Mitsubishi Electric MR-J4-_GF, MR-J4-_GF_RJ Instruction Manual

General-Purpose AC Servo

CC-Link IE Field Network Interface

MODEL

MR-J4-_GF_(-RJ)

SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link IE Field Network Basic)

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. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
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.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get 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 main circuit 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 main circuit 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.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.

A - 2

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,
it may cause an electric shock, fire, injury, etc.
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.

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 front cover, 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.
Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet 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, it may cause
injury, malfunction, etc.
Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
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 (X, Y, Z axes)

When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo motor, be careful with the sharp edges of the servo motor.
The servo amplifier must be installed in a metal cabinet.

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

Operation

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

A - 3

CAUTION

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 a 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, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and
wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

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(-H)) 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 connect a magnetic contactor and others between them. 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 converter unit and the drive unit will malfunction and will not output signals,
disabling the emergency stop and other protective circuits.

Servo amplifier

24 V DC

DOCOM

Servo amplifier

24 V DC

DOCOM

Control output
signal

For sink output interface

RA

Control output
signal

For source output interface

RA

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate
heat because of the poor contact. Be sure to tighten the wires 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 main circuit 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.

A - 4

(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 and adjust the parameter settings. Improper settings may cause some machines
to operate unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to stop the operation and shut the power off immediately.
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, it may cause an electric shock, fire, injury,
etc. 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 affect the electronic equipment used near the servo amplifier.
Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
Use the servo amplifier with the specified servo motor.
Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
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.

A - 5

(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.
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

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart 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.
After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,
injury, or fire.

RA

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 the servo amplifier that has not been energized for an extended period of 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
Write to the EEP-ROM due to point table changes

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".
For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual
(Motion Mode)".

Compliance with global standards

For the compliance with global standards, refer to app. 4 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".

«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-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) SH(NA)030218ENG

MELSERVO-J4 MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

A - 7

This Instruction Manual does not describe the following items. For details of the items, refer to each
chapter/section of the detailed explanation field. "MR-J4-_GF_" means "MELSERVO MR-J4-_GF_(-RJ)
Servo Amplifier Instruction Manual (Motion Mode)".

Item Detailed explanation

Installation MR-J4-_GF_ Chapter 2

Signals and wiring MR-J4-_GF_ Chapter 3

Normal gain adjustment MR-J4-_GF_ Chapter 6

Special adjustment functions MR-J4-_GF_ Chapter 7

Troubleshooting (Note) MR-J4-_GF_ Chapter 8

Outline drawings MR-J4-_GF_ Chapter 9

Characteristics MR-J4-_GF_ Chapter 10

Options and auxiliary equipment MR-J4-_GF_ Chapter 11

Absolute position detection system MR-J4-_GF_ Chapter 12

Using STO Function MR-J4-_GF_ Chapter 13

Using a Linear servo motor MR-J4-_GF_ Chapter 14

Using a direct drive motor MR-J4-_GF_ Chapter 15

Fully closed loop system MR-J4-_GF_ Chapter 16

Application of functions MR-J4-_GF_ Chapter 17

Note. For troubleshooting, refer to each chapter indicated in the detailed explanation field

and chapter 8 in this Instruction Manual.

«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 - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10

1.1 For proper use of CC-Link IE Field Network Basic ........................................................................... 1- 1

1.2 Specifications for using CC-Link IE Field Network Basic ................................................................. 1- 2

1.2.1 Point table method ..................................................................................................................... 1- 2

1.2.2 Indexer method .......................................................................................................................... 1- 4

1.3 Outline of CC-Link IE Field Network Basic ....................................................................................... 1- 4

1.3.1 Features ..................................................................................................................................... 1- 4

1.4 Function list ....................................................................................................................................... 1- 5

1.5 Communication specifications .......................................................................................................... 1- 8

1.5.1 Communication specifications of CC-Link IE Field Network Basic ............................................ 1- 8

1.5.2 SLMP communication specifications ......................................................................................... 1- 8

1.6 Configuration including peripheral equipment .................................................................................. 1- 9

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2- 1 to 2- 4

2.1 Summary ........................................................................................................................................... 2- 1

2.2 Message format ................................................................................................................................ 2- 1

2.3 Link device ........................................................................................................................................ 2- 2

2.4 Mapping data details of link device ................................................................................................... 2- 3

3. SLMP 3- 1 to 3- 8

3.1 Summary ........................................................................................................................................... 3- 1

3.2 Message format ................................................................................................................................ 3- 2

3.3 Command ......................................................................................................................................... 3- 4

3.4 CiA 402 read/write command ........................................................................................................... 3- 4

3.4.1 SDO Upload (CiA 402 object read) ............................................................................................ 3- 5

3.4.2 SDO Download (CiA 402 object write) ....................................................................................... 3- 5

3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read) ............................. 3- 6

3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write) ........................ 3- 7

3.5 Error codes ....................................................................................................................................... 3- 8

4. STARTUP 4- 1 to 4-18

4.1 Switching power on for the first time ................................................................................................. 4- 2

4.2 Startup .............................................................................................................................................. 4- 3

4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 6

4.3.1 Switches ..................................................................................................................................... 4- 6

4.3.2 Scrolling display ......................................................................................................................... 4- 8

4.3.3 Status display ............................................................................................................................. 4- 9

4.3.4 Ethernet status display LED ...................................................................................................... 4-10

4.4 Test operation .................................................................................................................................. 4-11

4.5 Test operation mode ........................................................................................................................ 4-11

4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-12

4.5.2 Motor-less operation with a controller ....................................................................................... 4-15

4.6 Network setting ................................................................................................................................ 4-17

4.6.1 Settings of GX Works ................................................................................................................ 4-17

4.6.2 Cyclic communication start ....................................................................................................... 4-18

1

5. CiA 402 DRIVE PROFILE 5- 1 to 5- 6

5.1 State machine control of the servo amplifier .................................................................................... 5- 1

5.1.1 Function description ................................................................................................................... 5- 1

5.1.2 Related object ............................................................................................................................ 5- 3

5.1.3 Directions for use ....................................................................................................................... 5- 5

5.2 Control mode .................................................................................................................................... 5- 6

5.2.1 Function description ................................................................................................................... 5- 6

5.2.2 Related object ............................................................................................................................ 5- 6

6. SERVO MOTOR DRIVING 6- 1 to 6-90

6.1 Homing mode (hm) ........................................................................................................................... 6- 1

6.1.1 Function description ................................................................................................................... 6- 1

6.1.2 Related object ............................................................................................................................ 6- 2

6.1.3 Directions for use ....................................................................................................................... 6- 9

6.2 Point table mode (pt)........................................................................................................................ 6-35

6.2.1 Point table mode (pt) ................................................................................................................. 6-35

6.2.2 Automatic operation using point table ....................................................................................... 6-36

6.2.3 Related object ........................................................................................................................... 6-40

6.2.4 Point table setting method with MR Configurator2 ................................................................... 6-43

6.2.5 Point table setting method with objects ..................................................................................... 6-46

6.2.6 Directions for use ...................................................................................................................... 6-47

6.3 Indexer mode (idx) ........................................................................................................................... 6-67

6.3.1 Indexer mode (idx) .................................................................................................................... 6-67

6.3.2 Rotation direction specifying indexer ........................................................................................ 6-68

6.3.3 Shortest rotating indexer ........................................................................................................... 6-70

6.3.4 Related object ........................................................................................................................... 6-71

6.3.5 Directions for use ...................................................................................................................... 6-74

6.4 Jog mode (jg) ................................................................................................................................... 6-82

6.4.1 Function description .................................................................................................................. 6-82

6.4.2 Related object ........................................................................................................................... 6-85

7. PARAMETERS 7- 1 to 7-34

7.1 Parameter list .................................................................................................................................... 7- 1

7.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 7- 2

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 7- 3

7.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 7- 5

7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 7- 7

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 7- 8

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 7- 9

7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 7-11

7.1.8 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-12

7.1.9 Network setting parameters ([Pr. PN_ _ ]) ................................................................................ 7-14

7.2 Detailed list of parameters ............................................................................................................... 7-15

7.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 7-15

7.2.2 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 7-17

7.2.3 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 7-17

7.2.4 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-18

7.2.5 Network setting parameters ([Pr. PN_ _ ]) ................................................................................ 7-27

2

7.2.6 How to set the electronic gear .................................................................................................. 7-32

7.2.7 Stop method at software limit detection .................................................................................... 7-34

8. TROUBLESHOOTING AT POWER ON 8- 1 to 8- 2

9. MANUFACTURER FUNCTIONS 9- 1 to 9-42

9.1 Stroke end ......................................................................................................................................... 9- 1

9.2 One-touch tuning .............................................................................................................................. 9- 2

9.3 Machine diagnosis function .............................................................................................................. 9- 4

9.4 Servo amplifier life diagnosis function .............................................................................................. 9- 4

9.5 Simple cam function.......................................................................................................................... 9- 5

9.5.1 Outline of simple cam func tion ................................................................................................... 9- 5

9.5.2 Simple cam function block diagram ........................................................................................... 9- 6

9.5.3 Simple cam specification list ...................................................................................................... 9- 7

9.5.4 Control of simple cam function ................................................................................................... 9- 8

9.5.5 Operation in combination with the simple cam .......................................................................... 9- 9

9.5.6 Setting list .................................................................................................................................. 9-10

9.5.7 Data to be used with simple cam function ................................................................................ 9-11

9.5.8 Function block diagram for displaying state of simple cam control .......................................... 9-24

9.5.9 Operation ................................................................................................................................... 9-25

9.5.10 Cam No. setting method ......................................................................................................... 9-30

9.5.11 Stop operation of cam control ................................................................................................. 9-30

9.5.12 Restart operation of cam control ............................................................................................. 9-32

9.5.13 Cam axis position at cam control switching ............................................................................ 9-33

9.5.14 Clutch ...................................................................................................................................... 9-40

9.5.15 Cam position compensation target position ............................................................................ 9-41

9.5.16 Cam position compensation time constant ............................................................................. 9-41

10. OBJECT DICTIONARY 10- 1 to 10-42

10.1 Object dictionary list ...................................................................................................................... 10- 1

10.2 Detail object dictionary (in the 1000s) ......................................................................................... 10-16

10.2.1 Store Parameters (1010h) .................................................................................................... 10-16

10.2.2 Restore default parameters (1011h) ..................................................................................... 10-17

10.3 Detail object dictionary (in the 2000s) ......................................................................................... 10-18

10.3.1 Point table (2801h to 28FFh) ................................................................................................ 10-18

10.3.2 Point table error (2A43h) ....................................................................................................... 10-19

10.3.3 Control DI (2D01h to 2D0Ah) ................................................................................................ 10-20

10.3.4 Status DO (2D11h to 2D1Ah) ............................................................................................... 10-26

10.3.5 Target Point Table (2D60h) .................................................................................................. 10-31

10.3.6 Point Demand Value (2D68h) ............................................................................................... 10-32

10.3.7 Point Actual Value (2D69h) ................................................................................................... 10-32

10.3.8 Target speed No. (2DD1h) .................................................................................................... 10-32

10.4 Detail object dictionary (in the 6000s) ......................................................................................... 10-33

10.4.1 Quick stop option code (605Ah) ............................................................................................ 10-33

10.4.2 Halt option code (605Dh) ...................................................................................................... 10-33

10.4.3 Control mode display (6061h) ............................................................................................... 10-34

10.4.4 Software Position Limit (607Dh) ........................................................................................... 10-34

3

10.4.5 Polarity (607Eh) .................................................................................................................... 10-35

10.4.6 Feed constant (6092h) .......................................................................................................... 10-36

10.4.7 SI unit position (60A8h) ......................................................................................................... 10-36

10.4.8 Touch probe (60B8h to 60BBh) ............................................................................................ 10-37

10.4.9 Touch probe function (60B8h) .............................................................................................. 10-39

10.4.10 Touch probe status (60B9h) ............................................................................................... 10-40

10.4.11 Touch probe pos1 pos value (60BAh) ................................................................................ 10-41

10.4.12 Touch probe pos1 neg value (60BBh) ................................................................................ 10-41

10.4.13 Touch probe pos2 pos value (60BCh) ................................................................................ 10-41

10.4.14 Touch probe pos2 neg value (60BDh) ................................................................................ 10-41

4

1. FUNCTIONS AND CONFIGURATION

)

1. FUNCTIONS AND CONFIGURATION

The items shown in the following table are the same as those for the motion mode. For details, refer to each
section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

Function block diagram MR-J4-_GF_ section 1.2

Combinations of servo amplifiers and servo motors MR-J4-_GF_ section 1.4

Model designation MR-J4-_GF_ section 1.6

Structure (parts identification) MR-J4-_GF_ section 1.7

1.1 For proper use of CC-Link IE Field Network Basic

(1) Servo amplifier/MR Configurator2/GX Works

CC-Link IE Field Network Basic is available with the servo amplifier with the following software versions,
MR Configurator2, and GX Works.

Product name Model

Servo amplifier MR-J4-_GF_(-RJ) A4 or later A4 or later

MR Configurator2 SW1DNC-MRC2-_ 1.70Y or later 1.70Y or later

GX Works2 SW1DNC-GXW2-J 1.570U 1.570U

GX Works3 SW1DND-GXW3-J 1.040S 1.040S

(2) Slide switch setting

Select CC-Link IE Field Network Basic communication by turning the slide switch 1 (SW1-1) "OFF" and
the slide switch 2 (SW1-2) "ON". Refer to section 4.3.1 for details.

(3) Parameter setting

Select a positioning mode with [Pr. PA01 Operation mode].

[Pr. PA01]

Item Detailed explanation

POINT

To ensure safety of the system against unauthorized access via a network, take
security measures such as using a firewall.

