the controller, make sure that the identification No. of the servo amplifier is set correctly. Otherwise, the parameter settings of another identification No. may be written, possibly causing the servo amplifier to be an unexpected condition.

POINT

To enable a parameter whose symbol is preceded by *, cycle the power after setting it. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20]. In Modbus/TCP communication, the following parameter cannot be used. [Pr. PN02 Communication error detection time]

No. Symbol Name

PN01 For manufacturer setting 0h

PN02 CERT Communication error detection time 1000 ms [ms]

PN03 For manufacturer setting 0000h

PN04 0000h

PN05 0000h

PN06 0000h

PN07 0000h

PN08 0000h

PN09 1

PN10 EIC Ethernet communication time-out selection 0 [s]

PN11 *IPAD1 IP address setting 1 192

PN12 *IPAD2 IP address setting 2 168

PN13 *IPAD3 IP address setting 3 3

PN14 *IPAD4 IP address setting 4 0

PN15 *SNMK1 Subnet mask setting 1 255

PN16 *SNMK2 Subnet mask setting 2 255

PN17 *SNMK3 Subnet mask setting 3 255

PN18 *SNMK4 Subnet mask setting 4 0

PN19 *DGW1 Default gateway setting 1 192

PN20 *DGW2 Default gateway setting 2 168

PN21 *DGW3 Default gateway setting 3 3

PN22 *DGW4 Default gateway setting 4 1

PN23 *KAA KeepAlive time 3600 [s]

PN24 *IPAF1 IP address filter 1 0

PN25 *IPAF2 IP address filter 2 0

PN26 *IPAF3 IP address filter 3 0

Initial value

Unit

4 - 1

4. PARAMETERS

No. Symbol Name

PN27 *IPAF4 IP address filter 4 0

PN28 *IPFR2 IP address filter 2 range setting 256

PN29 *IPFR3 IP address filter 3 range setting 256

PN30 *IPFR4 IP address filter 4 range setting 256

PN31 *IPOA1 Operation specification IP address 1 0

PN32 *IPOA2 Operation specification IP address 2 0

PN33 *IPOA3 Operation specification IP address 3 0

PN34 *IPOA4 Operation specification IP address 4 0

PN35 *IPOR3 Operation specification IP address 3 range specification 256

PN36 *IPOR4 Operation specification IP address 4 range specification 256

PN37 For manufacturer setting 0000h

PN38 0000h

PN39 0000h

PN40 0000h

PN41 0000h

PN42 0000h

PN43 0000h

PN44 0000h

PN45 0000h

PN46 0000h

PN47 0000h

PN48 0000h

Initial value

Unit

4 - 2

4. PARAMETERS

4.2 Detailed list of communication-related parameters

POINT

Set a value to each "x" in the "Setting digit" columns.

No./symbol/

name

PN10 *CONN Ethernet

communication time-out selection

PN11 *IPAD1 IP address

setting 1

Setting

digit

Set the network number of the servo amplifier.

Set the time until [AL. 86.4 Network communication error 4] is detected. Setting "0" will disable the detection of [AL. 86.4 Network communication error 4].

This parameter is enabled with SLMP.

Setting range: 0 to 60

Set the 1st octet of the IP address in decimal.

Set the IP address assigned by the network administrator. When SLMP command (IPAdressSet) is received, the setting of the first octet will be

written to this parameter. Refer to table 5.1 for the relation between the setting value of the identification

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

Table 4.1 Relation between IP address setting and identification number setting rotary switch

Identification number

setting rotary switch

(SW1/SW2)

2nd octet The setting value of [Pr. PN12] is used.

3rd octet The setting value of [Pr. PN13] is used.

4th octet The setting value of [Pr. PN14] is used.

2nd octet The setting value of [Pr. PN12] is used.

3rd octet The setting value of [Pr. PN13] is used.

PN12 *IPAD2 IP address

setting 2

PN13 *IPAD3 IP address

setting 3

00h

01h to FFh

Set the 2nd octet of the IP address in decimal.

Set the IP address assigned by the network administrator. When SLMP command (IPAdressSet) is received, the setting of the second octet will

be written to this parameter. Refer to table 5.1 for the relation between the setting value of the identification

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

Set the 3rd octet of the IP address in decimal.

Set the IP address assigned by the network administrator. When SLMP command (IPAdressSet) is received, the setting of the third octet will

be written to this parameter. Refer to table 5.1 for the relation between the setting value of the identification

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

1st octet The setting value of [Pr. PN11] is used.

4th octet

Function

IP address

The setting value of the identification number setting rotary switch (SW1/SW2) is used.

Initial value [unit]

0

[s]

192

168

3

4 - 3

4. PARAMETERS

No./symbol/

name

PN14 *IPAD4 IP address

setting 4

PN15 *SNMK1 Subnet mask

setting 1

PN16 *SNMK2 Subnet mask

setting 2

PN17 *SNMK3 Subnet mask

setting 3

PN18 *SNMK4 Subnet mask

setting 4

PN19 *DGW1 Default

gateway setting 1

PN20 *DGW2 Default

gateway setting 2

PN21 *DGW3 Default

gateway setting 3

PN22 *DGW4 Default

gateway setting 4

PN23 *KAA KeepAlive

time

PN24 *IPAF1 IP address

filter 1

Setting

digit

Set the 4th octet of the IP address in decimal.

Set the IP address assigned by the network administrator. When SLMP command (IPAdressSet) is received, the setting of the fourth octet will

be written to this parameter. Refer to table 5.1 for the relation between the setting value of the identification

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

Set the 1st octet of the subnet mask in decimal.

Set the subnet mask assigned by the network administrator.

Setting range: 0 to 255

Set the 2nd octet of the subnet mask in decimal.

Set the subnet mask assigned by the network administrator.

Setting range: 0 to 255

Set the 3rd octet of the subnet mask in decimal.

Set the subnet mask assigned by the network administrator.

Setting range: 0 to 255

Set the 4th octet of the subnet mask in decimal.

Set the subnet mask assigned by the network administrator.

Setting range: 0 to 255

Set the 1st octet of the default gateway in decimal.

Set the default gateway assigned by the network administrator.

Setting range: 0 to 255

Set the 2nd octet of the default gateway in decimal.

Set the default gateway assigned by the network administrator.

Setting range: 0 to 255

Set the 3rd octet of the default gateway in decimal.

Set the default gateway assigned by the network administrator. The default gateway can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

Set the 4th octet of the default gateway in decimal.

Set the default gateway assigned by the network administrator. The default gateway can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

Set the time interval between the transmissions of the alive check message (Keep

Alive ACK) for TCP communication. If no response to the alive check message is received, the connection is forcibly

closed after the time (setting value × 8 times) has elapsed. In the initial setting, the connection is closed after 8 hours (3600 [s] × 8 times = 28800 [s]) have elapsed.

Setting range: 1 to 7200

Set the 1st octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.

Setting range: 0 to 255

Function

Initial value [unit]

0

255

0

192

168

3

1

3600

[s]

0

4 - 4

4. PARAMETERS

No./symbol/

name

PN25 *IPAF2 IP address

filter 2

PN26 *IPAF3 IP address

filter 3

PN27 *IPAF4 IP address

filter 4

PN28 *IPAF2 IP address

filter 2 range specification

PN29 *IPAF3 IP address

filter 3 range specification

PN30 *IPAF4 IP address

filter 4 range specification

PN31 *IPOA1 Operation

specification IP address 1

Setting

digit

Set the 2nd octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.

Setting range: 0 to 255

Set the 3rd octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.

Setting range: 0 to 255

Set the 4th octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.

Setting range: 0 to 255

Set a value for the 2nd octet range of the IP address of the network device allowed

to be connected. The range for the IP address of the network device allowed to be connected is between [Pr. PN25] and [Pr. PN28].

Set a value in decimal. Setting "256" will disable the function.

Setting range: 0 to 256

Set a value for the 3rd octet range of the IP address of the network device allowed to

be connected. The range for the IP address of the network device allowed to be connected is between [Pr. PN26] and [Pr. PN29].

Set a value in decimal. Setting "256" will disable the function.

Setting range: 0 to 256

Set a value for the 4th octet range of the IP address of the network device allowed to

be connected. The range for the IP address of the network device allowed to be connected is between [Pr. PN27] and [Pr. PN30].

Set a value in decimal. Setting "256" will disable the function.

Setting range: 0 to 256

Set the 1st octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN31] to [Pr. PN34] are set to all "0", the function is disabled.

When the function is enabled, the servo amplifier allows the following data 1) to be imported only if the IP address of the client (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) Modbus/TCP function code 10h Monitoring, parameter setting, and test operation can be executed via Ethernet when

the IP addresses of a personal computer (MR Configurator2) and GOT are within the range of the operation specification IP address. When out of the range, communication to the servo amplifier cannot be established.

Setting range: 0 to 255

Function

Initial value [unit]

0

256

0

4 - 5

4. PARAMETERS

No./symbol/

name

PN32 *IPOA2 Operation

specification IP address 2

PN33 *IPOA3 Operation

specification IP address 3

PN34 *IPOA4 Operation

specification IP address 4

PN35 *IPOR3 Operation

specification IP address 3 range specification

PN36 *IPOA4 Operation

specification IP address 4 range specification

Setting

digit

Set the 2nd octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.

When the function is enabled, the servo amplifier allows the following data 1) to be imported only if the IP address of the client (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) Modbus/TCP function code 10h Monitoring, parameter setting, and test operation can be executed via Ethernet when

the IP addresses of a personal computer (MR Configurator2) and GOT are within the range of the operation specification IP address. When out of the range, communication to the servo amplifier cannot be established.

Setting range: 0 to 255

Set the 3rd octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.

When the function is enabled, the servo amplifier allows the following data 1) to be imported only if the IP address of the client (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) Modbus/TCP function code 10h Monitoring, parameter setting, and test operation can be executed via Ethernet when

the IP addresses of a personal computer (MR Configurator2) and GOT are within the range of the operation specification IP address. When out of the range, communication to the servo amplifier cannot be established.

Setting range: 0 to 255

Set the 4th octet of the IP address of the network device allowed to be connected in

decimal. When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.

When the function is enabled, the servo amplifier allows the following data 1) to be imported only if the IP address of the client (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) Modbus/TCP function code 10h Monitoring, parameter setting, and test operation can be executed via Ethernet when

the IP addresses of a personal computer (MR Configurator2) and GOT are within the range of the operation specification IP address. When out of the range, communication to the servo amplifier cannot be established.

Setting range: 0 to 255

Set a value for the 3rd octet range of the IP address of the network device allowed to

be connected. The range for the IP address of the network device allowed to be connected is

between [Pr. PN33] and [Pr. PN35]. Set a value in decimal. Setting "256" will disable the function.

Setting range: 0 to 256

Set a value for the 4th octet range of the IP address of the network device allowed to

be connected. The range for the IP address of the network device allowed to be connected is

between [Pr. PN34] and [Pr. PN36]. Set a value in decimal. Setting "256" will disable the function.

Setting range: 0 to 256

Function

Initial value [unit]

0

256

4 - 6

5. MANUFACTURER FUNCTIONS

5.1 Stroke end

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is performed by either of the following stop methods.

During rotation at constant speed During deceleration to a stop

No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration

Servo motor speed

0 r/min

LSP or LSN

ON OFF

Perform a return as follows when the stroke end is detected.

Mode Return method

Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (607Ah).

Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (60FFh).

Operation status

Part of droop pulses

No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration

Servo motor speed

LSP or LSN

0 r/min

ON OFF

Remark

Travels for the droop pulses portion and stops the servo motor.

A difference will be

Part of droop

generated between the

pulses

command position and the current position.

Perform a home position return again.

5 - 1

5. MANUFACTURER FUNCTIONS

5.2 One-touch tuning

Refer to "MR-JE-_C Servo Amplifier Instruction Manual" for one-touch tuning. Using One-touch tuning mode (2D50h) allows one-touch tuning from the client (controller).

(1) Related resister

Address Read/write Name

2D50h Read/write One-touch tuning mode 1 bytes 0

2D51h Reading One-touch tuning status 1 bytes 0

2D52h Writing One-touch tuning Stop 2 bytes 0

2D53h Writing One-touch tuning Clear 2 bytes 0

2D54h Reading One-touch tuning Error Code 2 bytes 0

Data

type

Initial value

Description

Setting a value of "1" to "3" starts onetouch tuning. After one-touch tuning is completed, the setting value automatically changes to "0".

0: During one-touch tuning stop 1: Basic mode 2: High mode 3: Low mode

Regardless of whether one-touch tuning is properly completed or not, the setting value changes to 100% at the completion.

Unit: %

Writing "1EA5h" stops one-touch tuning. Writing a value other than "1EA5h" sets

0609 0030h Value range of parameter exceeded in SDO Abort Code.

The parameter changed in one-touch tuning can be returned to the value before the change.

0000h: Restores the initial value. 0001h: Restores the value before one-

touch tuning. The setting value of the restored

parameter is stored to the EEP-ROM.

The following shows the details of the onetouch tuning error codes.

0000h: Finished normally C000h: Tuning canceled C001h: Overshoot exceeded C002h: Servo-off during tuning C003h: Control mode error C004h: Time-out C005h: Load to motor inertia ratio

misestimated C00Fh: One-touch tuning disabled

5 - 2

5. MANUFACTURER FUNCTIONS

(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.

Start

Startup of the system

Operation

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

End

Refer to "MR-JE-_C Servo Amplifier Instruction Manual" and "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)" to start the system.

Rotate the servo motor by a controller. (One-touch tuning cannot be performed if the servo motor is not operating.)

Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to perform in One-touch tuning mode (2D50h) during servo motor driving to perform one-touch tuning.

Gains and filters will be adjusted automatically. During one-touch tuning, the progress can be checked with One-touch tuning status (2D51h).

Check whether one-touch tuning is completed normally with One-touch tuning Error Code (2D54h). When the one-touch tuning is completed normally, the parameters will be set automatically. Refer to "MR-JE-_C Servo Amplifier Instruction Manual" for the parameters that are set automatically. After a tuning error is returned, take the appropriate action according to "MRJE-_C Servo Amplifier Instruction Manual".

Check the tuning result. If the tuning result is not satisfactory, you can return the parameter to the value before the one-touch tuning or the initial value using One-touch tuning Clear (2D53h).

5 - 3

5. MANUFACTURER FUNCTIONS

2

5.3 Machine diagnosis function

This function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing. The information of the machine diagnosis function can be obtained with the following resisters.

C20h

Bit 0 to Bit 3 Friction estimation status at forward rotation

Bit 4 to Bit 7 Friction estimation status at reverse rotation

Bit 8 to Bit 11 Vibration estimation status

During estimation

During estimation Estimation completed

During estimation

Estimation completed

C21h/2C22h

C23h/2C24h

C25h to 2C28h

Address Read/write Name

2C20h Reading Machine diagnostic status 2 bytes Refer to section 6.1.

2C21h Reading

2C22h Reading

2C23h Reading

2C24h Reading

2C25h Reading

2C26h Reading

2C27h Reading

2C28h Reading

Static friction torque at

forward rotation

Dynamic friction torque at

forward rotation (at rated speed)

Static friction torque at

reverse rotation

Dynamic friction torque at

reverse rotation (at rated speed)

Oscillation frequency during

motor stop

Vibration level during motor

stop

Oscillation frequency during

motor operating

Vibration level during motor

operating

5.4 Servo amplifier life diagnosis function

Undefined value Estimated value

Data

type

2 bytes

Initial value

Description

Static friction at forward rotation torque is displayed in increments of 0.1%.

Kinetic friction at forward rotation torque at the rated speed is displayed in increments of 0.1%.

Static friction at reverse rotation torque is displayed in increments of 0.1%.

Kinetic friction at reverse rotation torque at the rated speed is displayed in increments of 0.1%.

Vibration frequency during stop/servo-lock is displayed in increments of 1 Hz.

Vibration level during stop/servo-lock is displayed in increments of 0.1%.

Vibration frequency during operation is displayed in increments of 1 Hz.

Vibration level during operation is displayed in increments of 0.1%.

You can check the cumulative energization time and the number of on/off times of the inrush relay based on the data in the servo amplifier. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction. The information of the servo amplifier life diagnosis function can be obtained with the following resisters.

Address Read/write Name

2C18h Reading Power ON cumulative time 4 bytes

2C19h Reading Inrush relay ON/OFF number 4 bytes

Data

type

Initial value

Description

The cumulative energization time of the servo amplifier is returned.

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

5 - 4

6. MODBUS REGISTERS

Each data such as control parameters, command values, and feedback values is handled as an object composed of an address, object name, data type, access rule, and other elements. The object data can be exchanged between the client (controller) and the servers (servo amplifiers).

6.1 List of registers

No. of

Continuous

Points/

No. of

Registers

read/

continuous

write

Impossible

2 Possible

Address Name and function

1000 Supported profile information (Device Type)

The servo drive defined with the CiA 402 profile is indicated.

1001 Alarm information (Error Register)

The error occurrence is returned. Bit 0: Turns on when an alarm has occurred. Bit 1 to Bit 7: Unused

1010 Writing command to EEP-ROM (Store

parameters) The number of entries is returned.

Saving all parameters (Save all parameters)

[Writing] Writing "save" (= 65766173h) saves all the

objects which can be stored in the EEP-ROM. [Reading] Bit 0: 0: The parameter cannot be saved with

the command. (A parameter is being saved.)

1: The parameter can be saved with the

command. (No parameter is being saved.)

Bit 1: 0: The parameter is not automatically saved.

1011 Restoring default EEP-ROM parameters

(Restore default parameters) The number of entries is returned.

Restoring all default parameters (Restore all

default parameters) The parameter of the servo amplifier can be

rewritten with the factory setting. When "64616F6Ch" (= reverse order of ASCII

code of "load") is written to Restore all default parameters (1011h: 1) and the power is cycled, the parameter is initialized.

1018 Device information (Identity Object)

The number of entries is returned.

Vendor ID (Vendor ID)

The vendor ID of a servo amplifier is returned.

Product number (Product Code)

The servo amplifier serial number is returned.

Revision number (Revision Number)

The revision number of a servo amplifier is returned.

Serial number (Serial Number)

The serial number of the network module is returned.

2001

PA01 to PA32

to

The values of the basic setting parameters

2021

([Pr. PA_ _ ]) can be obtained and set. For details, refer to "MR-JE-_C Servo Amplifier

Instruction Manual".

Data

Read/

type

4

Reading 00020192h 00020192h

bytes

1

Reading 00h

bytes

1

Reading 1 01h 3

bytes

4

bytes

Read/

1

Reading 1 01h (fixed) 3

4

Read/

1

Reading 4 04h (fixed) 9

4

Reading 00000002h 00000002h

4

Reading 00001003h 00001003h

4

Reading 00000000h

4

Reading 00000000h 00000000h

4

Read/

Initial value Range Unit

write

(fixed)

to

01h

00000001h

write

00000001h

write

(fixed)

to

FFFFFFFFh

to

FFFFFFFFh

write

Saved

ROM

Parameter

PA01

PA32

to EEP-

2

1

to

6 - 1

6. MODBUS REGISTERS

Address Name and function

2081

PB01 to PB64

to

The values of the gain/filter setting parameters

20C0

([Pr. PB_ _ ]) can be obtained and set. For details, refer to "MR-JE-_C Servo Amplifier

Instruction Manual".

2101

PC01 to PC80

to

The values of the extension setting parameters

2150

([Pr. PC_ _ ]) can be obtained and set. For details, refer to "MR-JE-_C Servo Amplifier

Instruction Manual".

2181

PD01 to PD48

to

The values of the I/O setting parameters ([Pr.

21B0

PD_ _ ]) can be obtained and set. For details, refer to "MR-JE-_C Servo Amplifier

Instruction Manual".

2201

PE01 to PE64

to

The values of the extension setting 2

2240

parameters ([Pr. PE_ _ ]) can be obtained and set.

For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual".

2281

PF01 to PF48

to

The values of the extension setting 3

22B0

parameters ([Pr. PF_ _ ]) can be obtained and set.

For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual".

2481

PT01 to PT80

to

The values of the positioning control

24D0

parameters ([Pr. PT_ _ ]) can be obtained and set.

For details, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)."

2581

PN01 to PN48

to

The values of the network setting parameters

25B0

([Pr. PN_ _ ]) can be obtained and set. Refer to chapter 5 for details.

2A00

Alarm history 0 to Alarm history 15 (Alarm

to

history newest)

2A0F

The number of entries in the latest alarm of the alarm history is returned.

Alarm No. (Alarm No.) The number of the alarm that has occurred is

returned. The description is as follows. Bit 0 to Bit 15: Alarm detail number Bit 16 to Bit 31: Alarm number When no history exists, "0" is returned.

Alarm occurrence time (Alarm time (Hour)) Alarm occurrence time is returned. When no history exists, "0" is returned.

Alarm 2 No. (Alarm2 No.) The number of the alarm that has occurred is

returned. The description is as follows. Bit 0 to Bit 7: Alarm detail number Bit 8 to Bit 15: Alarm number When no history exists, "0" is returned.

2A40 Alarm history clear (Clear alarm history)

Writing "1EA5h" clears the alarm history.

2A41 Current alarm (Current alarm)

The number of the current alarm 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

Data

type

4

bytes

Read/

write

Read/

write

Initial value Range Unit

Saved

to EEP-

ROM

Parameter

PB01

PB64

4

bytes

Read/

write

PC01

PC80

4

bytes

4

bytes

Read/

write

Read/

write

PD01

PD48

PE01

PE64

4

bytes

Read/

write

PF01

PF48

4

bytes

Read/

write

PT01

PT80

4

bytes

Read/

write

PN01

PN48

1

Read 3 03h (fixed)

bytes

4

Reading 0 00000000h

bytes

to

FFFFFFFFh

4

Reading 0 00000000h

bytes

to

hour

FFFFFFFFh

2

Reading 0 0000h to

bytes

2

Writing 1

FFFFh

bytes

4

Reading 00000000h

bytes

to

2

FFFFFFFFh

No. of

Continuous

Points/

No. of

Registers

read/

continuous

write

2 Possible

to

2 Possible

to

2 Possible

to

2 Possible

to

2 Possible

to

2 Possible

to

2 Possible

to

Impossible

6

Impossible

6 - 2

6. MODBUS REGISTERS

Address Name and function

2A42 Current alarm 2 (Current alarm 2)

The number of the current alarm is returned. When no alarm has occurred, "0000h" is returned.

Bit 0 to Bit 7: Alarm detail number Bit 8 to Bit 15: Alarm number

2A44 Number of parameter errors (Parameter error

number) When [AL. 37 Parameter error] has occurred,

the number of the parameters which cause the error is returned. Refer to Parameter error list (2A45h) for the number of each parameter which causes the error.

2A45 Parameter error No. (Parameter error list)

When [AL. 37 Parameter error] has occurred, the number of entries of the parameter which causes the error is returned.

Parameter error No. 1 to 32 (Parameter error

list 1 to 32) When [AL. 37 Parameter error] has occurred,

the 1st to 32nd numbers of the parameter which causes the alarm is returned.

Bit 0 to Bit 7: Parameter number Bit 8 to Bit 15: Parameter group number 00: [Pr. PA _ _ ]

01: [Pr. PB _ _ ] 02: [Pr. PC _ _ ] 03: [Pr. PD _ _ ] 04: [Pr. PE _ _ ] 05: [Pr. PF _ _ ] 06: Parameter for manufacturer setting 07: Parameter for manufacturer setting 08: Parameter for manufacturer setting 09: Parameter for manufacturer setting 0A: Parameter for manufacturer setting 0B: Parameter for manufacturer setting 0C: [Pr. PT _ _ ] 0E: [Pr. PN _ _ ]

2A46 Alarm reset (Reset alarm)

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

2A60 SDO abort code (SDO abort code)

The latest SDO Abort Code is returned.

2A64 Access log 1 (Access log 1)

The latest address that was accessed successfully in the Modbus communication is returned.

Bit 0 to Bit15: Address Bit 16 to Bit 31: For manufacturer setting

2A65 Access log 2 (Access log 2)

The numbers of the addresses that were accessed successfully in the Modbus communication before a disconnection are returned. In addition, when an address containing multiple elements is accessed, the number of the elements is returned.

2B01 Cumulative feedback pulses (Cumulative

feedback pulses) The cumulative feedback pulses are returned. Writing "00001EA5h" clears the cumulative

feedback pulses.