Software version

Point table method Indexer method

Control mode selection
0: Positioning mode (point table method
8: Positioning mode (indexer method)

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Specifications for using CC-Link IE Field Network Basic

The following table lists the specifications only when CC-Link IE Field Network Basic is used. For other
specifications, refer to section 1.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

1.2.1 Point table method

Item Description

Servo amplifier model MR-J4-_GF_(-RJ)

Operational specifications Positioning with specification of point table No. (255 points)

Absolute value

Position
command input
(Note 1)

Speed command input

System Signed absolute value command method/incremental value command method

Torque limit Limits the servo motor torque.

Control mode

Point table mode (pt)

Each positioning operation

command
method

Incremental
value command
method

Setting range of feed length per point: -999999 to 999999 [×10

Setting range of feed length per point: 0 to 999999 [×10

Set the servo motor speed and acceleration/deceleration time constants in the point table.

Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].

Operates each positioning based on position command and speed command.

Set in the point table.

-999999 to 999999 [pulse]

Set in the point table.

Point table No. input method

STM

STM

μm], 0 to 99.9999 [×10

μm], -99.9999 to 99.9999 [×10

STM

inch], 0 to 999999 [pulse]

STM

inch],

Automatic continuous
positioning operation

Jog mode (jg)

Jog operation Executes an inching operation via network based on speed command set in [Pr. PT65]

Homing mode (hm)

Dog type (rear end
detection, Z-phase
reference)

Count type (front end
detection, Z-phase
reference)

Stopper type
(Stopper position
reference)

Dog type (rear end
detection, rear end
reference)

Count type (front end
detection, front end
reference)

Dog cradle type

Dog type last Z-phase
reference (Note 2)

Dog type front end
reference

Dogless Z-phase
reference (Note 2)

Home position ignorance
(servo-on position as
home position)

Homing on positive home
switch and index pulse
(method 3)

Homing on positive home
switch and index pulse
(method 4)

Homing on negative home
switch and index pulse
(method 5)

Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points)/Automatic

continuous operation to a point table selected at startup/automatic continuous operation to the point table No. 1

For details of the home position return types, refer to section 6.1.

1 - 2

1. FUNCTIONS AND CONFIGURATION

Control mode

Homing mode (hm)

Automatic positioning to home
position function

Other functions Absolute position detection/external limit switch/software stroke limit

Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].

2. If a direct drive motor or incremental type linear encoder is used, the dog type last Z-phase reference home position return or

Item Description

Homing on negative home
switch and index pulse
(method 6)

Homing on home switch
and index pulse
(method 7)

Homing on home switch
and index pulse
(method 8)

Homing on home switch
and index pulse
(method 11)

Homing on home switch
and index pulse
(method 12)

Homing without index
pulse (method 19)

Homing without index
pulse (method 20)

Homing without index
pulse (method 21)

Homing without index
pulse (method 22)

Homing without index
pulse (method 23)

Homing without index
pulse (method 24)

Homing without index
pulse (method 27)

Homing without index
pulse (method 28)

Homing on index pulse
(method 33)

Homing on index pulse
(method 34)

Homing on current position
(method 35)

Homing on current position
(method 37)

For details of the home position return types, refer to section 6.1.

High-speed automatic positioning to a defined home position

dogless Z-phase reference home position return cannot be used.

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.2.2 Indexer method

Control mode

Indexer mode (idx)

Shortest rotating indexer Positioning to the specified station. Rotates in the shorter direction from the current position.

Jog mode (jg)

Homing mode (hm)

Other functions Absolute position detection/external limit switch

Item Description

Operational specifications

Speed command input

System Rotation direction specifying indexer/shortest rotating indexer

Torque limit Limits the servo motor torque.

Rotation direction
specifying indexer

Jog operation

Station
Jog operation

Torque limit changing dog
type (front end detection
Z-phase reference)

Torque limit changing data
set type

Homing on current position
(method 35)

Homing on current position
(method 37)

When the servo motor is stopping, positioning is executed to the nearest station at which the servo motor can

Set the servo motor speed and acceleration/deceleration time constants in the point table.

Set the servo motor speed and acceleration/deceleration time constants via network.

Executes an inching operation via network based on speed command set in [Pr. PT65]

When the servo motor is stopping, deceleration to a stop is executed regardless of the station.

Executes an inching operation via network based on speed command set in [Pr. PT65]

For details of the home position return types, refer to section 6.1.

Positioning by specifying the station position

The maximum number of divisions: 255

Positioning to the specified station. Rotation direction settable

decelerate to a stop.

1.3 Outline of CC-Link IE Field Network Basic

CC-Link IE Field Network Basic is a standard Ethernet-based protocol used to perform cyclic communication
by the installed software without using a dedicated ASIC. You can establish a highly flexible system because
CC-Link IE Field Network Basic can be used together with TCP/IP communications.
Up to 64 servo amplifiers (up to 16 servo amplifiers per group) can be monitored by the controller.
In the point table mode (pt), you can perform positioning operation by specifying the pre-configured point
table number (1 to 255) with a controller.

1.3.1 Features

(1) High-speed communication

High-speed communication can be established by cyclic transmission of not only bit data but also word
data.
The maximum communication speed is 100 Mbps.

(2) General-purpose Ethernet supported

Dedicated control wiring is unnecessary, and a single Ethernet network can be established.

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.4 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. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

Function Description

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

Model adaptive control

Homing mode (hm) The servo amplifier operates in the home position return mode. Section 6.1

Jog mode (jg)

Point table mode (pt)

Indexer mode (idx)

Touch probe function setting

High-resolution encoder

Absolute position detection
system

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

Auto tuning

Brake unit

Power regeneration converter

Regenerative option

the command and a response to the disturbance separately. This function can be
disabled. To disable this function, refer to section 7.5 of "MR-J4-_GF_(-RJ) Servo
Amplifier Instruction Manual (Motion Mode)".

This is a control mode where the servo motor speed is set to drive the servo motor
manually in the commutation with a controller. This control mode is not in CiA 402
standard (Mitsubishi Electric original).

This is a control mode where the servo motor is driven according to the commands of
the travel distance, speed and others stored in the specified point table No. in the
commutation with a controller. This control mode is not in CiA 402 standard (Mitsubishi
Electric original).

In this control mode, the servo motor is driven to the station specified in the
communication with a controller. This control mode is not in CiA 402 standard
(Mitsubishi Electric original).

When the touch probe signal turns on, the current position is latched. The latched data
can be read with communication commands.

Rotary servo motors compatible with the MELSERVO-J4 series are equipped with a
high-resolution encoder of 4194304 pulses/rev.

Home position return is required only once, and not required at every power-on.

You can switch gains during rotation/stop, and can use input devices to switch gains
during operation.

This function suppresses vibration and 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 at 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. [Pr. PB24]

Positioning control is performed with the position command from the controller
multiplied by a set electronic gear ratio. In the point table mode, the position
commands can be multiplied by 1/864 to 33935.

In the indexer mode, the position commands can be multiplied by 1/9999 to 9999.

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

Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.

Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.

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.

Detailed

explanation

Section 6.4

Section 6.2

Section 6.3

MR-J4-_GF_
chapter 12

MR-J4-_GF_
section 7.2

MR-J4-_GF_
section 7.1

MR-J4-_GF_
section 7.1

MR-J4-_GF_
section 7.1

MR-J4-_GF_
section 7.1

MR-J4-_GF_
section 7.1

[Pr. PE41]

[Pr. PA06]
[Pr. PA07]

MR-J4-_GF_
section 6.3

MR-J4-_GF_
section 11.3

MR-J4-_GF_
section 11.4

MR-J4-_GF_
section 11.2

1 - 5

1. FUNCTIONS AND CONFIGURATION

Function Description

Alarm history clear Clears alarm histories. [Pr. PC21]

Input signal selection (device
settings)

Output signal selection
(device settings)

Output signal (DO) forced
output

Torque limit Limits the servo motor torque.

Test operation mode

Analog monitor output Outputs servo status with voltage in real time.

MR Configurator2

Linear servo system

Direct drive servo system Direct drive servo systems can be configured to drive a direct drive motor.

Fully closed loop system Fully closed loop system can be configured using the load-side encoder.

One-touch tuning Gain adjustment is performed just by one click on MR Configurator2.

SEMI-F47 function

Tough drive function

Drive recorder function

STO function

Servo amplifier life diagnosis
function

Power monitoring function

Machine diagnosis function

Scale measurement function

Limit switch External limit switches can be used to limit travel intervals of the servo motor.

The input devices including PC (proportional control) 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.

JOG operation, positioning operation, motor-less operation, DO forced output,
program operation and single-step feed can be used.

Note that MR Configurator2 is necessary for positioning operation, program operation,
and single-step feed.

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

Linear servo systems can be configured using a linear servo motor and linear
encoder.

This servo amplifier complies with the SEMI-F47 standard. Thus, even when an
instantaneous power failure occurs during operation, the electrical energy charged in
the capacitor is used and [AL. 10 Undervoltage] is not triggered.

This function makes the equipment continue operating even under the condition that
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 on the drive recorder window on MR
Configurator2.

However, the drive recorder is not available when:

1. The graph function of MR Configurator2 is being used.

2. The machine analyzer function is being used.

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

This function is a functional safety that complies with IEC/EN 61800-5-2. You can
create a safety system for the equipment easily.

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.

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.

The function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.

Detailed

explanation

[Pr. PD03] to
[Pr. PD05]

[Pr. PD07] to
[Pr. PD09]

MR-J4-_GF_
section 4.5

[Pr. PA11]
[Pr. PA12]

Section 4.5.1
(1) (e)

MR-J4-_GF_
section 4.5

[Pr. PC09]
[Pr. PC10]

MR-J4-_GF_
section 11.7

MR-J4-_GF_
chapter 14

MR-J4-_GF_
chapter 15

MR-J4-_GF_
chapter 16

MR-J4-_GF_
section 6.2

MR-J4-_GF_
section 7.4

[Pr. PA20]
[Pr. PF25]

MR-J4-_GF_
section 7.3

[Pr. PA23]

MR-J4-_GF_
chapter 13

Section 9.4

Section 9.3
MR-J4-_GF_

section 17.5

MR-J4-_GF_
section 17.1

1 - 6

1. FUNCTIONS AND CONFIGURATION

Function Description

Enables smooth acceleration and deceleration.

S-pattern
acceleration/deceleration

Software limit

Speed limit The servo motor speed can be limited.

Lost motion compensation
function

Super trace control

CC-Link IE Field Network
Basic

SLMP

IP address filtering function

Operation specification IP
address function

Functional safety unit

Simple cam function

Set S-pattern acceleration/deceleration time constants with [Pr. PT51].
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.

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

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

This function sets constant and uniform acceleration/deceleration droop pulses to
almost 0.

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.

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 or written) and monitored.

You can limit the network devices to be connected to the servo amplifier by registering
the range of IP addresses in advance.

In Ethernet communication (CC-Link IE Field Network Basic or SLMP), 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.

MR-D30 can be used to expand the safety observation function.
CC-Link IE Field Network Basic communication is not available. When CC-Link IE

Field Network Basic is set, connecting an MR-D30 functional safety unit triggers [AL.
3E.8].

This function enables synchronous control by using software instead of controlling
mechanically with cam. This function enables the encoder following function, simple
cam position compensation function, and synchronous operation using positioning
data.

Detailed

explanation

[Pr. PT51]

MR-J4-_GF_
section 5.3

MR-J4-_GF_
section 7.6

MR-J4-_GF_
section 7.7

Chapter 2

Chapter 3

Chapter 7

Chapter 7

Chapter 9

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.5 Communication specifications

1.5.1 Communication specifications of CC-Link IE Field Network Basic

Function Description

Communication protocol UDP

Port No.

Cyclic data 32 points (64 bytes)

IP address

Subnet mask Default value (recommended): 255.255.255.0

Message format Refer to chapter 2.

Physical layer 100BASE-TX

Communication connector RJ45, 1 port (CN1)

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

Network topology Star

Variable communication
speed

Transmission distance
between stations

Number of nodes Max. 64 stations (max. number of connections per group: 16 stations)

Standard response time
(Note 1)
(Link scan time/timeout time

(Note 2, 3))

Note 1. Reference response time refers to the time taken by the servo amplifier to return a response to the master station after

receiving a command from the master station.

2. Calculate the link scan time as follows. Also, use the reference response time for Ns.

MELSEC iQ-R/MELSEC-Q/L: Ls = Ns + Nm

MELSEC iQ-F: Ls = SM + {(Ns + Nm)/SM}

Ls: Link scan time, Ns: Response time of slave station, Nm: Request time of master station, SM: Sequence scan time

3. Check the current link scan time (when all the slave stations are in a normal state) using the CC-Link IE Field Network Basic

diagnosis function. Then, set the timeout time approximately 5 times the link scan time (example: 50 ms when the current link

scan time is 10 ms).

1.5.2 SLMP communication specifications

No. 61450 (cyclic data)
No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only)

IPv4 range: 0.0.0.1 to 223.255.255.254
Use the same network address for both the master and slave stations.
Default value: 192.168.3.0

100 Mbps

Max. 100 m

10 ms

Function Description

Communication protocol UDP

Port No.

IP address

Subnet mask Default value (recommended): 255.255.255.0

Message format Refer to chapter 3.

Physical layer 100BASE-TX

Communication connector RJ45, 1 port (CN1)

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

Network topology Star

Variable communication
speed

Transmission distance
between stations

Maximum number of
connections

iQSS No. 45237 (NodeSearch and IPAddressSet only)

UDP No. 5010

IPv4 range: 0.0.0.0 to 255.255.255.255
Use the same network address for both the master and slave stations.
Default value: 192.168.3.0

100 Mbps

Max. 100 m

No limit

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.6 Configuration including peripheral equipment

CAUTION

The diagram shows MR-J4-20GF-RJ.

(Note 2)

Power supply

Molded-case
circuit breaker
(MCCB)

RST

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.

POINT

Equipment other than the servo amplifier and servo motor are optional or
recommended products.
When using an MR-J4-_GF-RJ servo amplifier with the DC power supply input,
refer to app. 1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion
Mode)".

CN5

MR Configurator2

Personal
computer

(Note 3)
Magnetic

contactor

(MC)

Line noise
filter
(FR-BSF01)

Power factor
improving DC
reactor
(FR-HEL)

Regenerative
option

(Note 1)

L1
L2
L3

P+

C

P3

P4

L11

L21

D (Note 5)

U

V

W

CN8

CN3

CN1A

CN1B

Not used (Note 6)

CN2

CN2L (Note 4)

CN4

Battery

To safety relay or MR-J3-D05
safety logic unit

Junction terminal
block

Servo system controller or
servo amplifier

Servo motor

1 - 9

1. FUNCTIONS AND CONFIGURATION

A

_

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.

When not using the power factor improving DC reactor, short P3 and P4.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications,

refer to section 1.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

3.

4. This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-

5. Be sure to connect between P+ and D terminals. When using a regenerative option, refer to section 11.2 of "MR-J4-_GF_(-RJ)

6. CN1B connector is not used during CC-Link IE Field Network Basic communication. Thus, the servo amplifier will not respond

bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration

during a forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic

contactor.

GF-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this

connector. Refer to section 1.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" and "Linear Encoder

Instruction Manual" for the connectable external encoders.

Servo Amplifier Instruction Manual (Motion Mode)".

if connected to CN1B connector. Leave this open.

1 - 10

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

2.1 Summary

In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations
(servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers)
send back to the master station (controller) is called a response message.
The master station (controller) sends the request message using the directed broadcast to all slave stations
(servo amplifiers). When the servo amplifier receives the request message, it acquires data for own station
and returns the response message to the master station (controller) using the unicast after the servo
amplifier response time. The servo amplifier response time differs depending on the command to be sent.
Link devices (RWr, RWw, RX, and RY) are used for data communication. The master station (controller)
refreshes links by sending and receiving the request and response messages at a constant cycle.
The servo amplifier reads the received data as an object dictionary to drive a servo motor and return monitor
data.

Constant cycle

Request message (directed broadcast)

Master station

(controller)

Response message (unicast)

Slave station

(servo amplifier)

2.2 Message format

The following shows the request message format to be used when the master station (controller) sends a
message, and the response message format to be used when the slave stations (servo amplifiers) return a
message.
Messages are sent by using UDP/IP.

(1) Request message format

Ethernet

header

IP

header

UDP

header

CCIEF

Basic

header

Command,

etc.

Link device (for 16 stations)

(RY, RWw)

(2) Response message format

Ethernet

header

IP

header

UDP

header

CCIEF

Basic

header

Slave

station

notification

information

Link device

(RX, RWr)

2 - 1

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

2.3 Link device

In cyclic communication, communication data of the request message and response message is read as
object data (RWwn, RWrn, RYn, and RXn) of the servo amplifier. Table 2.1 and 2.2 list initial settings.

Table 2.1 RYn/RXn mapping (pt/idx/jg/hm)

Master station → Servo amplifier (RYn) Servo amplifier → Master station (RXn)

Device No.

(Note)

RYn0 to RY
(n + 3) E

RY (n + 3) F

Unavailable

Cyclic communication ready
command

Device Symbol Remark

CSR RX (n + 3) F Cyclic communication ready SSR

Note. "n" depends on the station No. setting.

Table 2.2 RWwn/RWrn mapping (pt/idx/jg/hm)

Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn)

Device No.

(Note)

RWwn00 6060 Modes of operation RWrn00 6061 Modes of operation display

RWwn01 6040 Controlword RWrn01 6041 Statusword

RWwn02 2D01 Control DI 1 RWrn02

RWwn03 2D02 Control DI 2 RWrn03

RWwn04 2D03 Control DI 3 RWrn04

RWwn05 2D60 Target point table RWrn05

RWwn06

RWwn07 RWrn07

RWwn08

RWwn09 RWrn09 2D11 Status DO 1

RWwn0A

RWwn0B RWrn0B 2D13 Status DO 3

RWwn0C 60B8 Touch probe function RWrn0C 2D15 Status DO 5

RWwn0D 2DD1 Target speed No. RWrn0D 2D17 Status DO 7

RWwn0E RWrn0E 2D68 Point Demand value

RWwn0F RWrn0F 2D69 Point actual value

RWwn10 RWrn10

RWwn11 RWrn11 2A42 Current alarm 2

RWwn12 RWrn12 60B9 Touch probe status

RWwn13 RWrn13

RWwn14 RWrn14

RWwn15 RWrn15

RWwn16 RWrn16

RWwn17 RWrn17

RWwn18 RWrn18

RWwn19 RWrn19

RWwn1A RWrn1A

RWwn1B RWrn1B

RWwn1C RWrn1C

RWwn1D RWrn1D

RWwn1E RWrn1E

RWwn1F RWrn1F

Index Device

6081 Profile velocity

6083 Profile acceleration

6084 Profile deceleration

Note. "n" depends on the station No. setting.

Device No.

(Note)

RXn0 to RX

(n + 3) E

Device No.

(Note)

RWrn06

RWrn08 6077 Torque actual value

RWrn0A 2D12 Status DO 2

Unavailable

Index Device

6064 Position actual value

606C Velocity actual value

60F4 Following error actual value

60BA Touch probe pos1 pos value

60BB Touch probe pos1 neg value

Device Symbol Remark

2 - 2

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

2.4 Mapping data details of link device

Refer to chapter 10.

2 - 3

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

MEMO

2 - 4

3. SLMP

3. SLMP

3.1 Summary

POINT

This servo amplifier does not support SLMP (TCP).
When commands are sent from multiple master stations to a servo amplifier at
short time intervals, the servo amplifier may fail to receive some of the
commands. When the servo amplifier does not respond to commands, lengthen
the interval of sending them.

SLMP (SeamLess Message Protocol) is a common protocol which enables seamless communication among
applications across the network. SLMP communications can be performed for external devices, such as a
programmable controller, a personal computer, and HMI, that can send and receive messages by using
SLMP control procedures. The MR-J4-_GF_(-RJ) servo amplifier is compatible only with the binary code. It
is not compatible with the ASCII code.
For the compatibility of SLMP with external devices, refer to manuals for external devices.

In SLMP, a command that a master station (external device) sends to slave stations (servo amplifiers) is
called a request message, and a command that the slave stations (servo amplifiers) send back to the master
station (external device) is called a response message.
When the servo amplifier receives the request message, it returns the response message to the external
device after the servo amplifier response time.
The external device cannot send the next request message until it completes receiving the response
message.

Master station (external device)

Slave station (servo amplifier)

Request

message

Response

message

Servo amplifier response time (Note)

Request

message

Response

message

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

3 - 1

3. SLMP

3.2 Message format

The following shows the request message format to be used when the master station (external device)
sends a message, and the response message formats to be used when the slave stations (servo amplifiers)
return a message.

(1) Request message format

SLMP

UDP

Ethernet

header

(2) Response message format

Ethernet

header

IP

header

header

Subheader

Request

destination

network No.

Request
destination
station No.

Request

destination

module
I/O No.

Request
destination
multi-drop
station No.

Request

data

length

Monitoring

timer

Request data

The response message has two different formats for normal completion and abnormal completion.

(a) At normal completion

SLMP

IP

header

UDP

header

Subheader

Request

destination

network No.

Request
destination
station No.

Request

destination

module
I/O No.

Request
destination
multi-drop
station No.

Response

data

length

End code

Response data

Footer

Footer

(b) At abnormal completion

Ethernet

header

header

UDP

IP

header

SLMP

Subheader

Request

destination

network No.

Request
destination
station No.

Request

destination

module
I/O No.

Request
destination
multi-drop
station No.

Response

data

length

SLMP

End code Command

Network No.
(responding

station)

Station No.

(responding

station)

Request

destination

module
I/O No.

Request

destination

multi-drop

station No.

Error information

Sub

command

Footer

3 - 2

3. SLMP

Item Size Endian Description

header This header is for UDP/IP. The header is added on the external device side

before being sent.
TCP/IP is not supported.

Subheader
(QnA compatible 3E
frame)

Subheader
(QnA compatible 4E
frame)

Request destination
network No.

Request destination
station No.

Request destination unit
I/O No.

Request destination
multi-drop station No.

Request data length 2 bytes Little Specify the data length from the monitoring timer to the request data in

Monitoring timer 2 bytes Little Set the waiting time until the servo amplifier that had received a request

Request data Variable Little Specify the command, sub command, and data that indicate the request

Command 2 bytes Little Refer to section 3.3.

Sub command 2 bytes Little Refer to section 3.3.

Response data length 2 bytes Little The data length from the end code to the response data (at normal

End code 2 bytes Little The command processing result is stored. "0" is stored at normal completion.

Response data Variable Little The read data and others corresponding to the command are stored at normal

Error information 9 bytes The network No. (responding station) (1 byte), station No. (responding station)

Footer This footer is for UDP/IP. The footer is added on the external device side

2 bytes Big At a request: 5000h

At a response: D000h

6 bytes Big At a request: 5400h + Serial number + 0000h

At a response: D400h + Serial number + 0000h

1 byte Specify the network No. of the access destination. Specify it in hexadecimal.

Store a value of a request message.

1 byte Specify the station number of the access destination. Specify it in

hexadecimal.
Store a value of a request message.

2 bytes Little 03FFh (fixed)

1 byte 00h (fixed)

hexadecimal.
Example) For 24 bytes: 1800h

message from an external device completes read or write processing.
When the servo amplifier cannot return a response message within the

waiting time, the response message will be discarded.

0000h: Waiting until the processing is completed
0001h to FFFFh (1 to 65535): Waiting time (Unit: 0.25 s)

content.

completion) or to the error information (at abnormal completion) is stored in
hexadecimal. (Unit: byte)

An error code of the servo amplifier is stored at abnormal completion.
Refer to section 3.5 for the error code.

completion.

(1 byte), request destination module I/O No. (2 bytes), and request destination
multi-drop station No. (1 byte) of a station that responds an error are stored at
abnormal completion. Numbers that do not correspond to the content of the
request message may be stored because the information of the station that
responds an error is stored at abnormal completion. The command (2 bytes)
and sub command (2 bytes) in which an error occurs are also stored.

before being sent.
TCP/IP is not supported.

3 - 3

3. SLMP

3.3 Command

The following table lists applicable commands.

Name Command

CiA 402 object
read/write

0002h Writes data specified by using the CiA 402 object from the external

0005h Reads data of consecutive sub commands specified by using the CiA

0006h Writes data of consecutive sub commands specified by using the CiA

NodeSearch 0E30h 0000h Detects the server device in the network.

IPAddressSet 0E31h 0000h Sets the IP address of the server device in the network.

Model code read 0101h 0000h Reads the servo amplifier model.

4020h 0001h Reads data specified by using the CiA 402 object from the servo

Sub

command

amplifier to the external device.

device to the servo amplifier.

402 object from the servo amplifier to the external device.

402 object from the external device to the servo amplifier.

Description

3.4 CiA 402 read/write command

The MR-J4-_GF_(-RJ) servo amplifier supports the CiA 402 read/write command.

SLMP

Service

SDO Upload 4020h 0001h Reads data specified by using the CiA 402 object from the servo

SDO Download 4020h 0002h Writes data specified by using the CiA 402 object from the external

SDO Object SubID Block Upload 4020h 0005h Reads data of consecutive sub commands specified by using the CiA

SDO Object SubID Block
Download

Command

4020h 0006h Writes data of consecutive sub commands specified by using the CiA

Sub

command

amplifier to the external device.

device to the servo amplifier.

402 object from the servo amplifier to the external device.

402 object from the external device to the servo amplifier.

Description

Detailed

explanation

Section

3.4.1

Section

3.4.2

Section

3.4.3

Section

3.4.4

3 - 4

3. SLMP

3.4.1 SDO Upload (CiA 402 object read)

When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station
(external device), they return a value of the object corresponding to the specified Index or Sub Index.

(1) Request message (command and the following)

Command Sub command Index

L H L H L H - - L H

20h 40h 01h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

(2) Response message

(a) At normal completion (end code and the following)

End code Index

L H L H - - L H L or H (variable)

00h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

value

(b) At abnormal completion

The response message is the same as that of 3.2 (2) (b).

(3) Item list

Command 2 bytes Little 4020h

Sub command 2 bytes Little 0001h

Index 2 bytes Little Specify Index of the object. (Refer to chapter 10.)

Sub Index 1 byte Little Specify Sub Index of the object. (Refer to chapter 10.)

Reserved 1 byte 00h (fixed)

Number of data value 2 bytes Little Read data: 00h (fixed)

Read data Variable Little The response data of the object is stored.

Item Size Endian Description

For the response message, the value specified in the request message is
stored.

For the response message, the value specified in the request message is
stored.

3.4.2 SDO Download (CiA 402 object write)

Number of data

value

Read data

When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station
(external device), they write a specified value to the object corresponding to the specified Index or Sub
Index.

(1) Request message (command and the following)

Command Sub command Index

L H L H L H - - L H L or H (variable)

20h 40h 02h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

value

Write data

(2) Response message

(a) At normal completion (end code and the following)

End code Index

L H L H - - L H

00h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

value

3 - 5

3. SLMP

(b) At abnormal completion

The response message is the same as that of 3.2 (2) (b).

(3) Item list

Command 2 bytes Little 4020h

Sub command 2 bytes Little 0002h

Index 2 bytes Little Specify Index of the object. (Refer to chapter 10.)

Sub Index 1 byte Little Specify Sub Index of the object. (Refer to chapter 10.)

Reserved 1 byte 00h (fixed)

Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.

Write data Variable Little Specify the write data of the object.