2B02 Servo motor speed (Servo motor speed)

The servo motor speed is returned.

2B03 Droop pulses (Droop pulses)

The droop pulses (encoder unit) are returned.

Data

Read/

type

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

1

Reading 20h

bytes

2

Reading 0 0000h to

bytes

2

Writing 0 0000h to

bytes

4

bytes

4

bytes

2

bytes

4

bytes

Read/

4

Reading 80000000h

4

Reading 80000000h

Initial value Range Unit

write

(32)

Read

write

80000000h

FFFFFFFFh

7FFFFFFFh

FFFFh

01F4h

(500)

20h (32)

(fixed)

FFFFh

00000000h

to

00000000h

to

0000h

to

FFFFh

to

No. of

Saved

ROM

Parameter

to EEP-

1

1 +

1

pulse 2 Possible

r/min 2 Possible

pulse 2 Possible

Points/

No. of

Registers

number

of read

points

2

1

Continuous

read/

continuous

write

Impossible

6 - 3

6. MODBUS REGISTERS

Address Name and function

2B04 Cumulative command pulses (Cumulative

command pulses) The cumulative command pulses are returned.

2B05 Command pulse frequency (Command pulse

frequency) The command pulse frequency is returned.

2B06 Analog speed command voltage (Analog

speed command voltage) The analog speed command voltage is

returned.

2B07 Analog torque limit voltage/Analog torque

command voltage (Analog torque limit voltage/Analog torque command voltage)

The analog torque limit voltage/analog torque command voltage is returned.

2B08 Regenerative load ratio (Regenerative load

ratio) The regenerative load ratio is returned.

2B09 Effective load ratio (Effective load ratio)

The effective load ratio is returned.

2B0A Peak load ratio (Peak load ratio)

The peak load ratio is returned.

2B0B Instantaneous torque (Instantaneous torque)

The instantaneous torque is returned.

2B0C Position within one-revolution (Within one-

revolution position) The position within one-revolution is returned.

2B0D Multi-revolution counter (ABS counter)

Returns the multi-revolution counter.

2B0E Load to motor inertia ratio (Load to motor inertia

ratio) The load to motor inertia ratio is returned.

2B0F Bus voltage (Bus voltage)

The bus voltage is returned.

2B16 F/B cumulative value of A/B-phase output

pulse (Cumulative encoder out pulses) The feedback cumulative value of A/B-phase

output pulse is returned.

2B25 Internal temperature of encoder (Internal

temperature of encoder) The internal temperature of encoder is

returned.

2B26 Settling time (Settling time)

The settling time is returned.

2B27 Oscillation detection frequency (Oscillation

detection frequency) The oscillation detection frequency is returned.

2B28 Number of tough drive operations (Number of

tough drive operations) The number of tough drive operations is

returned.

2B2A Internal temperature of amplifier (Internal

temperature of amplifier) The internal temperature of amplifier is

returned.

2B2D Unit power consumption (Unit power

consumption) The unit power consumption is returned.

2B2E Unit total power consumption (Unit total power

consumption) The unit total power consumption is returned.

2B2F Current position (Current position)

The current position is returned.

Data

Read/

type

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

2

bytes

2

Reading 8000h to

bytes

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

2

Reading 8000h to

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

4

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

1

bytes

2

Reading 8000h to

bytes

2

Reading 0000h to

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

Initial value Range Unit

write

7FFFFFFFh

Read 8000h to

7FFFFFFFh

Read 80000000h

7FFFFFFFh

to

7FFFh

FFFFh

7FFFh

to

FFFFh

to

7FFFh

FFFFh

7FFFh

to

No. of

Saved

to EEP-

pulse 2 Possible

kpulse/s 2 Possible

V 1 Possible

% 1 Possible

pulse 2 Possible

rev 2 Possible

0.01

times

V 1 Possible

pulse 2

°C 1

ms 1

Hz 1

times 1

°C 1

W 1 Possible

Wh 2 Possible

2 Possible

Parameter

ROM

1 Possible

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 4

6. MODBUS REGISTERS

Address Name and function

2B30 Command position (Command position)

The command position is returned.

2B31 Command remaining distance (Command

remaining distance) The command remaining distance is returned.

2B81 Cumulative feedback pulses at alarm

occurrence (Alarm Monitor 1 Cumulative feedback pulses)

The cumulative feedback pulses at alarm occurrence are returned.

2B82 Servo motor speed at alarm occurrence (Alarm

Monitor 2 Servo motor speed) The servo motor speed at alarm occurrence is

returned.

2B83 Droop pulses at alarm occurrence (Alarm

Monitor 3 Droop pulses) The droop pulses at alarm occurrence are

returned.

2B84 Cumulative command pulses at alarm

occurrence (Alarm Monitor 4 Cumulative command pulses)

The cumulative command pulses (encoder unit) at alarm occurrence are returned.

2B85 Command pulse frequency at alarm

occurrence (Alarm Monitor 5 Command pulse frequency)

The command pulse frequency at alarm occurrence is returned.

2B86 Analog speed command voltage at alarm

occurrence (Alarm Monitor 6 Analog speed command

voltage) The analog speed command voltage at alarm

occurrence is returned.

2B87 Analog torque limit voltage/

Analog torque command voltage at alarm occurrence (Alarm Monitor 7 Analog torque limit voltage/

Analog torque command voltage) The analog torque limit voltage/analog torque

command voltage at alarm occurrence is returned.

2B88 Regenerative load ratio at alarm occurrence

(Alarm Monitor 8 Regenerative load ratio) The regenerative load ratio at alarm

occurrence is returned.

2B89 Effective load ratio at alarm occurrence (Alarm

Monitor 9 Effective load ratio) The effective load ratio at alarm occurrence is

returned.

2B8A Peak load ratio at alarm occurrence (Alarm

Monitor 10 Peak load ratio) The peak load ratio at alarm occurrence is

returned.

2B8B Instantaneous torque at alarm occurrence

(Alarm Monitor 11 Instantaneous torque) The instantaneous torque at alarm occurrence

is returned.

2B8C Position within one-revolution at alarm

occurrence (Alarm Monitor 12 Within onerevolution position)

The position within one-revolution at alarm occurrence is returned.

2B8D Multi-revolution counter at alarm occurrence

(Alarm Monitor 13 ABS counter) The ABS counter at alarm occurrence is

returned.

Data

Read/

type

4

Reading 80000000h

bytes

4

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

bytes

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

2

Reading 8000h to

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

Initial value Range Unit

write

7FFFFFFFh

Read 80000000h

7FFFFFFFh

to

7FFFh

FFFFh

7FFFh

to

No. of

Saved

ROM

Parameter

to EEP-

2 Possible

pulse 2 Possible

r/min 2 Possible

pulse 2 Possible

kpulse/s 2 Possible

V 1 Possible

% 1 Possible

pulse 2 Possible

rev 2 Possible

Points/

No. of

Registers

Continuous

read/

continuous

write

6 - 5

6. MODBUS REGISTERS

Address Name and function

2B8E Load to motor inertia ratio at alarm occurrence

(Alarm Monitor 14 Load to motor inertia ratio) The load to motor inertia ratio at alarm

occurrence is returned.

2B8F Bus voltage at alarm occurrence (Alarm

Monitor 15 Bus voltage) The bus voltage at alarm occurrence is

returned.

2B96 F/B cumulative value of A/B-phase output pulse

at alarm occurrence (Alarm Monitor 22 Cumulative encoder out pulses)

The feedback cumulative value of A/B-phase output pulse at alarm occurrence is returned.

2BA5 Internal temperature of encoder at alarm

occurrence (Alarm Monitor 37 Internal temperature of encoder) The internal temperature of encoder at alarm occurrence is returned.

2BA6 Settling time at alarm occurrence (Alarm

Monitor 38 Settling time) The settling time at alarm occurrence is

returned.

2BA7 Oscillation detection frequency at alarm

occurrence (Alarm Monitor 39 Oscillation detection frequency)

The oscillation detection frequency at alarm occurrence is returned.

2BA8 Number of tough drive operations at alarm

occurrence (Alarm Monitor 40 Number of tough drive operations)

The number of tough drive operations at alarm occurrence is returned.

2BAA Internal temperature of amplifier at alarm

occurrence (Alarm Monitor 42 Internal temperature of amplifier)

The internal temperature of amplifier at alarm occurrence is returned.

2BAD Unit power consumption at alarm occurrence

(Alarm Monitor 45 Unit power consumption) The unit power consumption at alarm

occurrence is returned.

2BAE Unit total power consumption at alarm

occurrence (Alarm Monitor 46 Unit total power consumption)

The unit total power consumption at alarm occurrence is returned.

2BAF Current position at alarm occurrence (Alarm

Monitor 47 Current position) The current position at alarm occurrence is

returned.

2BB0 Command position at alarm occurrence (Alarm

Monitor 48 Command position) The command position at alarm occurrence is

returned.

2BB1 Command remaining distance at alarm

occurrence (Alarm Monitor 49 Command remaining distance)

The command remaining distance at alarm occurrence is returned.

2C10 External input pin status (External Input pin

display) The number of entries in external input pin

status is returned.

External input pin status 1 (External Input pin

display1) The external input pin status is returned.

Data

Read/

type

2

Reading 0000h to

bytes

2

Reading 0000h to

bytes

4

Reading 80000000h

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

bytes

2

Reading 0000h to

bytes

2

Reading 8000h to

bytes

2

Reading 8000h to

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

4

Reading 80000000h

bytes

1

Reading 1 01h (fixed) 3

bytes

4

Reading 00000000h

bytes

Initial value Range Unit

write

7FFFFFFFh

FFFFFFFFh

FFFFh

to

7FFFh

FFFFh

7FFFh

to

Saved

to EEP-

0.01

times

V 1 Possible

pulse 2 Possible

°C 1 Possible

ms 1 Possible

Hz 1 Possible

times 1 Possible

°C 1 Possible

W 1 Possible

Wh 2 Possible

2 Possible

Parameter

ROM

1 Possible

No. of

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 6

6. MODBUS REGISTERS

Address Name and function

2C11 External output pin status (External Output pin

display) The number of entries in external output pin

status is returned.

External output pin status 1 (External Output

pin display1) The external input pin status is returned.

2C12 Input device status (External Input signal

display) The number of entries in input device status is

returned.

Input device status 1 (External Input signal

display1) The input device status 1 is returned.

Input device status 2 (External Input signal

display2) The input device status 2 is returned.

Input device status 3 (External Input signal

display3) The input device status 3 is returned.

Input device status 4 (External Input signal

display4) The input device status 4 is returned.

2C18 Power ON cumulative time (Power ON

cumulative time) The cumulative time after power on of the servo

amplifier is returned.

2C19 Number of inrush relay ON/OFF times

(Number of inrush relay on/off times) The number of on/off times of the inrush relay

of the servo amplifier is returned.

Data

type

1

Read/

Initial value Range Unit

write

Read 1 01h (fixed) 3

Saved

to EEP-

ROM

Parameter

bytes

4

Reading 00000000h

bytes

to

FFFFFFFFh

1

Reading 4 04h (fixed) 9

bytes

4

Reading 00000000h

bytes

to

FFFFFFFFh

4

Reading 00000000h

bytes

to

FFFFFFFFh

4

Reading 00000000h

bytes

to

FFFFFFFFh

4

Reading 00000000h

bytes

to

FFFFFFFFh

4

Reading 0 00000000h

bytes

to

hour 2

FFFFFFFFh

4

Reading 0 00000000h

bytes

to

times 2

FFFFFFFFh

No. of

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 7

6. MODBUS REGISTERS

Address Name and function

2C20 Machine diagnostic status (Machine diagnostic

status) [Bit 0 to Bit 3: Friction estimation status at

forward rotation] 0: Normal (Friction is being estimated.) 1: Normal (Estimation is completed.) 2: Warning (The servo motor may rotate in one

direction too frequently.)

3: Warning (The servo motor speed may too

slow for friction estimation.)

4: Warning (The change in the servo motor

speed may be small for friction estimation.)

5: Warning (The acceleration/deceleration time

constants may be too short for friction estimation.)

6: Warning (The operation time may not be

enough.)

When warning conditions for 2 to 6 are met at the same time, the smaller number is returned.