3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read)

When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from
the master station (external device), they return a value of the object corresponding to the specified Index or
consecutive Sub Index.

(1) Request message (command and the following)

(2) Response message

(3) Item list

Command 2 bytes Little 4020h

Sub command 2 bytes Little 0005h

Index 2 bytes Little Specify Index of the object. (Refer to chapter 10.)

Sub Index 1 byte Little Specify Sub Index of the object. (Refer to chapter 10.)

Reserved 1 byte 00h (fixed)

Number of data value 2 bytes Little Read data: 00h (fixed)

Read data Variable Little The response data of the object is stored.

Item Size Endian Description

For the response message, the value specified in the request message is
stored.

For the response message, the value specified in the request message is
stored.

Command Sub command Index

L H L H L H - - L H

20h 40h 05h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

value

(a) At normal completion (end code and the following)

End code Index

L H L H - - L H L or H (variable)

00h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

value

Read data

(b) At abnormal completion

The response message is the same as that of 3.2 (2) (b).

Item Size Endian Description

For the response message, the value specified in the request message is
stored.

For the response message, the value specified in the request message is
stored.

3 - 6

3. SLMP

3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write)

When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from
the master station (external device), they write a specified value to the object corresponding to the specified
Index or consecutive Sub Index.

(1) Request message (command and the following)

Command Sub command Index

L H L H L H - - L H L or H (variable)

20h 40h 06h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

(2) Response message

(a) At normal completion (end code and the following)

End code Index

L H L H - - L H

00h 00h Refer to (3) in this section for details.

Sub

Index

Reserved

Number of data

(b) At abnormal completion

The response message is the same as that of 3.2 (2) (b).

(3) Item list

Command 2 bytes Little 4020h

Sub command 2 bytes Little 0006h

Index 2 bytes Little Specify Index of the object. (Refer to chapter 10.)

Sub Index 1 byte Little Specify Sub Index of the object. (Refer to chapter 10.)

Reserved 1 byte 00h (fixed)

Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.

Write data Variable Little Specify the write data of the object.

Item Size Endian Description

For the response message, the value specified in the request message is
stored.

For the response message, the value specified in the request message is
stored.

value

Number of data

value

Write data

3 - 7

3. SLMP

3.5 Error codes

The following table lists error codes that are stored in the end code at abnormal completion in SLMP.

Error code Cause

C059h (1) The sub command is specified incorrectly.

(2) A command that is not prescribed is received.

C05Ch The request message is incorrect.

C061h The request data length does not correspond to the number of data points.

CCCAh A non-existent Index is specified.

CCD0h Number of data value differs from the prescribed value.

CCD1h Number of data value is greater than the prescribed value.

CCD2h Number of data value is smaller than the prescribed value.

CCD3h A non-existent Sub Index is specified.

CCC8h The Write only object is read.

CCC9h (1) A value is written to the Read only object.

(2) A value is written to an object which is not the Read only object for all AL states but for the present AL state with

Write disabled.

CCC7h (1) A value is written to the object mapped to a response message.

The following writings are performed when the object mapped to a response message is not allowed to be changed.

A value other than "0" is written to Sub Index0.
A value is written to the corresponding Sub Index 1 to 32.

CCCBh The object that cannot be mapped to response message is written to the object mapped to a response message.

CCCCh The total size of the object mapped to a response message exceeds 64 bytes.

CCD4h A value outside the parameter range was written.

CCD5h A value that is greater than the parameter range is written.

CCD6h A value that is smaller than the parameter range is written.

CCDAh A value is written to a parameter object outside the writing range set in the Parameter block setting.

3 - 8

4. STARTUP

4. STARTUP

WARNING

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.
Do not operate switches with wet hands. Otherwise, it may cause an electric
shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
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.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

POINT

When you use a linear servo motor, read as follows.
Load to motor inertia ratio → Load to motor mass ratio
Torque → Thrust
When [Pr. PN02 Communication error detection time] is set to a few ms, power
cycling of the servo amplifier or an instantaneous power failure during CC-Link
IE Field Network Basic communication may trigger [AL. 86.1].
When [Pr. PN10 Ethernet communication time-out selection] is set to a few ms,
power cycling of the servo amplifier or an instantaneous power failure during
SLMP communication may trigger [AL. 86.4].
CC-Link IE Field Network Basic cannot be used with CC-Link IE Field Network.
In wiring, isolate these networks with a gateway or other means.

The items shown in the following table are the same as those for the motion mode. For details, refer to the
section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

Item Detailed explanation

Wiring check MR-J4-_GF_ section 4.1

Surrounding environment MR-J4-_GF_ section 4.1

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

Startup procedure

Wiring check

Surrounding environment check

Switch setting

Parameter setting

Test operation of the servo motor

alone in test operation mode

Network setting check

Test operation of the servo motor

alone by commands

Test operation with the servo motor

and machine connected

Gain adjustment

Actual operation

Stop

Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.7.1 (d)), etc. (Refer to
section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion
Mode)".)

Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".)

Switch to CC-Link IE Field Network Basic communication with the slide
switches (SW1). Set the identification number with the rotary switches
(SW2/SW3). (Refer to section 4.3.)

Set the parameters as necessary, such as operation mode and regenerative
option selection.
(Refer to chapter 7 of this document and chapter 5 of "MR-J4-_GF_(-RJ)
Servo Amplifier Instruction Manual (Motion Mode)".)

In the test operation, operate the servo motor at the lowest speed possible,
with the servo motor disconnected from the machine, and check whether the
servo motor rotates correctly. (Refer to section 4.5.)

Check the network setting when connecting the servo amplifier to a master
station (controller). (Refer to section 4.6.) (Refer to section 4.6.)

In the test operation, operate the servo motor at the lowest speed possible
by giving commands to the servo amplifier, with the servo motor
disconnected from the machine, and check whether the servo motor rotates
correctly.

Connect the servo motor with the machine, and check machine motions by
transmitting operation commands from the controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6
of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)

Stop giving commands and stop operation.

4 - 2

4. STARTUP

4.2 Startup

Confirm that the servo motor operates properly alone before connecting the servo motor with a machine.

(1) Slide switch setting

To switch to CC-Link IE Field Network Basic communication, turn the slide switch 1 (SW1-1) "OFF
(down)" and turn the slide switch 2 (SW1-2) "ON (up)".

(2) Power on

When the main and control circuit power supplies are turned on, "b01" (when the identification number is
"01h") appears on the servo amplifier display.
When the absolute position detection system is used in a rotary servo motor, [AL. 25 Absolute position
erased] occurs with first power on, and the servo-on status cannot be made. Cycle the power to
deactivate the alarm.
If the power is switched on when the servo motor is rotated by an external force at a speed of 3000 r/min
or higher, it may cause a position mismatch. Make sure that the servo motor is not rotated before
switching the power on.

(3) 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 of 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 rotary switches (SW2/SW3).
Cycle the power of the servo amplifier after changing the parameter setting of
the IP address or using the rotary switches (SW2/SW3).
The IP address range of CC-Link IE Field Network Basic is between 0.0.0.0 and

223.255.255.254. Set the IP address within the range.

4 - 3

4. STARTUP

Set the IP address by using the SLMP command with the rotary switches (SW2/SW3) on the display of the
servo amplifier, MR Configurator2, or a master station (controller). Refer to chapter 7 for IP address
parameters and section 4.3.1 for details of the rotary switches.
Change the IP address with the rotary switches (SW2/SW3) before powering on the servo amplifier.
The IP address can be changed by specifying a MAC address when the SLMP command (IPAddressSet) is
used. Refer to section 3.3 for details on the command.
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.

Rotary switches (SW2/SW3) IP address

The setting value of [Pr. PN11 (x x _ _)] is used.
When the parameter is set to "0 0 _ _", the 1st octet is "192".

The setting value of [Pr. PN11 (_ _ x x)] is used.
When the parameter is set to "_ _0 0", the 2nd octet is "168".

The setting value of [Pr. PN12 (x x _ _)] is used.
When the parameter is set to "0 0 _ _", the 3rd octet is "3".

The setting value of [Pr. PN11 (x x _ _)] is used.
When the parameter is set to "0 0 _ _", the 1st octet is "192".

The setting value of [Pr. PN11 (_ _ x x)] is used.
When the parameter is set to "_ _0 0", the 2nd octet is "168".

The setting value of [Pr. PN12 (x x _ _)] is used.
When the parameter is set to "0 0 _ _", the 3rd octet is "3".

00h

01h to FFh

(4) Parameter setting

1st octet

2nd octet

3rd octet

4th octet The setting value of [Pr. PN12 (_ _ x x)] is used.

1st octet

2nd octet

3rd octet

4th octet The setting value of the rotary switches (SW2/SW3) is used.

POINT

The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H

Set the parameters according to the structure and specifications of the machine. For details, refer to
chapter 7 of this document and chapter 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual
(Motion Mode)".
After setting the parameters, turn off the power as necessary. Then switch power on again to enable the
parameter values.

(5) Connection with the controller

Set up the controller by following the manual of the controller used.

4 - 4

4. STARTUP

(6) Servo-on

Enable the servo-on with the following procedure.

(a) Switch on the main and control circuit power supplies.

(b) Transmit the servo-on command from the master station (controller).

When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is
locked.

(7) Home position return

Always perform home position return before starting positioning operation. (Refer to section 6.1.)

(8) Stop

Turn off the servo-on command after the servo motor has stopped, and then switch the power off.
If any of the following situations occurs, the servo amplifier suspends and stops the operation of the
servo motor.
Refer to section 3.9 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the
servo motor with an electromagnetic brake.

Master station
(controller)

Servo amplifier

Note 1. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and

2. If an error occurs, RX (n + 3) F is set to "0".

Operation and command Stopping condition

Servo-off command The base circuit is shut off, and the servo motor coasts.

Ready-off command

Quick stop command The servo motor decelerates to a stop.

Error occurrence (Note

2)

Cyclic communication
ready command off

Alarm occurrence

EM2 (Forced stop 2) off

LSP (Forward rotation
stroke end) off or LSN
(Reverse rotation stroke
end) off

STO (STO1, STO2) off

warnings.

The base circuit is shut off and the dynamic brake operates to
stop the servo motor.

The servo motor decelerates to a stop.

The servo motor decelerates to a stop.

The servo motor decelerates to a stop. With some alarms;
however, the dynamic brake operates to stop the servo motor.
(Note 1)

The servo motor decelerates to a stop. [AL. E6 Servo forced stop
warning] occurs. For EM1, refer to section 3.5 of "MR-J4-_GF_(­RJ) Servo Amplifier Instruction Manual (Motion Mode)".

The servo motor stops immediately and will be servo locked.
Operation in the opposite direction is possible.

The base circuit is shut off and the dynamic brake operates to
stop the servo motor.

4 - 5

4. STARTUP

4.3 Switch setting and display of the servo amplifier

Switching to CC-Link IE Field Network Basic communication or test operation mode, and setting identification
number are enabled with switches on the servo amplifier.
On the servo amplifier display (three-digit, seven-segment LED), check the identification number, and
diagnose a malfunction at occurrence of an alarm. The Ethernet communication status can be checked on
the LED of the CN1A connector.

4.3.1 Switches

When switching the rotary switches (SW2/SW3) and slide switches (SW1), use

WARNING

insulated screw driver. Do not use a metal screw driver. Touching patterns on
electronic boards, lead of electronic parts, etc. may cause an electric shock.

POINT

Turning "ON (up)" all the slide switches (SW1) enables an operation mode for
manufacturer setting and displays "off". This mode is not available. Set the slide
switches (SW1) correctly according to this section.
The setting of the switches will be enabled after the main circuit power supply
and control circuit power supply are cycled.

The following diagram explains the slide switches and rotary switches.

3-digit, 7-segment LED

1ON2

Rotary switch (upper) (SW2) Rotary switch (lower) (SW3)

Slide switches (SW1)

1ON2

SW1-2
SW1-1

4 - 6

4. STARTUP

(1) Slide switches (SW1-1 and SW1-2)

The combination of SW1-1 and SW1-2 enables you to switch communication method and set the test
operation mode (enabled/disabled). The following table lists the combinations of the switches.
In the test operation mode, the functions such as JOG operation, positioning operation, and machine
analyzer are available with MR Configurator2.

Slide switches (SW1) Communication Test operation mode

CC-Link IE Field Network Disabled

1ON2

CC-Link IE Field Network Basic Disabled

1ON2

Not available Enabled

1ON2

For manufacturer setting

1ON2

(2) Rotary switches (SW2/SW3)

Set the identification number of the servo amplifier in hexadecimal. From "00h (0)" to "FFh (255)" can be
set. The set value is used as the 4th octet of the IP address when the identification number is set
between "01h (1)" and "FFh (255)".

4 - 7

4. STARTUP

4.3.2 Scrolling display

Axis number will be displayed in hexadecimal.

(1) Normal display

When there is no alarm, the identification number (2 digits) is displayed.

Status

Identification No.

(1 digit)

(2 digits)

"b"

: Indicates ready-off and servo-off status.

"C"

: Indicates ready-on and servo-off status.

"d"

: Indicates ready-on and servo-on status.

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed
following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.

After 0.8 s

After 0.8 s

Status

Alarm No.

After 0.2 s

Blank

Identification No.

Status

(1 digit)

(2 digits)

"n": Indicates that an alarm is occurring.

Alarm No.

(2 digits)

Alarm detail

(1 digit)

If an alarm occurs during initial communication through a network, the status, the alarm number (two
digits) and alarm detail (one digit), and the network initial communication status are displayed, in that
order. For example, the following shows when [AL. 16.1 Encoder initial communication - Receive data
error 1] is occurring.

After 1.6 s

Blank

Status

After 0.8 s

Alarm No.

After 0.8 s

After 0.2 s

Blank

After 0.2 s

Network initial
communication
status

Identification No.