When an estimation is completed even though a warning has once occurred, the status changes to Estimation is completed.

[Bit 4 to Bit 7: Friction estimation status at reverse rotation]

0: Normal (Friction is being estimated.) 1: Normal (Estimation is completed.) 2: Warning (The servo motor may rotate in one

direction too frequently.)

3: Warning (The servo motor speed may too

slow for friction estimation.)

4: Warning (The change in the servo motor

speed may be small for friction estimation.)

5: Warning (The acceleration/deceleration time

constants may be too short for friction estimation.)

6: Warning (The operation time may not be

enough.)

When warning conditions for 2 to 6 are met at the same time, the smaller number is returned.

When an estimation is completed even though a warning has once occurred, the status changes to Estimation is completed.

[Bit 8 to Bit 11: Vibration estimation status] 0: During estimation 1: Estimation is completed.

[Bit 12 to Bit 15: reserved] The value at reading is undefined.

2C21 Static friction torque at forward rotation (Static

friction torque at forward rotation) Coulomb friction at forward rotation torque is

returned in increments of 0.1%.

2C22 Dynamic friction torque at forward rotation (at

rated speed) (Dynamic friction torque at forward rotation (at rated speed))

Friction torque at forward rotation torque at rated speed is returned in increments of 0.1%.

2C23 Static friction torque at reverse rotation (Static

friction torque at reverse rotation) Coulomb friction at reverse rotation torque is

returned in increments of 0.1%.

Data

Read/

type

2

Reading 0 0000h to

bytes

2

Reading 0 8000h to

bytes

2

Reading 0 8000h to

bytes

2

Reading 0 8000h to

bytes

Initial value Range Unit

write

FFFFh

7FFFh

No. of

Saved

to EEP-

1 Possible

0.1 %

Parameter

ROM

1 Possible

Points/

No. of

Registers

Continuous

read/

continuous

write

6 - 8

6. MODBUS REGISTERS

Address Name and function

2C24 Dynamic friction torque at reverse rotation (at

rated speed) (Dynamic friction torque at reverse rotation (at

rated speed)) Friction torque at reverse rotation torque at

rated speed is returned in increments of 0.1%.

2C25 Vibration frequency during stop/servo-lock

(Oscillation frequency during motor stop) Vibration frequency during stop/servo-lock is

returned in increments of 1 Hz.

2C26 Vibration level during stop/servo-lock

(Vibration level during motor stop) Vibration level during stop/servo-lock is

returned in increments of 0.1%.

2C27 Vibration frequency during operation

(Oscillation frequency during motor operating) Vibration frequency during operation is

returned in increments of 1 Hz.

2C28 Vibration level during operation (Vibration level

during motor operating) Vibration level during operation is returned in

increments of 0.1%.

Control input 1 to Control input 10 (Control DI 1

2D01

to Control DI 10)

to

The on/off status of input device can be read.

2D0A

The on/off status of input device can also be set.

Control output 1 to Control output 10 (Status

2D11

DO 1 to Status DO 10)

to

The on/off status of output device can be read.

2D1A

2D20 Speed limit value (Velocity limit value)

The speed limit value is set.

2D28 Servo motor rated speed (Motor rated speed)

The servo motor rated speed is returned.

2D29 Servo motor maximum speed (Motor max

speed) The servo motor maximum speed is returned.

2D35 Encoder status display (Encoder status)

The number of entries is returned.

Encoder status 1 (Encoder status1)

The encoder status is returned. Bit 0: Whether the servo amplifier is used in an

absolute position detection system or not is returned.

0 = Incremental system 1 = Absolute position detection system Bit 1 to Bit 31: Reserved

2D42 Maximum value of multi-revolution counter

(Max ABS counter) The maximum value of the multi-revolution

counter is displayed.

2D50 One-touch tuning command (One-touch tuning

mode) Setting a value of "1" to "3" starts one-touch

tuning. After one-touch tuning is completed, the setting value automatically changes to "0".

1: Basic setting 2: High setting 3: Low setting

2D51 One-touch tuning status (One-touch tuning

status) The one-touch tuning progress is returned.

Data

Read/

type

2

Reading 0 8000h to

Initial value Range Unit

write

bytes

2

Reading 0 8000h to

bytes

2

Reading 0 8000h to

bytes

2

Reading 0 8000h to

bytes

2

Reading 0 8000h to

bytes

2

bytes

write

2

Reading 0000h to

Read/

0 0000h to

bytes

4

bytes

Read/

write

50000 00000000h

7FFFh

FFFFh

to

Saved

to EEP-

0.1

Parameter

ROM

1 Possible

%

Hz 1 Possible

0.1

1 Possible

%

Hz 1 Possible

0.1

1 Possible

%

1 Possible

0.01

PT52 2

r/min permissible instantane-

ous speed

4

Reading 00000000h

bytes

to

r/min 2

FFFFFFFFh

4

Reading 00000000h

bytes

to

r/min 2

FFFFFFFFh

1

Reading 1 01h (fixed) 3

bytes

4

Reading 00000000h

bytes

to

00000001h

4

Reading 00000000h

bytes

to

rev 2

FFFFFFFFh

1

bytes

1

Read/

write

Read 0 00h to 64h % 1

0 00h to 03h 1

bytes

No. of

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 9

6. MODBUS REGISTERS

Address Name and function

2D52 Stop of one-touch tuning (One-touch tuning

Stop) Writing "1EA5h" can stop one-touch tuning. Any

value other than "1EA5h" is ignored.

2D53 Returning parameters changed in one-touch

tuning (One-touch tuning Clear) The parameter changed in one-touch tuning

can be returned to the value before the change. The description of the setting values is as follows.

0000: Restores the default value 0001: Restores the value before one-touch

tuning.

2D54 One-touch tuning error code (One-touch tuning

Error Code) An error code of the one-touch tuning is

returned. The description of the error codes is as follows.

0000: Finished normally C000: Tuning canceled C001: Overshoot exceeded C002: Servo-off during tuning C003: Control mode error C004: Time-out C005: Load to motor inertia ratio misestimated C00F: One-touch tuning disabled

603F Latest error No. display (Error code)

The latest error No. that occurred after the power on is returned. The error number is as follows.

1000h: Generic error

6040 Control command (Controlword)

Set control commands to control the servo amplifier. Bit 0: switch on

Bit 1: enable voltage Bit 2: quick stop Bit 3: enable operation Bit 4 to Bit 6: operation mode specific Bit 7: fault reset Bit 8: halt Bit 9: operation mode specific Bit 10 to Bit 14: reserved Bit 15: operation mode specific

6041 Control status (Statusword)

The current control status can be checked. Bit 0: ready to switch on Bit 1: switched on

Bit 2: operation enabled Bit 3: fault Bit 4: voltage enabled Bit 5: quick stop Bit 6: switch disabled Bit 7: warning Bit 8: reserved Bit 9: remote Bit 10: target reached Bit 11: internal limit active Bit 12 to Bit 13: operation mode specific Bit 14 to Bit 15: reserved

605A Quick stop option code

The operation method of deceleration to a stop can be specified.

605D Halt option code

Set how to decelerate the servo motor to a stop at Halt reception.

Data

Read/

type

2

Writing 0 0000h/

Initial value Range Unit

write

bytes

2

Writing 0 0000h to

bytes

2

Reading 0 0000h to

bytes

2

Reading 0 0000h to

bytes

2

bytes

write

2

Reading 0000h to

Read/

0 0000h to

bytes

2

bytes

2

bytes

Read/

write

Read/

write

2 0002h

1 0001h

1EA5h

0001h

C00Fh

FFFFh

(fixed)

No. of

Saved

ROM

Parameter

to EEP-

1

PT69 1

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 10

6. MODBUS REGISTERS

Address Name and function

6060 Control mode (Modes of operation)

Set the control mode. 0: No mode assigned 1: Profile position mode (pp) 3: Profile velocity mode (pv) 4: Profile torque mode (tq) 6: Homing mode (hm)

-20: Position control mode

-21: Speed control mode

-22: Torque control mode

6061 Control mode display (Modes of operation

display) The current control mode is returned. 0: No mode assigned 1: Profile position mode (pp) 3: Profile velocity mode (pv) 4: Profile torque mode (tq) 6: Homing mode (hm)

-20: Position control mode

-21: Speed control mode

-22: Torque control mode

6063 Current position (absolute position) [ENC unit]

(Position actual internal value) The current position is returned.

6064 Current position (Position actual value)

The current position in the command unit on the basis of the home position is returned. When the home position is not set, the current position in the command unit on the basis of the zero point of the encoder is returned.

6065 Error excessive width (Following error window)

In the profile position mode (pp), when the time set with Following error time out (6066h) has elapsed with the number of droop pulses exceeding the setting value of this object, bit 13 of Statusword (6041h) is turned on. When "FFFFFFFFh" is set, Bit 13 of Statusword (6041h) is always off.

6066 Error excessive detection time (Following error

time out) Refer to Following error window (6065h).

6067 Permissible error range (Position window)

In the profile position mode (pp), when the time set with Position windows time (6068h) has elapsed with the number of droop pulses equal to or lower than the setting value of this object, Bit 10 of Statusword (6041h) is turned on.

[Setting range] This setting value is limited to the range of 00000000h to 0000FFFEh. When "FFFFFFFFh" is set, Position window is disabled as an exception.

6068 Permissible error judgment time (Position

window time) Refer to Position window (6067h).

606B Command speed (Velocity demand value)

The speed command is returned.

606C Current speed (Velocity actual value)

The current speed is returned.

Data

Read/

type

1

Read/

bytes

1

Reading -20 80h to 7Fh 1

Initial value Range Unit

write

0 80h to 7Fh 1

write

Saved

to EEP-

ROM

bytes

4

Reading 80000000h

bytes

to

pulse 2

7FFFFFFFh

4

Reading 80000000h

bytes

to

pos

units

7FFFFFFFh

4

bytes

Read/

12582912 00000000h

write

to

units

pos

FFFFFFFFh

2

bytes

4

bytes

Read/

write

Read/

write

10 0000h to

FFFFh

100 00000000h

to

ms

pos

units

0000FFFEh/ FFFFFFFFh

2

bytes

write

4

Reading 0 80000000h

bytes

Read/

10 0000h to

FFFFh

to

r/min

ms

0.01

7FFFFFFFh

4

Reading 80000000h

bytes

7FFFFFFFh

to

0.01

r/min

No. of

Points/

No. of

Registers

2

Continuous

continuous

Impossible

Parameter

2

PC75/

PC76

PC77 1

PT65 2

PT66 1

2

Impossible

read/

write

6 - 11

6. MODBUS REGISTERS

Address Name and function

606D Speed reached judgment width (Velocity

window) In the profile velocity mode (pv), when the time

set with Velocity window time (606Eh) has elapsed with the current speed equal to or lower than the setting value of this object, Bit 10 of Statusword (6041h) is turned on.

606E Speed reached judgment time (Velocity

window time) Refer to Velocity window (606Dh).

606F Zero speed (Velocity threshold)

In the profile velocity mode (pv), when the time set with Velocity threshold time (6070h) has elapsed with the current speed exceeding the setting value of this object, Bit 12 of Statusword (6041h) is turned off.

6070 Zero speed judgment time (Velocity threshold

time) Refer to Velocity threshold (606Fh).

6071 Command torque (Target torque)

Set the torque command used in the profile torque mode (tq).

6072 Maximum torque (nominal value) (Max torque)

The maximum torque of the servo motor is returned. The value matches with the maximum torque listed in "HG-KN_/HG-SN_ Servo Motor Instruction Manual".

6074 Internal torque command (Torque demand

value) The torque command is returned.

6077 Current torque (Torque actual value)

The current torque is returned. The read data is in the unit of 0.1%.

607A Position command (absolute/incremental)

(Target position) In the profile position mode (pp), the range is

limited depending on the unit. [Setting range] degree: -360000 to 360000 Other than degree: -999999 to 999999

607B Command value limit (Position range limit)

The number of entries is returned.

Command value limit (lower limit) (Min position

range limit) Set the range for limiting the command

position (lower limit value). The settable values vary depending on the setting of [Pr. PT01].

[Pr. PT01] = _ 2 _ _ (degree): 00000000h to 00057E3Fh (0 to 359999)

[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

Command value limit (upper limit) (Max

position range limit) Set the range for limiting the command

position (upper limit value). The settable values vary depending on the setting of [Pr. PT01].

[Pr. PT01] = _ 2 _ _ (degree): 00000000h to 00057E3Fh (0 to 359999)

[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

607C Home position (Home offset)

The home position is returned. Only reading the value is available.

Do not perform writing because doing so causes an error.

Data

type

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

Read/

Initial value Range Unit

write

2000 0000h to

write

10 0000h to

write

5000 0000h to

write

10 0000h to

write

0 8000h to

write

0000h to

write

Read 0 8000h to

bytes

2

Reading 8000h to

bytes

4

bytes

Read/

write

0 80000000h

FFFFh

7FFFh

FFFFh

7FFFh

to

Saved

to EEP-

ROM

0.01

r/min

ms

0.01

r/min

ms

0.1 %

pos

units

7FFFFFFFh

1

Reading 2 00h to 02h 5

bytes

4

Read/

bytes

write

00000000h

(degree)

80000000h

to

7FFFFFFFh

pos

units

(pulse)

4

Read/

bytes

write

00057E3Fh

(degree)

7FFFFFFFh

80000000h

to

7FFFFFFFh

pos

units

(pulse)

4

bytes

Read/

write

0 80000000h

to

units

pos

7FFFFFFFh

No. of

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

Parameter

PT67 1

PT68 1

PT63 1

PT64 1

1

2

Impossible

6 - 12

6. MODBUS REGISTERS

Address Name and function

607D Software limit (Software position limit)

Set the range for limiting the command position. Target position (607Ah) is limited within the range between Min position limit (607Dh: 1) and Max position limit (607Dh: 2). When the set value of Min position limit (607Dh: 1) is equal to or greater than the set value of Max position limit (607Dh: 2), the function of Software position limit (607Dh) is disabled.

Stroke limit - (Min position limit)

The stroke limit value in the reverse direction is returned in units of commands.

Stroke limit + (Max position limit)

The stroke limit value in the forward direction is returned in units of commands.

607E Rotation direction selection (Polarity)

The rotation direction selection can be set. Bit 7: position polarity Bit 6: velocity polarity Bit 5: torque polarity Turn on or off both bit 6 and bit 7 to set the

rotation direction to position commands and speed commands. Turn on or off all of bit 5 to bit 7 to set the rotation direction to torque commands.

607F Maximum speed command (Max profile

velocity) Set the maximum speed command for the

profile position mode (pp) and profile velocity mode (pv). When a value exceeding this object is set to Target velocity (60FFh) or Profile velocity (6081h), the speed is limited with the value of this object.

6080 Servo motor maximum speed (Max motor

speed) The maximum speed of the servo motor is

returned. Operation cannot be performed at a speed exceeding the speed set with this object.

6081 Command speed (Profile velocity)

The current speed command value can be read.

The speed command value can also be set. Set a value in units of 0.01 r/min.

6083 Acceleration time constant (Profile

acceleration) The current acceleration time constant can be

read. The acceleration time constant can also be

set. Set the length of time until the servo motor

accelerates to the rated speed in units of ms.

6084 Deceleration time constant (Profile

deceleration) The current deceleration time constant can be

read. The deceleration time constant can also be

set. Set the length of time until the servo motor

decelerates from the rated speed to a stop in units of ms.

Data

Read/

type

1

Reading 2 02h (fixed) 5

Initial value Range Unit

write

Saved

to EEP-

ROM

Parameter

bytes

4

bytes

Read/

write

0 80000000h

to

units

pos

PT17/

7FFFFFFFh

4

bytes

Read/

write

0 80000000h

to

units

pos

PT15/

7FFFFFFFh

1

bytes

4

bytes

Read/

write

Read/

write

00h 00h to FFh

2000000 00000000h

to

0.01

r/min

PA14/

PC29

PT51 2

001E8480h

(2000000)

4

bytes

Read/

write

00000000h

r/min 2

to

FFFFFFFFh

4

bytes

Read/

write

10000 00000000h

to

0.01

r/min

PT50 2

permissible instantane-

ous speed

4

bytes

Read/

write

0 00000000h

to

ms

PC01 2

FFFFFFFFh

4

bytes

Read/

write

0 00000000h

to

FFFFFFFFh

ms

PC02 2

PT18

PT16

No. of

Points/

No. of

Registers

1

Continuous

read/

continuous

write

Impossible

6 - 13

6. MODBUS REGISTERS

Address Name and function

6085 Deceleration time constant at Quick stop

command (Quick stop deceleration) Set a deceleration time constant for the Quick

stop function. Set a time for the servo motor to stop from the rated speed. When "0" is set, the operation is performed with 100 ms.

[Range] Limited within the range of 0 to 20000. When "0" is set, the operation is performed with 100 ms. The operation depends on the specification of [Pr. PC51].

6086 Acceleration/deceleration pattern (Motion

profile type) Set the acceleration/deceleration pattern in the

profile position mode (pp). The description is as follows.

-1: S-pattern For this object, "-1" is always returned. Values other than "-1" cannot be set.

6087 Torque slope

Set the variation per second of the torque command used in the profile torque mode. When "0" is set, the setting value is invalid and the torque command is input with step input.

[Range] Limited within the range of 0 to

10000000. When "0" is set, the setting value is invalid

(step input).

6088 Torque command pattern (Torque profile type)

Set the torque command pattern. 0: Linear interpolation method Values other than 0 cannot be set.

608F Encoder information (Position encoder

resolution) The number of entries is returned.

Encoder resolution (Encoder increments)

The encoder resolution is returned.

Number of revolutions of the servo motor (fixed

to 1 rev) (Motor revolutions) The fixed value "1" is returned.

6091 Servo motor shaft gear ratio (Gear ratio)

The number of entries is returned.

Number of revolutions of the servo motor axis

(electronic gear numerator) (Motor revolutions) Set the numerator of the electronic gear. Refer

to [Pr. PA06] for the settable values.

Number of revolutions of the drive axis

(electronic gear denominator) (Shaft revolutions)

Set the numerator of the electronic gear. Refer to [Pr. PA07] for the settable values.

6092 Travel distance per revolution of the drive axis

(Feed constant) The number of entries is returned.

Electronic gear expression: Travel distance/Number of revolutions of the drive axis

Travel distance (Feed)

The value is set automatically according to the [Pr. PT01] setting.

Setting in [Pr. PT01]: _ 2 _ _ (degree) 360000 _ 3 _ _ (pulse) Encoder resolution

Number of revolutions of the drive axis (fixed

to 1 rev) (Shaft revolutions) No value can be written as it is automatically

set with [Pr. PT01]. If a value is written, this setting is disabled.

ms

Saved

to EEP-

ROM

Parameter

PC51 2

Data

type

4

bytes

Read/

write

Read/

write

Initial value Range Unit

100 00000000h

to

FFFFFFFFh

2

bytes

4

bytes

Read/

write

Read/

write

-1 FFFFh (-1) (fixed)

0 00000000h

0.1%

to

1

PT49 2

00989680h

2

bytes

write

1

Reading 2 02h (fixed) pulse/

bytes

4

Read/

bytes

Read/

write

0 0000h

(fixed)

00000000h

pulse

to

1

5

rev

FFFFFFFFh

4

bytes

Read/

write

1 00000001h

to

rev

00000001h

1

Reading 2 02h (fixed) 5

bytes

4

bytes

Read/

write

1 00000001h

to

rev

PA06

00FFFFFFh

(16777215)

4

bytes

Read/

write

1 00000001h

to

rev

PA07

00FFFFFFh

(16777215)

1

Reading 2 02h (fixed) 5

bytes

4

bytes

Read/

write

360000

(degree)/

Encoder

00000001h

to

FFFFFFFFh

pos

units

resolution

(pulse)

4

bytes

Read/

write

1 00000001h

to

rev

PT01

00000001h

No. of

Points/

No. of

Registers

Continuous

read/

continuous

write

Impossible

6 - 14

6. MODBUS REGISTERS

Address Name and function

6098 Home position return types (Homing method)

Set a home position return type.

6099 Home position return speed (Homing speeds)

The number of entries is returned.

Home position return speed (Speed during

search for switch) Set the servo motor speed at home position

return.

Creep speed (Speed during search for zero)

Set a creep speed after proximity dog at home position return.

609A Set acceleration/deceleration time constant at

home position return. (Homing acceleration) Set the acceleration/deceleration time

constants at home position return. Set a time for the servo motor to reach the rated speed.

60A8 SI unit position

SI unit position (60A8h) is set automatically with [Pr. PT01].

The following shows the data structure. [Bit 0 to Bit 7: Reserved] [Bit 8 to Bit 15: Denominator] "00" means "Dimensionless". [Bit 16 to Bit 23: Numerator] "41" means "degree", and "00" means

"Dimensionless". [Bit 24 to Bit 31: Prefix] "FD" means "milli", and "00" means "none".

60A9 SI unit velocity (SI unit velocity)

The SI unit velocity is returned. FEB44700h: 0.01 r/min

60B8 Touch probe function setting (Touch probe

function) Set the command for the touch probe function.

60B9 Status of the touch probe function (Touch

probe status) The status of the touch probe function is

returned.

60BA Rising edge position of touch probe (Touch

probe pos1 pos value) The position latched at the rising edge of touch

probe 1 is returned.

60BB Falling edge position of touch probe (Touch

probe pos1 neg value) The position latched at the falling edge of

touch probe 1 is returned.

60E0 Forward rotation torque limit (Positive torque

limit value) The forward rotation torque limit can be read. The forward rotation torque limit can also be

set. Set a forward torque limit value in units of

0.1%.

60E1 Reverse rotation torque limit (Negative torque

limit value) The reverse rotation torque limit can be read. The reverse rotation torque limit can also be

set. Set a reverse torque limit value in units of

0.1%.

Data

Read/

type

1

Read/

bytes

1

Reading 2 02h (fixed) 5

Initial value Range Unit

write

37 D5h (-43)

write

to 27h (39)

Saved

ROM

Parameter

PT45 1

to EEP-

bytes

4

bytes

Read/

write

10000 0 to

permissible

0.01

r/min

PT05

instantane-

ous speed

4

bytes

Read/

write

1000 0 to

permissible

0.01

r/min

PT06

instantane-

ous speed

4

bytes

Read/

write

0 00000000h

to

ms

PT61/

PT62

00004E20h

(20000)

4

Read/

bytes

write

FD410000h

(degree)

00000000h

to

FFFFFFFFh

2

(pulse)

4

Read/

bytes

write

2

Read/

0 0000h to

write

2

Reading 0 0000h to

bytes

FEB44700h FEB44700h

4

Reading 0 80000000h

bytes

4

Reading 0 80000000h

bytes

2

bytes

Read/

write

10000 0000h to

(0.01 r/min)

FFFFh

to

7FFFFFFFh

to

7FFFFFFFh

2710h

2

1 Possible

pos

2 Possible

units

pos

2 Possible

units

0.1%

PA11/

(PA12)

(10000)

2

bytes

Read/

write

10000 0000h to

2710h

0.1%

PA12/

(PA11)

(10000)

No. of

Points/

No. of

Registers

2

1

Continuous

read/

continuous

write

Impossible

6 - 15

6. MODBUS REGISTERS

Address Name and function

60E3 Supported homing method (Supported homing

method) The number of supported homing methods is

returned.

Number specification of supported homing

methods (1st to 39th) (1st supported homing method)

Set the number of the supported home position return type.

60F2 Profile position mode setting (Positioning

option code) Set the profile position mode. Bit 1 to Bit 3 always notify "0". Setting a value

other than "0" will cause an error.

[Bit 1/Bit 0: relative option] How to handle the relative position command

during pp is specified. 00: The positioning is performed with the

relative position from the internal absolute target position.

[Bit 3/Bit 2: change immediately option] The operation of when change set immediately

(control word Bit 5) is 1 during pp is specified. 00: Normal pp mode operation (New Target

position, profile velocity, acceleration, and others are reflected immediately.)

[Bit 7/Bit 6: rotary axis direction option] Specify the operation of the rotation axis

during pp and pt. 00: The servo motor rotates to the target

position in a direction specified with a sign of the position data.

01: The servo motor rotates in the address

decreasing direction regardless of the sign of the position data.

10: The servo motor rotates in the address

increasing direction regardless of the sign of the position data.