Status

(1 digit)

(2 digits)

"n": Indicates that an alarm is occurring.

Alarm No.

(2 digits)

Alarm detail

(1 digit)

4 - 8

4. STARTUP

4.3.3 Status display

(1) Display sequence

When an alarm or a
warning occurs, the
alarm No. or the
warning No. is shown.

Servo amplifier power on

System check in progress

(Note)

Ready-on

(Note)

Ready-off and servo-off

Ready-on and servo-off

When an alarm No. or warning No. is displayed

Example:

When [AL. 50 Overload 1] occurs
at identification No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

Note.

Identification

No. 1

(Note)

Ordinary operation

Identification

No. 2

Servo-on

Ready-on and servo-on

The segment of the last 2 digits shows the identification number.

Example:

When [AL. E1 Overload warning
1] occurs at identification No. 1

Blinking

After 0.8 s

Blinking

After 0.8 s

Blank

During a warning that does not cause
servo-off, the decimal point on the third
digit LED shows the servo-on status.

Alarm reset or

warning cleared

4 - 9

4. STARTUP

(2) Indication list

Display Status Description

Initializing System check in progress

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 2)

(Note 1)

Ready-off The ready-off command was received.

# #b

Ready-on, servo-off The servo-off command was received.

# #C

Ready-on, servo-on The servo-on command was received.

# #d

Alarm occurring An alarm or warning has occurred in the servo amplifier.

# #n

Alarm and warning The alarm No. and the warning No. that occurred are displayed. (Note 4)

* **

CPU error A CPU watchdog error has occurred.

8 88

b ##.

C ##.

d ##.

(Note 3)
Test operation mode

During test operation
(JOG operation, positioning operation, program operation, output signal (DO)
forced output, motor-less operation, machine analyzer function, or single-step feed
was set.)

Note 1. ## is displayed in hexadecimal. The following table shows the description.

## Description

01

FF

2. "***" indicates the alarm No. and the warning No.

3. Requires the MR Configurator2.

4. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

Identification number
(4th octet of the IP address)

4.3.4 Ethernet status display LED

The following is the description of Ethernet status display LED. The CN1B connector is not used when CC­Link IE Field Network Basic is selected.

Red (L ER)

Green (LINK)

Always off

LED Name Lighting status Description

L ER (CN1A) Extinguished Always off

LINK (CN1A) Link status Lit Linking up

Table 4.1 LED indication list

Always off

4 - 10

4. STARTUP

4.4 Test operation

Before starting an actual operation, perform a test operation to make sure that the machine operates
normally.
Refer to section 4.2 for how to power on and off the servo amplifier.

Test operation of the servo motor

alone in JOG operation of test

operation mode

Test operation of the servo motor

alone by commands

Test operation with the servo motor

and machine connected

4.5 Test operation mode

CAUTION

POINT

If necessary, verify master station (controller) programs by using motor-less
operation. Refer to section 4.5.2 for the motor-less operation.

In this step, confirm that the servo amplifier and servo motor operate
normally. With the servo motor disconnected from the machine, use the test
operation mode and check whether the servo motor rotates correctly. Refer
to section 4.5 for the test operation mode.

In this step, confirm that the servo motor rotates correctly with the
commands from the master station (controller).
Give a low-speed command at first and check the rotation direction, etc. of
the servo motor. If the servo motor does not operate in the intended
direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the
machine operates normally with the commands from the master station
(controller).
Give a low-speed command at first and check the operation direction, etc. of
the machine. If the servo motor does not operate in the intended direction,
check the input signal.
Check any problems with the servo motor speed, load ratio, and other status
display items with MR Configurator2.
Then, check automatic operation with the program of the master station
(controller).

The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
the servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT

The content described in this section indicates that the servo amplifier and a
personal computer are directly connected.

With a personal computer and MR Configurator2, you can execute JOG operation, positioning operation,
output signal forced output, and program operation.

4 - 11

4. STARTUP

4.5.1 Test operation mode in MR Configurator2

1000 0 to 50000

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without the master station (controller). Use this operation with the
forced stop reset. This operation may be used independently of whether servo-on or servo-off and
whether a master station (controller) is connected or not.
Operate on the jog operation screen of MR Configurator2.

1) Operation pattern

Item Initial value Setting range

Servo motor speed [r/min] 200 0 to Maximum speed

Accel./decel. time constant

[ms]

2) Operation method
a) The check box "Rotation only while the CCW or CW button is being pushed" is checked.

Operation Screen operation

Forward rotation start Keep pressing "Forward CCW".

Reverse rotation start Keep pressing "Reverse CW".

Stop Release "Forward CCW" or "Reverse CW".

Forced stop Click "Forced Stop".

b) The check box "Rotation only while the CCW or CW button is being pushed" is unchecked.

Operation Screen operation

Forward rotation start Click "Forward CCW".

Reverse rotation start Click "Reverse CW".

Stop Click "Stop".

Forced stop Click "Forced Stop".

POINT

When the test operation mode is selected with the slide switches (SW1-1 and
SW1-2), the servo amplifier will not receive commands from the master station
(controller).

4 - 12

4. STARTUP

(b) Positioning operation

Positioning operation can be performed without a master station (controller). Use this operation with
the forced stop reset. This operation may be used independently of whether servo-on or servo-off
and whether a master station (controller) is connected or not.
Perform on the positioning operation screen of MR Configurator2.

1) Operation pattern

Item Initial value Setting range

Travel distance [pulse] 4000 0 to 99999999

Servo motor speed [r/min] 200 0 to Maximum speed

Accel./decel. time constant

[ms]

Repeat pattern

Dwell time [s] 2.0 0.1 to 50.0

Number of repeats [time] 1 1 to 9999

2) Operation method

Operation Screen operation

Forward rotation start Click "Forward CCW".

Reverse rotation start Click "Reverse CW".

Temporary stop Click "Pause".

Stop Click "Stop".

Forced stop Click "Forced Stop".

(c) Program operation

Positioning operation can be performed with two or more operation patterns combined, without using
a master station (controller). Use this operation with the forced stop reset. This operation may be
used independently of whether servo-on or servo-off and whether a master station (controller) is
connected or not.
Perform on the program operation screen of MR Configurator2. For full information, refer to the MR
Configurator2 Installation Guide.

Operation Screen operation

Start Click "Operation start".

Temporary stop Click "Pause".

Stop Click "Stop".

Forced stop Click "Forced Stop".

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for
checking output signal wiring, etc. Perform on the DO forced output screen of MR Configurator2.

1000 0 to 50000

Fwd. rot. (CCW) to rev. rot. (CW)

Fwd. rot. (CCW) to

rev. rot. (CW)

Fwd. rot. (CCW) to fwd. rot. (CCW)

Rev. rot. (CW) to fwd. rot. (CCW)

Rev. rot. (CW) to rev. rot. (CW)

4 - 13

4. STARTUP

(e) Single-step feed

The positioning operation can be performed in accordance with the point table No. set with MR
Configurator2.
Select the test operation/single-step feed from the menu of MR Configurator2. When the single-step
feed window is displayed, input the following items and operate.

(b) (c) (d) (e)

(a)

Point table operation

1) Set the point table No.
Enter a point table No. in the input box (a) "Point table No.".

2) Forward/reverse the servo motor
Click "Operation Start" (b) to rotate the servo motor.

3) Pause the servo motor
Click "Pause" (c) to temporarily stop the servo motor.
Click "Operation Start" (b) during a temporary stop to restart the rotation of the remaining travel
distance.
In addition, click "Stop" (d) during a temporary stop to clear the remaining travel distance.

4) Stop the servo motor
Click "Stop" (d) to stop the servo motor. At this time, the remaining travel distance will be cleared.
Click "Operation Start" (b) to restart the rotation.

5) Execute the servo motor forced stop
Click "Forced Stop" (e) to make an instantaneous stop. When "Forced Stop" is enabled,
"Operation Start" cannot be used. Click "Forced Stop" again to enable "Operation Start".

6) Switch to the normal operation mode
Turn off the servo amplifier to switch from the test operation mode to the normal operation mode.

4 - 14

4. STARTUP

(2) Operation procedure

1) Turn off the power.

2) Set SW1-1 to "ON (up)" and SW1-2 to "OFF (down)".

1ON2

1ON2

Set SW1-1 to "ON (up)" and SW1-2 to "OFF (down)".

The test operation mode is not enabled when switches SW1-1and SW1-2 are set during power­on.

3) Turn on the servo amplifier.
When initialization is completed, the decimal point on the first digit blinks as follows.

After 1.6 s

Blinking

After 0.2 s

If an alarm or warning occurs during the test operation, the decimal point on the first digit also
blinks as follows.

After 0.8 s After 0.8 s

Blinking Blinking

After 0.2 s

4) Start operation with the personal computer.

4.5.2 Motor-less operation with a controller

POINT

The servo amplifier need to be connected to the master station (controller) for
motor-less operation.
The motor-less operation cannot be used in the fully closed loop control mode,
linear servo motor control mode, or DD motor control mode.

4 - 15

4. STARTUP

(1) Motor-less operation

Without a servo motor connected to the servo amplifier, signals are outputted and status is displayed as
if the servo motor is actually running in response to the master station. This operation can be used to
check the sequence of a master station (controller). Use this operation with the forced stop reset. Use
this operation with the servo amplifier connected to the master station (controller).
To terminate the motor-less operation, set "Disabled (_ _ _ 0)" of "Motor-less operation selection" in [Pr.
PC05]. The motor-less operation will be disabled from the next power-on.

(a) Load conditions

(b) Alarms

The following alarms and warnings do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.

(2) Operation procedure

1) Set the servo amplifier to the servo-off status.

2) Set [Pr. PC05] to "_ _ _ 1", turn SW1-1 "OFF (down)", and then turn SW1-2 "ON (up)".

Load item Condition

Load torque 0

Load to motor inertia ratio [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

[AL. 16 Encoder initial communication error 1]
[AL. 1E Encoder initial communication error 2]
[AL. 1F Encoder initial communication error 3]
[AL. 20 Encoder normal communication error 1]
[AL. 21 Encoder normal communication error 2]
[AL. 25 Absolute position erased]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning]

1ON2

1ON2

Turn SW1-1 "OFF (down)" and turn SW1-2 "ON (up)".

3) Start the motor-less operation with the master station (controller).
The display shows the following screen.

The decimal point blinks.

4 - 16

4. STARTUP

4.6 Network setting

4.6.1 Settings of GX Works

POINT

When using GX Works3, use software version 1.040S or later.
When using GX Works2. use software version 1.570U or later.

(1) System profile

MR-J4-GF system profile needs to be read into GX Works to set network configuration on GX Works.
Obtain the latest system profile (CSP+) from the Mitsubishi Electric FA site
(http://www.mitsubishielectric.co.jp/fa/), and register the profile from the Profile Management in the
menu.

System profile for CC-Link IE Field Network Basic

System profile name Description

0x0002_MR-J4-GF(E_CCIEFBasic)_n_en.CSPP.zip (Note) This is the MR-J4-GF system profile for CC-Link IE Field Network

Note. "n" designates a system profile version number.

Basic.

Refer to "GX Works3 Operating Manual" or "GX Works2 Version 1 Operating Manual (Common)" for
how to set GX Works.

(2) Setting of CC-Link IE Field Network Basic

Refer to "CC-Link IE Field Network Basic Reference Manual" for setting.

4 - 17

4. STARTUP

p

4.6.2 Cyclic communication start

Start the cyclic communication in the following procedure.

Network setting

IP address setting

Subnet mask setting

Slave station (servo amplifier)

Communication start

rocedure

Master station (controller) cyclic

communication start

Cyclic communication ready

power cycling

[IP address setting]
The initial value is 192.168.3.0. To change the initial value, set it with any of the following
(1) to (3). (Refer to section 4.2 (3).)
(1) Rotary switches (SW2/SW3)
(2) Parameters ([Pr. PN11] to [Pr. PN12])
(3) SLMP communication (IP Address Set command)

[Subnet mask setting]
The initial value is 255.255.255.0. To change the initial value, set it with either of the
following (1) or (2). (Refer to chapter 7.)
(1) Parameters ([Pr. PN13] to [Pr. PN14])
(2) SLMP communication (IP Address Set command)

[Slave station (servo amplifier) power cycling]
The settings of the IP address and subnet mask are reflected.

[Cyclic communication start]
Start the cyclic communication of the master station (controller).

[Cyclic communication ready]
Set RY (n + 3) F of the master station (controller) to "01h". For the slave stations (servo
amplifiers), start importing the word device (RWw) and set RX (n + 3) F to "01h".
For the master station (controller), check that RX (n + 3) F is "01h" and read the word
device (RWr).

4 - 18

5. CiA 402 DRIVE PROFILE

5. CiA 402 DRIVE PROFILE

POINT

Do not give operation commands from two or more master stations to one servo
amplifier. Otherwise, the servo motor may operate unexpectedly.

This chapter describes how to drive a servo motor in the communication. For MR-J4-_GF_(-RJ) servo
amplifier, objects are assigned according to Index of the CiA 402 drive profile. The master station (controller)
can drive the servo motor by accessing the assigned objects.
Refer to chapter 10 for details of the objects.

5.1 State machine control of the servo amplifier

5.1.1 Function description

The servo amplifier status is controlled based on the state machine below. Setting the control command
(6040h) from the master station (controller) changes the status of the slave stations (servo amplifiers). The
current servo amplifier status can be read with the control status (6041h).