11: The servo motor rotates from the current

position to the target position in the shorter direction. If the distances from the current position to the target position are the same for CCW and CW, the servo motor rotates in the CCW direction.

60F4 Droop pulses [command unit] (Following error

actual value) The droop pulses are returned.

60FA Speed command (Control effort)

The speed command is returned.

60FF Command speed (Target velocity)

Set the speed command used in the profile velocity mode (pv).

6502 Supported control mode (Supported drive

modes) The supported control mode is returned. Bit 0: Profile position mode (pp) Bit 2: Profile velocity mode (pv) Bit 3: Profile torque mode (tq) Bit 5: Homing mode (hm)

Data

Read/

type

1

Reading 39 00h to FFh 1 +

bytes

1

Reading 37 80h to 7Fh

bytes

2

bytes

Read/

4

Read/

4

Reading 0000002Dh 0000002Dh

Initial value Range Unit

write

Read 80000000h

Read 0 80000000h

write

0000h 0000h to

00C0h

to

7FFFFFFFh

to

7FFFFFFFh

0 80000000h

to

7FFFFFFFh

to

0000002Dh

Saved

to EEP-

ROM

1

pos

units

0.01

r/min

0.01

r/min

2

Parameter

No. of

Points/

No. of

Registers

number

of read

points

Continuous

read/

continuous

write

Impossible

6 - 16

6. MODBUS REGISTERS

6.2 Object library details (objects in the 1000s)

POINT

This section describes the objects in the 1000s. Refer to section 6.1 for details on the objects not listed here.

6.2.1 Writing command to EEP-ROM (1010h)

POINT

Before shutting off the power after executing the writing command to EEP-ROM (Store Parameters), always check that parameters are not being saved (Bit 0 is on).

For the objects that can be saved, write "65766173h" (= reverse order of the ASCII code of "save") to the corresponding sub object of the writing command to EEP-ROM (Store Parameters) (1010h) to store the object in the EEP-ROM of the servo amplifier. The value saved in the EEP-ROM is set to the object at the next power-on. Servo parameters can also be modified through the object library. However, the new setting is not automatically written to the EEP-ROM. To write the new setting, use the writing command to EEP-ROM (Store Parameters) (1010h). Executing the writing command to EEP-ROM (Store Parameters) (1010h) takes about a maximum of 10 s because all parameters are written at the same time. Be careful not to shut off the power during writing.

Address Name

1010h

Writing command to EEPROM (Store parameters)

Parameter setting values can be saved in EEP-ROM.

Number of entries (Number of entries)

Restoring all default parameters (Restore all default parameters)

Data type

1 bytes Reading

4 bytes

Read/

write

Read/

write

No. of Points/

No. of Registers

3 Impossible

Continuous read/

continuous write

6 - 17

6. MODBUS REGISTERS

(1) Usage

This object can read the availability of each Sub Index. The following table shows the returned values of each item.

Number of entries (Number of entries)

Saving all parameters (Save all parameters)

Select the items to be saved in EEP-ROM using this object. At this time, set "00h" or "01h" for Number of entries. To save servo amplifier parameters in EEP-ROM, configure required settings following the table below. When bit 1 (EEP-ROM write completed) of the control output (2D11h) is "1", saving data in EEP-ROM has been completed. Writing a value other than "65766173h" and "00000000h" to each item results in an error.

Number of entries (Number of entries)

Saving all parameters (Save all parameters)

6.2.2 Restore default EEP-ROM parameters (1011h)

Item Saved parameter Returned value

01h

Index: 2001h to 27FFh 00000001h (available)

Item Setting value

01h

00000000h Disabled

65766173h ("save") Enabled

Other than above Error

Write to EEP-ROM

Parameter

Address Name

Number of entries (Number of entries)

Restoring all default parameters (Restore all default parameters)

1011h

Restoring default EEP-ROM parameters (Restore default parameters)

Data type

1 bytes Reading

4 bytes

Read/

write

Read/

write

No. of Points/

No. of Registers

3 Impossible

Continuous read/

continuous write

The parameter of the servo amplifier can be rewritten with the factory setting. When "64616F6Ch" (= reverse order of ASCII code of "load") is written to Restore all default parameters (1011h: 1) and the power in cycled, the parameter is initialized.

6 - 18

6. MODBUS REGISTERS

6.3 Object library details (objects in the 2000s)

POINT

This section describes the objects in the 2000s. Refer to section 6.1 for details on the objects not listed here.

6.3.1 External input pin status (2C10h)

Address Name

Number of entries

2C10h

External input pin status (External Input pin display)

(Number of entries)

External input pin status 1 (External Input pin display1)

Data type

1 bytes Reading

4 bytes Reading

Read/

write

No. of Points/

No. of Registers

3 Impossible

Continuous read/

continuous write

The ON/OFF state of the external input pins input to the servo amplifier can be read.

(1) Usage

Read the ON/OFF state of external input pins using this object. At this time, "02h" is returned to Number of entries.

External Input pin display1 displays the input pin status of the MR-JE-_C servo amplifier. The following table shows the details. When the input of the target pin is on, "1" is returned. When the input of the target pin is off, "0" is returned. The values in the areas marked with diagonal lines are indefinite.

Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin

0 3 8 16 24

1 4 9 17 25

2 1 10 18 26

3 2 11 19 27

4 8 12 20 28

5 21 13 21 29

6 6 14 22 30

7 19 15 23 31

6 - 19

6. MODBUS REGISTERS

6.3.2 External output pin status (2C11h)

Address Name

Number of entries

2C11h

External output pin status (External Output pin display)

(Number of entries)

External output pin status 1 (External Output pin display1)

Data type

1 bytes Reading

4 bytes Reading

Read/

write

No. of Points/

No. of Registers

3 Impossible

Continuous read/

continuous write

The ON/OFF state of external output pins output from the servo amplifier can be read.

(1) Usage

Read the ON/OFF state of external output pins using this object. At this time, "02h" is returned to Number of entries.

External Output pin display1 displays the output pin status of the MR-JE-_C servo amplifier. The following table shows the details. When the output of the target pin is on, "1" is returned. When the output of the target pin is off, "0" is returned. The values in the areas marked with diagonal lines are indefinite.

Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin

0 14 8 16 24

1 22 9 17 25

2 16 10 18 26

3 11 19 27

4 12 20 28

5 15 13 21 29

6 14 22 30

7 15 23 31

6.3.3 Input device status (2C12h)

Address Name

Number of entries (Number of entries)

Input device status 1 (External Input signal display1)

2C12h

Input device status (External Input signal display)

Input device status 2 (External Input signal display2)

Input device status 3 (External Input signal display3)

Input device status 4 (External Input signal display4)

The current input device status can be read.

Data type

1 bytes

4 bytes

Read/

write

Reading 9 Impossible

No. of Points/

No. of Registers

Continuous read/

continuous write

6 - 20

6. MODBUS REGISTERS

(1) Usage

External Input signal display1 (Input device status 1) to External Input signal display4 (Input device status 4) display the ON/OFF state of each input device of the MR-JE-_C servo amplifier. The following table shows the details. When the input of the target device is on, "1" is returned. When the input of the target device is off, "0" is returned. The values in the areas marked with diagonal lines are indefinite.

Bit

0 SON (Servo-on)

1

2

3

4

5 PC (Proportional control)

6 RES (Reset)

7 CR (Clear)

8 SP1 (Speed selection 1)

9 SP2 (Speed selection 2) DOG (Proximity dog)

10 SP3 (Speed selection 3)

11

12

13

14

15 LOP (Control switching)

16

17

18 EM2/EM1 (Forced stop 2/1)

19

20

21

22

23

24

25

26

27 CDP (Gain switching)

28

29

30

31

Input device status 1 Input device status 2 Input device status 3 Input device status 4

LSP (Forward rotation stroke end)

LSN (Reverse rotation stroke end)

TL (External torque limit selection)

TL1 (Internal torque limit selection)

ST1/RS2 (Forward rotation start/reverse rotation selection)

ST2/RS1 (Reverse rotation start/forward rotation selection)

CM1 (Electronic gear setting

1)

CM2 (Electronic gear setting

2)

STAB2 (Second acceleration/deceleration selection)

Note. For details on the symbols, refer to section 3.5 in "MR-JE-_C Servo Amplifier Instruction Manual".

Input device abbreviation (Note)

6 - 21

6. MODBUS REGISTERS

6.3.4 Control input (2D01h to 2D0Ah)

Address Name

2D01h

to

Control input (Control DI1 to Control DI10) 2 bytes

2D0Ah

Data type

The on/off status of input device can be read. The on/off status of input device can also be set.

The following table lists readable and writable input devices.

(1) Bit definition of control DI1

Bit Symbol Description

This device can be used by setting "2 _ _ _" (initial value) in [Pr. PA04].

C_EM2

0

C_EM1

1

2

3

4 C_CDP

5

6

7

8 C_TL1

9

10

11

12

13

14

15

When C_EM2 is turned on, the command decelerates the servo motor to a stop. Turn C_EM2 off in the forced stop state to reset that state. In the torque control mode, C_EM2 functions the same as C_EM1.

This device can be used by setting "0 _ _ _" in [Pr. PA04]. When C_EM1 is turned on, the base circuit shuts off, and the dynamic brake operates to decelerate the

servo motor to a stop. Turn C_EM1 off in the forced stop state to reset that state.

The value at reading is undefined. Set "0" when writing.

Gain switching Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to

motor inertia ratio and gain values.

The value at reading is undefined. Set "0" when writing.

When C_TL1 is turned on, [Pr. PC35 Internal torque limit 2] can be selected. However, if the value of [Pr. PA11] (60E0h) or [Pr. PA12] (60E1h) is less than the limit value selected by

[Pr. PC35], the value of [Pr. PA11] (60E0h) or [Pr. PA12] (60E1h) will be enabled.

The value at reading is undefined. Set "0" when writing.

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Possible

Continuous read/

continuous write

6 - 22

6. MODBUS REGISTERS

(2) Bit definition of control DI2

Bit Symbol Description

0

1

2

3

4

5

6

7

8 C_PC

9

10

11

12

13

14

15 C_ORST

(3) Bit definition of control DI3

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13 C_STAB2

14

15

The value at reading is undefined. Set "0" when writing.

Proportional control Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates

torque to compensate for the droop pulses and returns to the original position. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the C_PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position mismatch.

When the shaft is to be locked for a long time, switch on the C_PC and TL (External torque limit selection) at the same time to make the torque less than the rated by TLA (Analog torque limit).

Do not use C_PC in the torque control. When C_PC is used in the torque control, operation may be performed at a speed exceeding the speed limit value.

The value at reading is undefined. Set "0" when writing.

Operation alarm reset Turn on C_ORST from off to reset [AL. F4 Positioning warning].

The value at reading is undefined. Set "0" when writing.

Second acceleration/deceleration selection The device allows selection of the acceleration/deceleration time constant at servo motor rotation in the

speed control mode or torque control mode. The S-pattern acceleration/deceleration time constant is always uniform.

Bit 13 Acceleration time constant Deceleration time constant

0 Pr. PC01 Pr. PC02

1 Pr. PC30 Pr. PC31

The value at reading is undefined. Set "0" when writing.

6 - 23

6. MODBUS REGISTERS

(4) Bit definition of control DI4

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(5) Bit definition of control DI5

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11 C_DOG

12

13

14

15

The value at reading is undefined. Set "0" when writing.

Proximity dog input When C_DOG is turned on, a proximity dog will be detected. The polarity for dog detection can be changed

with [Pr. PT29].

The value at reading is undefined. Set "0" when writing.

6 - 24

6. MODBUS REGISTERS

(6) Bit definition of control DI6

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(7) Bit definition of control DI7

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(8) Bit definition of control DI8

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined. Set "0" when writing.

6 - 25

6. MODBUS REGISTERS

(9) Bit definition of control DI9

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(10) Bit definition of control DI10

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined. Set "0" when writing.

6 - 26

6. MODBUS REGISTERS

6.3.5 Control output (2D11h to 2D1Ah)

Address Name

2D11h

to

Control output (Status DO1 to Status DO10) 2 bytes Reading 1 Possible

2D1Ah

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The on/off status of output device can be read. The following table lists readable output devices.

(1) Bit definition of Status DO 1

Bit Symbol Description

0 The value at reading is undefined.

EEP-ROM write completed

1 S_ERF

2 S_SA

3 S_MBR

4 S_CDPS

5

6

7 S_TL

8 S_TL1

9

10

11

12 S_INP

13 S_TLC

14 S_ABSV

15 S_BWNG

When a value is not written to EEP-ROM, S_ERF turns on. While a value is being written to EEP-ROM, S_ERF turns off.

Speed reached When the servo motor speed reaches the following range, S_SA turns on. Set speed ± ((Set speed × 0.05) + 20) r/min When the preset speed is 20 r/min or less, SA always turns on. SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external

force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.

Electromagnetic brake interlock When a servo-off status or alarm occurs, S_MBR will turn off.

Variable gain selection S_CDPS turns on during gain switching.

The value at reading is undefined.

Analog torque limit selection When TL (External torque limit selection) is turned on, S_TL turns on.

Torque limit selection When C_TL1 or TL1 (Internal torque limit selection) is turned on, S_TL1 turns on.

The value at reading is undefined.

In-position When the number of droop pulses is in the in-position range, S_INP will turn on. The in-position range can

be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during lowspeed rotation.

Limiting torque S_TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward torque limit],

[Pr. PA12 Reverse torque limit], or TLA (Analog torque limit).

Absolute position undetermined S_ABSV turns on when the absolute position is undetermined.

Battery warning When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred, S_BWNG

turns on. When the battery warning is not occurring, S_BWNG will turn off in 2.5 s to 3.5 s after power-on.

6 - 27

6. MODBUS REGISTERS

(2) Bit definition of Status DO 2

Bit Symbol Description

Z-phase already passed

0 S_ZPASS

1

2

3 S_ZSP

4 S_VLC

5

6

7

8 S_PC

9

10

11

12

13

14

15 S_ZP2

0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up

The value at reading is undefined.

Zero speed state S_ZSP turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr.

PC17].

Limiting speed S_VLC turns on when speed reaches a value limited with any of [Pr. PC05 Internal speed limit 1] to [Pr.

PC11 Internal speed limit 7]. This turns off when SON (Servo-on) turns off.

The value at reading is undefined.

Under proportional control S_PC turns on under proportional control.

The value at reading is undefined.

Home position return completion 2 When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on unless the home

position is erased. In the incremental system, it turns off with one of the following conditions.

1) [AL. 69 Command error] occurs.

2) Home position return is not being executed.

3) Home position return is in progress.

If a home position return completes once in the absolute position detection system, S_ZP2 is always on. However, it will be off with one of the conditions 1) to 3) or the following.

4) The home position return is not performed after [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] occurred.

5) The home position return is not performed after the electronic gear ([Pr. PA06] or [Pr. PA07]) was changed.

6) The home position return is not performed after the setting of [Pr. PA03 Absolute position detection system selection] was changed from "Disabled" to "Enabled".

7) [Pr. PA14 Rotation direction selection/travel direction selection] was changed.

8) [Pr. PA01 Operation mode] was changed.

This bit will be enabled in the profile mode.

6 - 28

6. MODBUS REGISTERS

(3) Bit definition of Status DO 3

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9 S_RSTP

10 The value at reading is undefined.

11 S_MTTR

12

13

14

15

(4) Bit definition of Status DO 4

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

Forced stop deceleration S_RSTP turns on during a forced stop deceleration.

Transition to tough drive mode in process When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive will

turn on S_MTTR.

The value at reading is undefined.

6 - 29

6. MODBUS REGISTERS

(5) Bit definition of Status DO 5

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(6) Bit definition of Status DO 6

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

6 - 30

6. MODBUS REGISTERS

(7) Bit definition of Status DO 7

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(8) Bit definition of Status DO 8

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

6 - 31

6. MODBUS REGISTERS

(9) Bit definition of Status DO 9

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(10) Bit definition of Status DO 10

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

6 - 32

6. MODBUS REGISTERS

6.3.6 SDO Abort Code (2A60h)

(1) List of registers

Address Name

2A60h SDO Abort Code (SDO Abort Code) 4 bytes Read 2 Impossible

The latest SDO Abort Code generated in Modbus communication can be read. The access to registers can be checked by reading the latest SDO Abort Code. When an error is found by reading SDO Abort Codes, change the method to access registers.

(2) Usage

Read SDO Abort Codes using this register. The following table lists the SDO Abort Codes.

SDO Abort Code Description

0000 0000h No problem found.

0504 0001h Client/server command specifier not valid or unknown.

0601 0000h Unsupported access to a register.

0601 0001h Attempt to read a write only register.

0601 0002h Attempt to write a read only register.

0602 0000h Register does not exist in the Modbus resisters.

0604 0041h Resister cannot be mapped to the PDO

0604 0042h The number and length of the resisters to be mapped would exceed PDO length

0607 0010h Data type does not match, length of service parameter does not match

0609 0011h Element of resister does not exist.

0609 0030h Value range of parameter exceeded (only for write access).

0609 0031h Value of parameter written too high.

0609 0032h Value of parameter written too low.

0800 0000h Generic error.

0800 0020h Data cannot be transferred or stored to the application

0800 0021h Data cannot be transferred or stored to the application because of local control.

0800 0022h Data cannot be transferred or stored to the application because of the present device state.

0800 0024h No data available.

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

6 - 33

6. MODBUS REGISTERS

6.3.7 Access log 1 (2A64h)

Address Name

2A64h Access log 1 (Access log 1) 4 bytes Read 2 Impossible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The access log 1 can be read.

(1) Usage

Read the access log 1 using this register. The access log 1 displays the address that was last accessed successfully in Modbus communication.

Access log 1 Response data

Higher 2 bytes Address: xxxxh

Lower 2 bytes For manufacturer setting: 00yyh

For example, when the input device status (Address: 2C12h) is accessed successfully, "2C120004h" is read from the access log 1.

6.3.8 Access log 2 (2A65h)

Address Name

2A65h Access log 2 (Access log 2) 2 bytes Read 1 Impossible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The access log 2 can be read.

(1) Usage

Read the access log 2 using this register. The access log 2 displays the number of addresses that were accessed successfully in Modbus communication. Use this register when an access error has occurred in the continuous read/write. For example, when an error has occurred while the registers for monitoring (address: 2B01h to 2B0Ah) are continuously read, the error has occurred at the address 2B07h because the read value of the access log 2 is "0006h".

6 - 34

6. MODBUS REGISTERS

6.4 Object library details (objects in the 6000s)

POINT

This section describes the objects in the 6000s. Refer to section 6.1 for details on the objects not listed here.

6.4.1 Control status (6041h)

Address Name

6041h Control status (Statusword) 2 bytes Reading 1 Impossible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The current control status can be checked. The following table lists the bits of this object. The status can be checked with bit 0 to bit 7.

Bit Description

0 Ready To Switch On

1 Switched On

2 Operation Enabled

3 Fault

4 Voltage Enabled

5 Quick Stop

6 Switch On Disabled

7 Warning

8 Reserved (Note 2)

9 Reserved (Note 2)

10 Target reached (Note 1)

11 Internal Limit Active

12 to 13 Operation Mode Specific (Note 1)

14 to 15 Reserved (Note 2)

Note 1. The description changes depending on the control mode.

2. The value at reading is undefined.

The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status

0 0 0 0 0 Not ready to switch on

1 0 0 0 0 Switch on disable

0 1 0 0 0 1 Ready to switch on

0 1 0 0 1 1 Switch on

0 1 0 1 1 1 Operation enabled

0 0 0 1 1 1 Quick stop active (Note)

0 1 1 1 1 Fault reaction active

0 1 0 0 0 Fault

1 Main power on (power input on)

1 Warning (warning occurrence)

Note. Not supported in the position control mode, speed control mode, and torque control mode.

Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.

6 - 35

6. MODBUS REGISTERS

6.4.2 Quick stop option code (605Ah)

Address Name

605Ah Quick stop option code (Quick stop option code) 2 bytes

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Impossible

Continuous read/

continuous write

The operation method of deceleration to a stop can be specified. The following table shows the supported methods and the operations.

Setting

value

1 For manufacturer setting

In the profile mode (pp/pv) and homing mode (hm), the servo motor decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to the Switch On Disabled state. The new setting of Quick stop deceleration is reflected at all times.

2

In the profile torque mode (tq), the state immediately shifts to the Switch On Disabled state and the servo motor stops with the dynamic brake.

3 For manufacturer setting

4

5

6

7

8

Description

6 - 36

6. MODBUS REGISTERS

6.4.3 Halt option code (605Dh)

(1) Object list

Address Name

605Dh Halt option code (Halt option code) 2 bytes

The following table shows descriptions of Halt option code (605Dh).

Setting

value

The description varies depending on the control mode.

1

Refer to the following table.

2 For manufacturer setting

3

4

Description

The following shows the meaning of Halt Bit (Bit 8 of Controlword (6040h)) and the reflecting timing of the deceleration time setting.

Control mode Halt Bit is set to "1" Halt Bit is set to "0"

Profile position mode (pp)

Profile velocity mode (pv)

Profile torque mode (tq)

Homing mode (hm)

The servo motor decelerates to a stop according to Profile deceleration (6084h).

Torque demand value (6074h) becomes "0" with the amount of torque change set in Torque slope (6087h) regardless of the setting of Halt option code (605Dh).

When Halt Bit is set to "1", the servo motor decelerates to a stop with Homing acceleration (609Ah) and the state does not change from Operation Enabled (servo-on). After that, when Halt Bit is set to "0" and Homing Operation Start (Bit 4 of Controlword (6040h)) is set to "0" and then "1", home position return is performed again.

The operation restarts after the servo motor decelerates to a stop.

The operation restarts after Torque demand value (6074h) becomes "0".

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Impossible

Reflecting timing of deceleration time

The new setting of Profile deceleration (6084h) is reflected when New set-point (Bit 4 of Controlword (6040h)) is set to "1".

The new setting of Profile deceleration (6084h) is reflected at all times.

The new setting of Torque slope (6087h) is reflected at all times.

The new setting of Homing acceleration (609Ah) is reflected when Homing Operation Start (Bit 4 of Controlword (6040h)) is set to "1".

Continuous read/

continuous write

setting

6 - 37

6. MODBUS REGISTERS

6.4.4 Control mode display (6061h)

Address Name

6061h Control mode display (Modes of operation Display) 1 bytes Reading 1 Impossible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The current control mode can be read. The following table shows the correspondence between control modes and setting values.

Control mode

Position control mode -20

Speed control mode -21

Torque control mode -22

Profile position mode (pp) 1

Profile velocity mode (pv) 3

Profile torque mode (tq) 4

Homing mode (hm) 6

Test mode: JOG operation -1

Test mode: Positioning operation -2

Test mode: DO forced output -4

Test mode: Machine analyzer -6

Setting

value

6.4.5 Software limit (607Dh)

Address Name

Number of entries (Number of entries)

607Dh

Software limit (Software Position Limit)

Min Position Limit (Stroke limit -)

Max Position Limit (Stroke limit +)

Data type

1 bytes Reading

4 bytes

Read/

write

Read/

write

No. of Points/

No. of Registers

5 Impossible

Continuous read/

continuous write

The current software limit setting can be read. At this time, "02h" is returned to Number of entries. The stroke limit value in the reverse direction is returned to Min Position Limit (stroke limit -) in units of commands. The stroke limit value in the forward direction is returned to Max Position Limit (stroke limit +) in units of commands. The current software limit setting can also be written. At this time, set "02h" for Number of entries. Set the stroke limit value in the reverse direction in Min Position Limit (stroke limit -) in units of commands. Set the stroke limit value in the forward direction in Max Position Limit (stroke limit +) in units of commands. If Min Position Limit (stroke limit -) and Max Position Limit (stroke limit +) are set to the same value, the software limit function is disabled.

6 - 38

6. MODBUS REGISTERS

6.4.6 Polarity (607Eh)

Address Name

607Eh Rotation direction selection (Polarity) 1 bytes

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Impossible

Continuous read/

continuous write

The rotation direction selection can be set. To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of Polarity (607Eh) or use [Pr. PA14]. To set the rotation direction to torque commands, turn on or off all of bit 5 to bit 7 of Polarity (607Eh) or use [Pr. PA14] and "POL reflection selection at torque mode" of [Pr. PC29]. The following table shows the descriptions of Polarity (607Eh).