Power on

(0)

Servo initialization
in process

In wait for forced stop
reset

In wait for main
circuit charging
(ready-off)

(12)

(10)

(A) Not ready to switch on

(1)

(B) Switch on disabled

(2)

(C) Ready to switch on

(7)

(15)

(H) Fault

(14)

Ready-off/Servo-off
(During main circuit
charging)

Occurrence of
alarm

Drive standby
(servo-off)

Forced stop
deceleration

(F) Quick stop active

(3) (6)

(D) Switched on

(4) (5)

(16)

(E) Operation enabled

(11)

Transition by slave
Transition by master
Transition by slave or master

In normal drive
(servo-on)

(9)(8)

(G) Fault reaction active

(13)

Error occurs

Ready-off/Servo-off
(Main circuit charging
completed)

Ready-on/Servo-on

Alarm handling in process
(forced stop deceleration, alarm
history writing, and alarm display
change)

5 - 1

5. CiA 402 DRIVE PROFILE

Table 5.1 State transition

Transition

No.

(0) The control circuit power supply is turned on. Initialization

The state automatically transitions when the control circuit power

(1)

supply is turned on.

(2) The state transitions with the Shutdown command from the master.

(3) The state transitions with the Switch on command from the master. RA turns on.

The state transitions with the Enable operation command from the

(4)

master.

The state transitions with the Disable operation command from the

(5)

master.

(6) The state transitions with the Shutdown command from the master. RA turns off.

The state transitions with the Disable Voltage command or Quick

(7)

Stop command from the master.

(a) The state transitions with the Shutdown command from the

(8)

(9)

(10)

(11) The state transitions with the Quick Stop command from the master. Quick Stop starts.

(12)

(13) Alarm occurrence Processing against the alarm is executed.

(14) Automatic transition

(15) The state transitions with the Fault Reset command from the master.

(16)

(Not

compatible)

(Note)

master.

(b) The state transitions when the main circuit power supply is

turned off.

The state transitions with the Disable Voltage command from the
master.

The state transitions with the Disable Voltage command or Quick
Stop command from the master.

(a) The state automatically transitions after Quick Stop is completed.

(If the Quick Stop option code is 1, 2, 3, or 4)

(b) The state transitions with the Disable Voltage command from the

master.

The state transitions with the Enable Operation command from the
master.

(If the Quick Stop option code is 5, 6, 7, or 8)

Note. This is not available with MR-J4-_GF_(-RJ) servo amplifier.

Event Remark

Communication setting

The operation becomes ready after servo-on.

The operation is disabled after servo-off.

Operation is disabled after servo-off or RA-off.

Operation is disabled after servo-off or RA-off.

RA turns off.

Operation is disabled after servo-off or RA-off.

After processing against the alarm has been
completed, servo-off or RA-off is performed and the
operation is disabled.

Alarms are reset.
Resettable alarms can be reset.

The operation becomes ready.

5 - 2

5. CiA 402 DRIVE PROFILE

5.1.2 Related object

Index

6040h 0 rw Controlword U16

6041h 0 ro Statusword U16

Sub

Index

Access Name

Data
Type

Default

(1) Controlword (6040h)

This object issues a command from the master station (controller) to the slave stations (servo
amplifiers).

Index

6040h 0 rw Controlword U16

Sub

Index

Access Name

Data
Type

Default

The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object. The slave can be controlled with bit 0 to bit 3 and bit 7.

Bit Symbol Description

0 SO Switch On

1 EV Enable Voltage

2 QS Quick Stop

3 EO Enable Operation

4 to 6 OMS

7 FR Fault Reset

8 HALT

9

10 to 15

Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Halt
0: Operation ready
1: Temporary stop

Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

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

The following table lists the commands issued to the servo amplifier. Turn on the bit that corresponds to
the command.

Command bit setting of Controlword

Command

Shutdown 0 1 1 0 (2)/(6)/(8)

Switch On 0 0 1 1 1 (3)

Disable Voltage 0 0 (7)/(9)/(10)/(12)

Quick Stop 0 0 1 (7)/(10)/(11)

Disable Operation 0 0 1 1 1 (5)

Enable Operation 0 1 1 1 1 (4)

Fault Reset 0 → 1 (Note) (15)

Bit 7: Fault Reset

Bit 3: Enable

Operation

Bit 2: Quick Stop

Bit 1: Enable

Voltage

Bit 0: Switch On

Transition No.

Note. To prevent the command from failing to be recognized in faulty communication, hold the state in which Bit 7 is "1" for at least 10

ms for the Fault Reset command. When Bit 7 is turned on, be sure to turn it off.

5 - 3

5. CiA 402 DRIVE PROFILE

(2) Statusword (6041h)

Index

6041h 0 ro Statusword U16

Sub

Index

Access Name

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 Symbol Description

0 RTSO Ready To Switch On

1 SO Switched On

2 OE Operation Enabled

3 F Fault

Voltage-enabled

4 VE

5 QS

6 SOD Switch On Disabled

7 W

8

9 RM

10 TR

11 ILA

12 to 13 OMS

14 to 15

0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.

Quick stop
0: During a quick stop
1: Not during a quick stop (including in the test mode)

Warning
0: No warning has occurred.
1: A warning is occurring.

Reserved
The value at reading is undefined.

Reserved
The value at reading is undefined.

Target reached
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have

not been reached.

1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has been

reached (Enabled in the pt, idx, jg, or hm mode).

Operation Mode Specific
Differs depending on Modes of operation (6060h). (Refer to chapter 6.)

Reserved
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

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)

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

Data
Type

Default

5 - 4

5. CiA 402 DRIVE PROFILE

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-J4­_GF_(-RJ) servo amplifier). Refer to the following table for details.

x0xx xxx0 x0xx 0000 Not ready to switch on (Note)

x0xx xxx0 x1xx 0000 Switch on disabled

x0xx xxx0 x01x 0001 Ready to switch on

x0xx xxx0 x01x 0011 Switched on

x0xx xxx0 x01x 0111 Operation enabled

x0xx xxx0 x00x 0111 Quick stop active

x0xx xxx0 x0xx 1111 Fault reaction active

x0xx xxx0 x0xx 1000 Fault

Note. Statusword is not sent in the Not ready to switch on state.

5.1.3 Directions for use

A command of Controlword allows a transition to the target status, skipping the statuses in between.
The statuses can transition as shown in the following table, for example. (Refer to the figure in section 5.1.1.)

(B) Switch on disabled Switch on (D) Switched on

(B) Switch on disabled Enable operation (E) Operation enabled

(C) Ready to switch on Enable operation (E) Operation enabled

Statusword (bin) State machine

Current status Command Status after transition

5 - 5

5. CiA 402 DRIVE PROFILE

5.2 Control mode

This section describes the control modes of the MR-J4-_GF_(-RJ) servo amplifier.

5.2.1 Function description

A control mode of the MR-J4-_GF_(-RJ) servo amplifier can be selected with the control mode (Modes of
operation: 6060h). Use [Pr. PA01] to switch the method between the point table method and the indexer
method.
The following is the chart of control modes switchable from the current mode.

Control mode

before

switching

Control mode

: Switchable : Non-switchable

Point table mode (pt)

Indexer mode (idx)

Homing mode (hm)

Jog mode (jg)

5.2.2 Related object

Point table mode

(pt)

Control mode after switching

Indexer mode (idx)

Homing mode

(hm)

Jog mode

(jg)

Index

6060h 0 rw Modes of operation I8 0

6061h 0 ro Modes of operation Display I8 Refer to (1) in

Sub

Index

Access Name

Data
Type

Default

this section.

To switch the control mode, the master station (controller) sends the designated command value to the
servo amplifier. The master station must keep sending the command value until the mode is completely
switched because there is a delay in switching from one mode to another. When the master station confirms
that the mode has been switched by using Modes of operation display (6061h), the master station can stop
sending the command value.
Make sure that the servo motor is at zero speed before switching to another mode. Zero speed state can be
checked with Bit 3 (S_ZSP) of Status DO 2 (2D12h).
When the current mode is in the indexer mode (idx) or station jog operation mode, turn off Controlword bit4
(New set-point) before switching to another mode. If Controlword bit4 (New set-point) is on, the control mode
will not switch, and thus Modes of operation display (6061h) will not change.

(1) Initial value of Modes of operation display (6061h)

The initial value of Modes of operation display (6061h) varies depending on the setting value of [Pr.
PA01].

[Pr. PA01] setting Initial value

_ _ _ 0 -101 (pt)

_ _ _ 8 -103 (idx)

5 - 6

6. SERVO MOTOR DRIVING

6. SERVO MOTOR DRIVING

6.1 Homing mode (hm)

This section describes how to perform a home position return operation in the communication.

6.1.1 Function description

For specified home position return operation, set Homing method (6098h), Homing speed (6099h), and
Homing acceleration (609Ah), and then start the operation with Controlword (6040h). The completion of the
home position return operation can be checked with Statusword (6041h).

Controlword (6040h)

Homing method (6098h)

Homing speeds (6099h)

Homing acceleration (609Ah)

Home offset (607Ch)

Homing

method

Statusword (6041h)

6 - 1

6. SERVO MOTOR DRIVING

6.1.2 Related object

Index

607Ch 0 ro Home offset I32

6098h 0 rw Homing Method I8 37

6099h

609Ah 0 rw Homing acceleration U32 0

60E3h

Sub

Index

0 rw Homing Speeds U8 2

1 rw Speed during search for switch U32 10000

2 rw Speed during search for zero U32 1000

0 ro Supported Homing Method U8 38

1 ro 1st supported homing method I8 37

to

38 ro 38th supported homing method I8 -43

Access Name

Data
Type

Default Description

The home position saved in
EEP-ROM is stored at power­on. If a home position return
is executed in the homing
mode (hm), the home position
will be updated. If [Pr. PA03
Absolute position detection
system] is disabled, 0 is
always stored.

Specify a home position
return method. Refer to (2) in
this section for supported
home position return
methods.

Number of entries of the
home position return speed

Specify the travel speed from
home position return start to
dog detection.

Unit: Vel unit (0.01 r/min or

0.01 mm/s)

Range: 0 to servo motor

maximum speed

Specify the travel speed to
the home position after dog
detection. (Note)

Unit: Vel unit (0.01 r/min or

0.01 mm/s)

Range: 0 to servo motor

maximum speed

Acceleration/deceleration
time constant at home
position return Unit: ms

Number of entries of the
supported home position
return method

This object supports the
home position return method
that uses the current position
as a home position.

This object supports the
dogless Z-phase reference
home position return method
(reverse rotation).

Note. In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the

stroke end is detected. Set the home position return speed carefully.

6 - 2

6. SERVO MOTOR DRIVING

(1) Controlword (6040h)

Index

6040h 0 rw Controlword U16

Sub

Index

Access Name

The current control command status can be checked.
In addition, control commands can be written.
The following table lists the bits of this object that relate to the home position return operation.

Bit Description

0 to 3 Refer to section 5.1.2.

4 Homing Operation Start

0: Do not start homing procedure
1: Start or continue homing procedure

5 to 6 Reserved

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

7 Refer to section 5.1.2.

8 Halt

0: Bit 4 enable
1: Stop axis according to halt option code (605Dh)

9 Reserved

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

10 to 14 Refer to section 5.1.2.

15 Reserved

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

To start a home position return operation, turn bit 4 from "0" to "1". When the home position return
operation is completed or an alarm is issued during the return operation, turn bit 4 from "1" to "0".
When bit 8 (Halt) of Controlword (6040h) is set to "1", the servo motor decelerates to a stop. After that,
when bit 8 (Halt) is set to "0" and bit 4 is turned to "0" and then to "1", the home position return operation
is performed again.

(2) Homing method (6098h)

Index

6098h 0 rw Homing method I8 37

Sub

Index

Access Name

The current home position return method can be read.
In addition, a home position return method can be set. To enable the written home position return
method after turning the power back on, execute Store Parameters (1010h). After the execution of Store
Parameters, the setting value of [Pr. PT45] is changed.

Data
Type

Data
Type

Default

Default

6 - 3

6. SERVO MOTOR DRIVING

The following table lists selectable home position return methods.

Setting value Home position return types

0 No homing method assigned

3

4

5

6

7

8

11

12

19 Homing without index pulse Forward rotation

20 Homing without index pulse Forward rotation

21 Homing without index pulse Reverse rotation

22 Homing without index pulse Reverse rotation

23 Homing without index pulse Forward rotation Same as the dog type front end reference home position return.

24 Homing without index pulse Forward rotation

Homing on positive home

switch and index pulse

Homing on positive home

switch and index pulse

Homing on negative home

switch and index pulse

Homing on negative home

switch and index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Homing on home switch and

index pulse

Rotation
direction

Forward rotation

Forward rotation

Reverse rotation

Reverse rotation

Forward rotation

Forward rotation

Reverse rotation

Reverse rotation

Description

Starting home position return causes "Homing error". Home
position return cannot be executed.

Same as the dog type last Z-phase reference home position
return.

Note that if the stroke end is detected during home position
return, [AL. 90 Home position return incomplete warning]
occurs.

Same as the dog cradle type home position return.
Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning]
occurs.

Same as the dog type last Z-phase reference home position
return.

Note that if the stroke end is detected during home position
return, [AL. 90 Home position return incomplete warning]
occurs.

Same as the dog cradle type home position return.
Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning]
occurs.

Same as the dog type last Z-phase reference home position
return.

Same as the dog cradle type home position return.

Same as the dog type last Z-phase reference home position
return.

The direction of rotation is opposite to that of the method 7.

Same as the dog cradle type home position return.
The direction of rotation is opposite to that of the method 8.

Same as the dog type front end reference home position return.
Note that if the stroke end is detected during home position

return, [AL. 90 Home position return incomplete warning]
occurs.

Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
distance after proximity dog and the home position shift
distance. The position after the shifts is set as the home
position.

If the stroke end is detected during home position return, [AL.
90 Home position return incomplete warning] occurs.

Same as the dog type front end reference home position return.
Note that if the stroke end is detected during home position
return, [AL. 90 Home position return incomplete warning]
occurs.

Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
distance after proximity dog and the home position shift
distance. The position after the shifts is set as the home
position. If the stroke end is detected during home position
return, [AL. 90 Home position return incomplete warning]
occurs.

Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
distance after proximity dog and the home position shift
distance. The position after the shifts is set as the home
position.

6 - 4

6. SERVO MOTOR DRIVING

Setting value Home position return types

27 Homing without index pulse Reverse rotation Same as the dog type front end reference home position return.

28 Homing without index pulse Reverse rotation

33 Homing on index pulse Reverse rotation

34 Homing on index pulse Forward rotation

35 Homing on current position

37 Homing on current position

Rotation
direction

Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
distance after proximity dog and the home position shift
distance. The position after the shifts is set as the home
position.

Although this type is the same as the dogless Z-phase
reference home position return, the creep speed is applied as
the movement start speed.

Although this type is the same as the dogless Z-phase
reference home position return, the creep speed is applied as
the movement start speed.

The current position is set as the home position. This type can
be executed even when the servo amplifier is not in the
Operational enabled state.

The current position is set as the home position. This type can
be executed even when the servo amplifier is not in the
Operational enabled state.

Description

6 - 5

6. SERVO MOTOR DRIVING

Setting value Home position return types

-1

(Rear end detection Z-phase

(Front end detection, Z-phase

-33 Reverse rotation

Data set type home position

-3

-4

-36 Reverse rotation

-2

-34 Reverse rotation

-6

-38 Reverse rotation

-7

-39 Reverse rotation

-8

-40 Reverse rotation

-9

-41 Reverse rotation

-10

-42 Reverse rotation

-11

-43 Reverse rotation

return/torque limit changing

(Stopper position reference)

(Front end detection, Z-phase

(Rear end detection, rear end

Dog type front end reference

Dogless Z-phase reference

Dog type

reference)/torque limit

changing dog type

reference)

data set type

Stopper type

Count type

reference)

Dog type

reference)

Count type

(Front end detection, front

end reference)

Dog cradle type

Dog type last Z-phase

reference

Rotation
direction

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Forward rotation

Deceleration starts at the front end of the proximity dog. After
the rear end is passed, the position specified by the first Z­phase signal, or the position of the first Z-phase signal shifted
by the specified home position shift distance is used as the
home position.

In the indexer method, deceleration starts at the front end of the
proximity dog, and then the first Z-phase signal at which a
deceleration to a stop is possible or the position of the Z-phase
signal shifted by the specified home position shift distance is
used as the home position. The torque limit values in Positive
torque limit value (60E0h) and Negative torque limit value
(60E1h) are enabled during execution of home position return,
and the torque limit value in [Pr. PC77] is enabled when the
home position return is stopped.

The current position is set as the home position.
In the indexer method, the current position is set as the home

position. The torque limit value becomes 0 when switched to
the homing mode (hm).

A workpiece is pressed against a mechanical stopper, and the
position where it is stopped is set as the home position. If the
stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.

At the front end of the proximity dog, deceleration starts. After
the front end is passed, the position specified by the first Z­phase signal after the set distance or the position of the Z­phase signal shifted by the set home position shift distance is
set as a home position. If the stroke end is detected during
home position return, the travel direction is reversed.

Deceleration starts from the front end of the proximity dog. After
the rear end is passed, the position is shifted by the travel
distance after proximity dog and the home position shift
distance. The position after the shifts is set as the home
position. If the stroke end is detected during home position
return, the travel direction is reversed.

Deceleration starts from the front end of the proximity dog. The
position is shifted by the travel distance after proximity dog and
the home position shift distance. The position after the shifts is
set as the home position. If the stroke end is detected during
home position return, the travel direction is reversed.

A position, which is specified by the first Z-phase signal after
the front end of the proximity dog is detected, is set as the
home position. If the stroke end is detected during home
position return, the travel direction is reversed.

After the front end of the proximity dog is detected, the position
is shifted away from the proximity dog in the reverse direction.
Then, the position specified by the first Z-phase signal or the
position of the first Z-phase signal shifted by the home position
shift distance is used as the home position. If the stroke end is
detected during home position return, the travel direction is
reversed.

Starting from the front end of the proximity dog, the position is
shifted by the travel distance after proximity dog and the home
position shift distance. The position after the shifts is set as the
home position. If the stroke end is detected during home
position return, the travel direction is reversed.

The position specified by the first Z-phase signal, or the
position of the first Z-phase signal shifted by the home position
shift distance is used as the home position. If the stroke end is
detected during home position return, [AL. 90 Home position
return incomplete warning] occurs.

Description

6 - 6

6. SERVO MOTOR DRIVING

(3) Homing speed (6099h)

Index

6099h

Sub

Index

0

1 Speed during search for switch U32 10000

2 Speed during search for zero U32 1000

Access Name

Number of entries U8 2

rw Homing speed

The current home position return speed can be read. At this time, "02h" is returned to Number of entries.
The current home position return speed is returned to Speed during search for switch in a unit of r/min or
mm/s.
The current creep speed is returned to Speed during search for zero in a unit of r/min or mm/s.

Set a home position return speed. At this time, write "02h" in Number of entries.
Set a home position return speed in Speed during search for switch in a unit of r/min or mm/s.
Set a creep speed in Speed during search for zero in a unit of r/min or mm/s.

(4) Statusword (6041h)

POINT

When the mode is switched to the hm mode after home position return
completion, Statusword (6041h) is "Homing procedure is completed
successfully" unless "0" is set in Bit 12. The following shows the conditions when
"0" is set in Bit 12.
For incremental system

At power-on
At communication shut-off by master station (controller) reset
At home position return start
At home position erasure

For absolute position detection system

At home position return start

At home position erasure
To check the home position return status with Statusword (6041h), note the
following.

When the mode is switched to the hm mode, Modes of operation display

(6061h) is changed to 6 (hm) and Statusword (6041h) changes at the same

time.

The transition of Statusword (6041h) may take 50 ms at a maximum after Bit 4

(Homing operation start) of Controlword (6040h) is set. To obtain the status of

Statusword without any fault, wait 50 ms or more before obtaining Statusword

(6041h).
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword (6041h) are changed to "1" and then wait 8
ms. It may take approximately 8 ms for the position information to be correctly
updated.

Data
Type

Default

Index

6041h 0 ro Statusword U16

Sub

Index

Access Name

Data
Type

6 - 7

Default

6. SERVO MOTOR DRIVING

The current control status can be checked.
The following table lists the bits of this object that relate to the home position return operation.

Bit Description

0 to 9 Refer to section 5.1.2.

10

11 Refer to section 5.1.2.

12

13

14 to 15 Refer to section 5.1.2.

Target reached
Refer to (a) and the following table for the definition.

Homing attained
Refer to (b) and the following table for the definition.

Homing error
Refer to (c) and the following table for the definition.

(a) Bit 10 (Target reached) of Statusword (6041h)

Bit 10 turns on (1) when the command position is reached. If bit 8 (Halt) of Controlword (6040h) is
set to "1", bit 10 turns on (1) when a deceleration stop is completed.
If a command is input again, bit 10 turns off (0).

(b) Bit 12 (Homing attained) of Statusword (6041h)

Bit 12 turns off (0) when a home position return operation is started and turns on (1) when the
operation is completed. For absolute position detection system, bit 12 turns on (1) after the power
supply is turned on.

(c) Bit 13 (Homing error) of Statusword (6041h)

Bit 13 turns on (1) when an alarm or warning ([AL 90.2], [AL 90.3], [AL 90.5], [AL 96.1], [AL 96.2], or
[AL 96.3]) occurs during a home position return operation.

The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword (6041h) in the hm mode.

Bit 13 Bit 12 Bit 10 Definition

0 0 0 Homing procedure is in progress

0 0 1 Homing procedure is interrupted or not started

0 1 0 Homing is attained, but target is not reached

0 1 1 Homing procedure is completed successfully

1 0 0 Homing error occurred, velocity is not 0

1 0 1 Homing error occurred, velocity is 0

1 1 reserved

6 - 8

6. SERVO MOTOR DRIVING

6.1.3 Directions for use

POINT

To execute a home position return securely, move the servo motor to the
opposite stroke end with jog operation (jg) from the master station (controller) or
by using other means before starting a home position return.
When changing the mode after the home position return completion, set Target
position (607Ah) to "0", and change the control mode.

(1) Home position return method

[Precondition setting]

Set an IP address that can communicate with the master
station (controller).
Set the point table method or the indexer method in "Control
mode selection" of [Pr. PA01].

Set Homing method (6098h).

Save the object in the EEP-ROM by using Save all parameters in Store parameters (1010h).

Cycle the power.

Set Speed during search for switch and Speed during search for
zero of Homing speed (6099h).
Set Homing acceleration (609Ah).

Save the object in the EEP-ROM by using Save all parameters in Store parameters (1010h).

Specify Homing mode (hm) with Modes of operation (6060h).

Check that the control mode has been switched to Homing mode (hm) with Modes of

Set 0Fh in Controlword (6040h).→ Operation enable

Set 1Fh in Controlword (6040h) to start home position return.

operation Display (6061h).

Skip if the settings do

not need to be

changed.

Save the parameter in

the EEP-ROM if

necessary.

Check that bit 12 (Homing attained) of Statusword (6041h) is "1".

Home position return completion

6 - 9

6. SERVO MOTOR DRIVING

(2) CiA 402-type Homing method

(a) Home position return type in CiA 402 type

The following shows the CiA 402-type home position return.

1) Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.

3

3

4

4

Index Pulse

Home Switch

2) Method 5 and 6: Homing on negative home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 are the same as
Method 3 and 4 except that the starting direction is forward in Method 3 and 4, and reverse in
Method 5 and 6.

6 - 10

6. SERVO MOTOR DRIVING

3) Method 7, 8, 11, 12: Homing on home switch and index pulse
These types include the operation at stroke end detection in addition to the operation of Method 3
to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has
the operation of the dog type last Z-phase reference home position return. Method 8 has the
operation of the dog cradle type home position return at a forward rotation start. Method 11 and
12 are the same as Method 7 and 8 except that the starting direction is forward in Method 7 and
8, and reverse in Method 11 and 12.

8

7

7

8

7

8

Index Pulse

Home Switch

Positive Limit Switch

4) Method 17 to 30: Homing without index pulse
Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the
home position on the dog but not on the Z-phase. The following figure shows the operation of the
home position return type of Method 19 and Method 20. Method 19 and Method 20 have the
operation of Method 3 and Method 4; however, these types set the home position on the dog but
not on the Z-phase. Method 19 has the operation of the dog type front end reference home
position return. Method 20 has the operation of the dog cradle type home position return;
however, the stop position is on the dog but not on the Z-phase.

19

19

20

20

Home Switch

6 - 11

6. SERVO MOTOR DRIVING

5) Method 33 and 34: Homing on index pulse
These home position return types set the Z-phase detected first as a home position. The
operation is the same as that of the dogless Z-phase reference home position return except that
the creep speed is applied at the start.

33

Index Pulse

6) Method 35 and 37: Homing on current position
These home position return types set the current position as a home position. The operation is
the same as that of the data set type home position return; however, these types can be
executed even during servo-off.

Statusword bit 12
Homing attained

ON
OFF

34

Servo motor speed

Controlword bit 4
Homing operation start

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF

Home position return position data

6 - 12

6. SERVO MOTOR DRIVING

(b) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

method.

1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.

ON
OFF
ON
OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF
ON
OFF

Acceleration time
constant

10 ms or shorter

Home position shift distance

Home position
return direction

0 r/min
Reverse
rotation

After retracting to before proximity dog,
the home position return starts from here.

Home position return speed

Proximity dog

Deceleration time constant

Creep speed

Proximity dog

Home position return start position

Home position return position data

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

6 - 13

6. SERVO MOTOR DRIVING

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing
method 6 is opposite to that of Homing method 4.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position
shift distance

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Servo motor speed 0 r/min

ON
OFF
ON
OFF
ON
OFF

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

shift distance

Proximity dog

Home position
return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position
return direction

Forward
rotation

Home position return start position

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

6 - 14

6. SERVO MOTOR DRIVING

3) Method 7 and Method 11 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 7. The operation direction of Homing
method 11 is opposite to that of Homing method 7.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

ON
OFF
ON
OFF

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF
ON
OFF

Acceleration time
constant

10 ms or shorter

Home position shift distance

Home position
return direction

0 r/min
Reverse
rotation

After retracting to before proximity dog,
the home position return starts from here.

Home position return speed

Proximity dog

Deceleration time constant

Creep speed

Proximity dog

Home position return start position

Home position return position data

When a home position return is started from the proximity dog

Home position
return direction

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 15

6. SERVO MOTOR DRIVING

4) Method 8 and Method 12 (Homing on home switch and index pulse)
The following figure shows the operation of Homing method 8. The operation direction of Homing
method 12 is opposite to that of Homing method 8.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position
shift distance

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Servo motor speed

ON
OFF
ON
OFF
ON
OFF

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

shift distance

Proximity dog

Home position
return position data

Home position return start positionHome position

When a home position return is started from the proximity dog

Home position
return direction

Home position return
start position

Forward
rotation

0 r/min
Reverse
rotation

Home position

shift distance

Proximity dog

Home position return
position data

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 16

6. SERVO MOTOR DRIVING

5) Method 19 and Method 21 (Homing without index pulse)
The following figure shows the operation of Homing method 19. The operation direction of
Homing method 21 is opposite to that of Homing method 19.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4
Homing operation start

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

Acceleration time
constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

+

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

6 - 17

6. SERVO MOTOR DRIVING

6) Method 20 and Method 22 (Homing without index pulse)
The following figure shows the operation of Homing method 20. The operation direction of
Homing method 22 is opposite to that of Homing method 20.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time
constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

+

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Servo motor speed 0 r/min

ON
OFF
ON
OFF
ON
OFF

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

Home position shift distance

Travel distance after proximity dog

+

Proximity dog

Home position
return position data

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Forward
rotation

Home position return start position

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

6 - 18

6. SERVO MOTOR DRIVING

7) Method 23 and Method 27 (Homing without index pulse)
The following figure shows the operation of Homing method 23. The operation direction of
Homing method 27 is opposite to that of Homing method 23.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4
Homing operation start

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

Acceleration time
constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

Proximity dog

+

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Forward
rotation

Servo motor speed

Note. This is not available with the software limit.