Bit Description

0 Reserved

1 The value at reading is undefined. Set "0" when writing.

2

3

4

Torque POL

5

The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.

Velocity POL

6

The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.

Position POL

7

The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.

6.4.7 Degree (60F2h)

Address Name

60F2h Profile position mode setting (Positioning option code) 2 bytes

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Impossible

Continuous read/

continuous write

Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with module coordinates (axis of rotation). The following shows the differences when "degree" is selected.

Item (Index, Sub Index) Description

Target position (607Ah, 0) The range will be between -360.000° and 360.000°.

Position actual value (6064h, 0) The range will be between 0° and 359.999°.

Software position limit (607Dh, 0) The range will be between 0° and 359.999°. A value outside the range is

clamped within the range 0° to 359.999°.

Position range limit (607Bh, 0) The range will be between 0° and 359.999°.

Touch probe pos1 pos value (60BAh, 0) The range will be between 0° and 359.999°.

Touch probe pos1 neg value (60BBh, 0) The range will be between 0° and 359.999°.

Touch probe pos2 pos value (60BCh, 0) The range will be between 0° and 359.999°.

Touch probe pos2 neg value (60BDh, 0) The range will be between 0° and 359.999°.

Home offset (607Ch, 0) The range will be between 0° and 359.999°.

6 - 39

6. MODBUS REGISTERS

Positioning operation patterns can be changed with Positioning option code (60F2h). Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed while the servo motor is rotating (Target reached is off), the setting value is not applied immediately. The new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once turned on. The following table shows the bits and settings of Positioning option code (60F2h).

Bit 7 Bit 6 [Pr. PT03] Rotation direction definition for the axis of rotation

0 0 _ 0 _ _

0 1 _ 2 _ _

1 0 _ 3 _ _

1 1 _ 1 _ _

The following shows the operation patterns corresponding to the settings of Positioning option code (60F2h).

(a) When POL is disabled ([Pr. PA14] = 0)

360 = 0

50

330

The servo motor rotates to the target position in a direction specified with a sign of the position data.

The servo motor rotates in the address decreasing direction regardless of the sign of the position data.

The servo motor rotates in the address increasing direction regardless of the sign of the position data.

The servo motor rotates from the current position to the target position in the shorter direction. If the distances from the current position to the target position are the same for CCW and CW, the servo motor rotates in the CCW direction.

50

360 = 0

330

50

360 = 0

330

50

360 = 0

330

150 210

Bit 7: 0 Bit 6: 0

The servo motor rotates in a direction specified with a sign of the position data.

The servo motor rotates only in the address decreasing direction.

150 210

(b) When POL is enabled ([Pr. PA14] = 1)

360 = 0

330

50

330

210 150

Bit 7: 0 Bit 6: 0

The servo motor rotates in a direction specified with a sign of the position data.

The servo motor rotates only in the address decreasing direction.

Bit 7: 0 Bit 6: 1

360 = 0

210 150

Bit 7: 0 Bit 6: 1

150 210

Bit 7: 1 Bit 6: 0

The servo motor rotates only in the address increasing direction.

360 = 0

330

50

210 150

Bit 7: 1 Bit 6: 0

The servo motor rotates only in the address increasing direction.

150 210

Bit 7: 1 Bit 6: 1

The servo motor rotates in the shorter direction.

360 = 0

330

50

210 150

Bit 7: 1 Bit 6: 1

The servo motor rotates in the shorter direction.

50

6 - 40

6. MODBUS REGISTERS

6.4.8 Touch probe (60B8h to 60BBh)

The current position latch data at the time of TPR1 (Touch probe 1) input can be read.

(1) Object list

Address Name

60B8h Touch probe function setting (Touch probe function) 2 bytes

60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading 1 Possible

60BAh

60BBh

Rising edge position of touch probe (Touch probe position positive value)

Falling edge position of touch probe (Touch probe position negative value)

When the touch probe function (60B8h) is set, and TPR1 (touch probe1), an external signal, is turned on/off, the current position of the rising and falling edges are latched. The latch status of the current position data can be checked with the touch probe status (60B9h). The latched current data can be read with the touch probe position positive value (60BAh) and the touch probe position negative value (60BBh). For details of each object, refer to sections 6.4.9 to 6.4.12.

(2) Usage

The following explains for latching the current position at the rising edge of TPR1 (Touch probe 1).

(a) Set "0013h" to the touch probe function setting (Touch probe function: 60B8h) to store data at rising

edge of TPR1 (Touch probe 1).

(b) At this time, the touch probe status (Touch probe status: 60B9h) is set to "0001h", and the latched

data has not been stored yet.

(c) Use an external signal to turn on TPR1 (Touch probe 1).

(d) The touch probe status (Touch probe status: 60B9h) changes to "0003h", and the current position at

the time of TPR1 (touch probe1) on will be stored to the rising edge position of touch probe (Touch probe position positive value: 60BAh).

(e) Use an external signal to turn off TPR1 (Touch probe 1).

(f) The touch probe status (Touch probe status: 60B9h) remains "0003h", and the current position at

the time that TPR1 (Touch probe 1) turns off will not be stored as the touch probe falling edge position (Touch probe position negative value: 60BBh).

(g) Latching can be continued from (c).

Data type

4 bytes Reading 2 Possible

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Possible

Continuous read/

continuous write

6 - 41

6. MODBUS REGISTERS

The following shows a timing chart.

60B8h Bit 0

60B8h Bit 1

60B8h Bit 4

60B8h Bit 5

60B9h Bit 0

60B9h Bit 1

60B9h Bit 2

TPR1 (Touch Probe 1) (Touch probe signal)

1 0 1 0 1 0 1 0 1 0 1 0 1 0

ON

OFF

(a) 60B8h = 0013h

(d) 60B9h = 0003h

(b) 60B9h = 0001h

(f) 60B9h = 0003h (g) Latches continuously

60BAh

60BBh

A0

(c) TPR1 on (e) TPR1 off

0

BC

6.4.9 Touch probe function setting (60B8h)

Address Name

60B8h Touch probe function setting (Touch probe function) 2 bytes

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

1 Possible

Continuous read/

continuous write

The current setting of the touch probe function can be checked. Each setting of the touch probe function can also be set. The settings of this object are as follows.

Bit Description

0: Latch function disabled

0

1: Latch function enabled

0: Latch with the first trigger

1

1: Continuously latch with trigger inputs

2 The value at reading is undefined. Set "0" when writing.

3

0: Stop sampling at the rising edge of touch probe

4

1: Start sampling at the rising edge of touch probe

0: Stop sampling at the falling edge of touch probe

5

1: Start sampling at the falling edge of touch probe

6 to 15 The value at reading is undefined. Set "0" when writing.

Select enable/disable for the latch function with bit 0. Select "1" when using the touch probe function. Select a trigger condition for the touch probe function with bit 1. Set "0" to latch just once when TPR1 (Touch probe 1) is inputted. Set "1" to latch every time TPR1 (Touch probe 1) is inputted. Set a condition for the rising edge of TPR1 (Touch probe 1) with bit 4. Set "1" to latch at the rising edge. Set a condition for the falling edge of TPR1 (Touch probe 1) with bit 5. Set "1" to latch at the falling edge.

6 - 42

6. MODBUS REGISTERS

6.4.10 Touch probe function status (60B9h)

Address Name

60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading 1 Possible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The current status of the touch probe function can be checked. The description of this object is as follows.

Bit Description

0: Latch function of touch probe is disabled

0

1: Latch function of touch probe is enabled.

0: Latch is incomplete at the rising edge with the latch function of the touch probe.

1

1: Latch is complete at the rising edge with the latch function of the touch probe.

0: Latch is incomplete at the falling edge with the latch function of the touch probe.

2

1: Latch is complete at the falling edge with the latch function of the touch probe.

3 to 15 The value at reading is undefined.

Bit 0 indicates the status of the touch probe function. 0 indicates disabled, and 1 enabled. With bit 1, if the data is latched at the rising edge of the touch probe can be checked. Latched data can be read when this bit is set to "1". When this bit turns on, it remains on until bit 4 of the touch probe setting (60B8h) is set to "0". With bit 2, if the data is latched at the falling edge of the touch probe can be checked. Latched data can be read when this bit is set to "1". When this bit turns on, it remains on until bit 5 of the touch probe setting (60B8h) is set to "0".

6.4.11 Rising edge position of touch probe (60BAh)

Address Name

60BAh

Rising edge position of touch probe (Touch probe position positive value)

4 bytes Reading 2 Possible

The current rising edge position of touch probe can be checked.

6.4.12 Falling edge position of touch probe (60BBh)

Address Name

60BBh

Falling edge position of touch probe (Touch probe position negative value)

4 bytes Reading 2 Possible

The current falling edge position of touch probe can be checked.

Data type

Read/

write

Read/

write

No. of Points/

No. of Registers

No. of Points/

No. of Registers

Continuous read/

continuous write

Continuous read/

continuous write

6 - 43

6. MODBUS REGISTERS

6.4.13 Supported control mode (6502h)

Address Name

6502h Supported control mode (Supported Drive Modes) 4 bytes Reading 2 Impossible

Data type

Read/

write

No. of Points/

No. of Registers

Continuous read/

continuous write

The supported control mode can be read. The returned value is "0000002Dh". The following table shows the details.

Bit Supported Modes Defined value

0 Profile position mode (pp) 1: Supported

2 Profile velocity mode (pv) 1: Supported

3 Profile torque mode (tq) 1: Supported

5 Homing mode (hm) 1: Supported

6 - 44

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision Date *Manual Number Revision

Aug. 2017 SH(NA)030269ENG-A First edition

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2017 MITSUBISHI ELECTRIC CORPORATION



MEMO

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"

arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

4. Exclusion of loss in opportunity and secondary loss from warranty liability

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

SH(NA)030269ENG-A

hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a

safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment

of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

damages to products other than Mitsubishi products.

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,

railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

MODEL

MODEL CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper. SH(NA)030269ENG-A(1708)MEE Printed in Japan Specifications are subject to change without notice.

Mitsubishi Electric MELSERVO-JE MR-JE-C Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

Compliance with global standards

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary of Modbus-TCP

1.2 Function List

1.3 Communication specifications

2. MODBUS/TCP PROTOCOL

2.1 Summary

2.2 Modbus/TCP Communication Message Frame

2.3 Function Codes

2.3.1 List of function codes

2.3.2 Read Holding Registers (Reading data in holding registers: 03h)

2.3.3 Diagnostics (Function diagnostics: 08h)

2.3.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h)

2.3.5 Processing at occurrence of an error

3. STARTUP

3.1 Modbus/TCP initial communication setting

3.2 IP address setting

4. PARAMETERS

4.1 List of communication-related parameters

4.2 Detailed list of communication-related parameters

5. MANUFACTURER FUNCTIONS

5.1 Stroke end

5.2 One-touch tuning

5.3 Machine diagnosis function

5.4 Servo amplifier life diagnosis function

6. MODBUS REGISTERS

6.1 List of registers

6.2 Object library details (objects in the 1000s)

6.2.1 Writing command to EEP-ROM (1010h)

6.2.2 Restore default EEP-ROM parameters (1011h)

6.3 Object library details (objects in the 2000s)

6.3.1 External input pin status (2C10h)

6.3.2 External output pin status (2C11h)

6.3.3 Input device status (2C12h)

6.3.4 Control input (2D01h to 2D0Ah)

6.3.5 Control output (2D11h to 2D1Ah)

6.3.6 SDO Abort Code (2A60h)

6.3.7 Access log 1 (2A64h)

6.3.8 Access log 2 (2A65h)

6.4 Object library details (objects in the 6000s)

6.4.1 Control status (6041h)

6.4.2 Quick stop option code (605Ah)

6.4.3 Halt option code (605Dh)

6.4.4 Control mode display (6061h)

6.4.5 Software limit (607Dh)

6.4.6 Polarity (607Eh)

6.4.7 Degree (60F2h)

6.4.8 Touch probe (60B8h to 60BBh)

6.4.9 Touch probe function setting (60B8h)

6.4.10 Touch probe function status (60B9h)

6.4.11 Rising edge position of touch probe (60BAh)

6.4.12 Falling edge position of touch probe (60BBh)

6.4.13 Supported control mode (6502h)

REVISIONS

Warranty