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 19

6. SERVO MOTOR DRIVING

8) Method 24 and Method 28 (Homing without index pulse)
The following figure shows the operation of Homing method 24. The operation direction of
Homing method 28 is opposite to that of Homing method 24.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time
constant

Creep speed

Home position shift distance

Travel distance after proximity dog

Proximity dog

+

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

Servo motor speed

ON
OFF
ON
OFF
ON
OFF

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

Home position shift distance

Travel distance after proximity dog

+

Proximity dog

Home position
return position data

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Home position return
start position

Forward
rotation

0 r/min
Reverse
rotation

Home position

shift distance

Proximity dog

Home position return
position data

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 20

6. SERVO MOTOR DRIVING

9) Method 33 and Method 34 (Homing on index pulse)
The following figure shows the operation of Homing method 34. The operation direction of
Homing method 33 is opposite to that of Homing method 34.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

ON
OFF
ON
OFF

Servo motor speed

Z-phase

Controlword bit 4
Homing operation start

Servo motor speed 0 r/min

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.

Statusword bit 12
Homing attained

Forward
rotation

0 r/min
Reverse
rotation

OFF
ON
OFF

ON
OFF

Acceleration time
constant

Creep speed

10 ms or shorter

Home position return
position data

Home position shift distanceON

Home position
return direction

Forward
rotation

Home position return start position

When the stroke end is detected

Deceleration time
constant

Creep speed

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

Servo motor speed

Controlword bit 4
Homing operation start

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF

Home position return position data

6 - 21

6. SERVO MOTOR DRIVING

(3) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home position return.

(a) Method -1 and -33

(1) Dog type home position return

The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time
constant

Creep speed

td

Proximity dog(Note)

Home position
shift distance

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return

speed to the creep speed.

ON
OFF
ON
OFF
ON
OFF

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

return direction

0 r/min
Reverse
rotation

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Proximity dog

Stroke end (Note)

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

6 - 22

6. SERVO MOTOR DRIVING

a) Length of the proximity dog

To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity
dog), set the length of the proximity dog that satisfies equations (6.1) and (6.2).

V

60

td

•

··································································································· (6.1)

2

L

≥

1

L

: Length of the proximity dog [mm]

1

V: Home position return speed [mm/min]
td: Deceleration time [s]

L

≥ 2 • ∆S ······································································································ (6.2)

2

L

: Length of the proximity dog [mm]

2

∆S: Travel distance per servo motor revolution [mm] (Note)

Note. For linear servo motor: travel distance per stop interval selection at the home position return of [Pr. PL01]

b) Adjustment

For the dog type home position return, adjust the setting so that the Z-phase signal is always
generated during the detection of a dog. Make an adjustment so that the rear end of DOG
(Proximity dog) is positioned almost at the center between the positions specified by a Z­phase signal and the next Z-phase signal.
The generation position of the Z-phase signal can be checked with "Position within one­revolution" of "Status Display" on MR Configurator2.

0 Resolution/2 0

Servo motor Z-phase

DOG (Proximity dog)

ON
OFF

Proximity
dog

6 - 23

6. SERVO MOTOR DRIVING

2) Torque limit changing dog type home position return
The following figure shows the operation of Homing method -1 in the indexer method. The
operation direction of Homing method -33 is opposite to that of Homing method -1.

Power supply

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

ON
OFF
ON
OFF
ON
OFF

Point actual value

Forward
rotation

Servo motor speed

Z-phase

Controlword bit 4
Homing operation start

DOG (Proximity dog)

Enabled torque limit value

Note. A delay time can be set with [Pr. PT39].

0 r/min
Reverse
rotation

ON
OFF

ON
OFF

ON
OFF

Hold the previous value

Home position

return speed

Set time in
[Pr. PT56]

Positive torque limit value

Negative torque limit value

Set time in [Pr. PT56]
or [Pr. PT57]

Creep speed

Home position
shift distance

0

Position where the station home
position shift distance is added

(Note)

[Pr. PC77][Pr. PC77]

6 - 24

6. SERVO MOTOR DRIVING

(b) Method -2 and -34 (Count type home position return)

Travel distance after
proximity dog

The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

POINT

For the count type home position return, after the front end of the proximity dog
is detected, the position is shifted by the distance set in the travel distance after
proximity dog. Then, the first Z-phase is set as the home position. Therefore,
when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the
dog type home position return cannot be used because the length of the
proximity dog cannot be reserved or other cases.

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time
constant

Proximity dog(Note)

Creep speed

Home position
shift distance

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,

[AL. 90] occurs. Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return

speed to the creep speed.

ON
OFF
ON
OFF
ON
OFF

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

return direction

0 r/min
Reverse
rotation

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

6 - 25

6. SERVO MOTOR DRIVING

Servo motor speed

Note. This is not available with the software limit.

(c) Method -3

1) Data set type home position return
The following figure shows the operation of Homing method -3. This type cannot be executed
during servo-off.

Statusword bit 12
Homing attained

Servo motor speed

Controlword bit 4
Homing operation start

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF

Proximity dog

Stroke end (Note)

Home position return position data

2) Torque limit changing data set type home position return
The following figure shows the operation of Homing method -3 in the indexer mode. This type
cannot be executed during servo-off.

Modes of operation

Statusword bit 12
Homing attained

Point actual value

Servo motor speed 0 r/min

Controlword bit 4
Homing operation start

ON
OFF

Forward
rotation

Reverse
rotation

ON
OFF

Homing mode (hm)

Hold the previous value 0

Home position return
position data

0% [Pr. PC77][Pr. PC77]Enabled torque limit value

6 - 26

6. SERVO MOTOR DRIVING

(d) Method -4 and -36 (stopper type home position return)

Home position return speed

10 ms or shorter

5 ms or longer

The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 is opposite to that of Homing method -4.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

Controlword bit 4
Homing operation start

TLC (Limiting torque)

Torque limit value

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

POINT

Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.

Acceleration time
constant

[Pr. PT10 Stopper type home position return stopper time]

Torque limit value (Note 1)

Home position return
position data

Stopper

(Note 2)

[Pr. PT11] Torque limit value (Note 1)

Note 1. When Method -4 is set, the torque limit value of 60E0h (Positive torque limit value) is applied. When Method -36 is set, the

torque limit value of 60E1h (Negative torque limit value) is applied.

2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position

Forward

Servo motor speed 0 r/min

rotation

Home position return start position

return direction

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

6 - 27

6. SERVO MOTOR DRIVING

(e) Method -6 and -38 (dog type rear end reference home position return)

Deceleration time
constant

Proximity dog(Note)

The following figure shows the operation of Homing method -6. The operation direction of Homing
method -38 is opposite to that of Homing method -6.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4
Homing operation start

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the rear end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.

Acceleration time
constant

Home position return speed

10 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

+

Home position return
position data

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Revise the length of the proximity dog or revise both the home position return speed and creep speed.

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

6 - 28

6. SERVO MOTOR DRIVING

Home position
return direction

Proximity dog

Stroke end (Note)

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

6 - 29

6. SERVO MOTOR DRIVING

(f) Method -7 and -39 (count type front end reference home position return)

Deceleration time
constant

The following figure shows the operation of Homing method -7. The operation direction of Homing
method -39 is opposite to that of Homing method -7.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

DOG (Proximity dog)

Controlword bit 4
Homing operation start

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

POINT

This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.

Acceleration time
constant

Home position return speed

10 ms or shorter

Travel distance after proximity dog

Home position shift distance

Creep speed

Proximity dog

+

Home position return
position data

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 30

6. SERVO MOTOR DRIVING

(g) Method -8 and -40 (dog cradle type home position return)

The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return speed

10 ms or shorter

Deceleration time constant

Creep speed

Proximity dog

Home position
shift distance

Home position return
position data

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Servo motor speed

When a home position return is started from the proximity dog

Servo motor speed

ON
OFF
ON
OFF
ON
OFF

Home position
return direction

Forward
rotation

0 r/min
Reverse
rotation

shift distance

Forward
rotation

0 r/min
Reverse
rotation

Home position

shift distance

Proximity dog

Home position return
position data

Proximity dog

Home position
return position data

Home position return start positionHome position

Home position
return direction

Home position return
start position

Stroke end (Note)

Note. This is not available with the software limit.

When the servo motor returns at the stroke end

6 - 31

6. SERVO MOTOR DRIVING

(h) Method -9 and -41 (dog type last Z-phase reference home position return)

The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

ON
OFF
ON
OFF

Acceleration time
constant

Forward

Servo motor speed

Z-phase

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs.

Revise the length of the proximity dog or revise both the home position return speed and creep speed.

rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF
ON
OFF

10 ms or shorter

Home position shift distance

Home position return speed

Creep speed

(Note)

Deceleration time constant

Home position return position data

Proximity dog

Home position

Servo motor speed

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

After retracting to before proximity dog,
the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

Proximity dog

Stroke end (Note)

When the servo motor returns at the stroke end

6 - 32

6. SERVO MOTOR DRIVING

(i) Method -10 and -42 (dog type front end reference home position return)

The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

Servo motor speed

ON
OFF
ON
OFF

Forward
rotation

0 r/min
Reverse
rotation

Acceleration time
constant

Home position return position data

10 ms or shorter

Home position

return speed

Deceleration time constant

Creep speed

Travel distance after proximity dog

Home position shift distance

+

(Note)

DOG (Proximity dog)

Controlword bit 4
Homing operation start

Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep

speed, [AL. 90] occurs. Revise the length of the proximity dog or revise both the home position return speed and creep speed.

ON
OFF
ON
OFF

Proximity dog

Home position

Servo motor speed

After retracting to before proximity dog,
the home position return starts from here.

0 r/min
Reverse
rotation

return direction

Proximity dog

Home position return start position

When a home position return is started from the proximity dog

Home position
return direction

Proximity dog

Stroke end (Note)

Forward

Servo motor speed

Note. This is not available with the software limit.

rotation

0 r/min
Reverse
rotation

The home position return starts from here.

Home position return start position

When the servo motor returns at the stroke end

6 - 33

6. SERVO MOTOR DRIVING

(j) Method -11 and -43 (dogless Z-phase reference home position return)

The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.

Statusword bit 10
Target reached

Statusword bit 12
Homing attained

ON
OFF
ON
OFF

Acceleration time
constant

Home position return speed

Deceleration time
constant

Servo motor speed

Z-phase

Controlword bit 4
Homing operation start

Servo motor speed 0 r/min

Forward
rotation

0 r/min
Reverse
rotation

ON
OFF
ON
OFF

Home position return

position data

10 ms or shorter

Home position shift distance

Home position
return direction

Forward
rotation

Home position return start position

When the stroke end is detected

Creep speed

Stroke end

The servo motor stops due to
the occurrence of [AL. 90].

6 - 34

6. SERVO MOTOR DRIVING

6.2 Point table mode (pt)

6.2.1 Point table mode (pt)

In this mode, you can arrange point tables in advance, select any point tables in "Target point table" , and
start the operation with "Controlword bit 4 (New set-point)". You can select either absolute value command
method or incremental value command method with [Pr. PT01] and the auxiliary function of the point table.

(1) Absolute value command method

As position data, set the target address to be reached.

Setting range: -999999 to 999999 [×10

(STM-4)

-999999 to 999999 [×10

inch] (STM = Feed length multiplication [Pr. PT03])

-999999 to 999999 [pulse]

-999999 999999

Setting range of the position data

[×10

STM

μm] / [×10

(STM-4)

inch] / [pulse]

STM

μm] (STM = Feed length multiplication [Pr. PT03])

(2) Incremental value command method

As position data, set the travel distance from the current address to the target address.

Setting range: 0 to 999999 [×10
0 to 999999 [×10

(STM-4)

inch] (STM = Feed length multiplication [Pr. PT03])

STM

μm] (STM = Feed length multiplication [Pr. PT03])

0 to 999999 [pulse]

Current address Target address

Position data = |Target address - Current address|

6 - 35

6. SERVO MOTOR DRIVING

6.2.2 Automatic operation using point table

(1) Absolute value command method

This function is enabled by selecting either absolute position command method or incremental value
command method with the auxiliary function of the point table.

(a) Point table

Set the point table values using MR Configurator2 or "Point table 001 to 255".
Set the position data, servo motor speed, acceleration time constant, deceleration time constant,
dwell time, and auxiliary function to the point table.
To use the point table with the absolute position command method, set "0", "1", "8", or "9" to the
auxiliary function. To use the point table with the incremental value command method, set "2", "3",
"10", or "11" to the auxiliary function.
When you set a value outside the setting range to the point table, the setting value will be clamped
with the maximum or minimum value. If the value becomes out of the range because of the changes

Position data

Servo motor
speed

Acceleration
time constant

Deceleration
time constant

Dwell 0 to 20000 ms

Auxiliary
function

Note 1. When the unit of the position data is μm or inch, the location of the decimal point is changed according to the STM setting.

2. The unit will be mm/s in the linear servo motor control mode.

in the command unit or the connected servo motor, [AL. 37] will occur.

Item Setting range Unit Description

STM

-999999 to 999999
(Note 1)

0 to permissible
speed

0 to 20000 ms Set a time for the servo motor to reach the rated speed.

0 to 20000 ms Set a time for the servo motor to stop from the rated speed.

0 to 3, 8 to 11

×10

(STM-4)

×10

pulse

0.01 r/min

0.01 mm/s
(Note 2)

(1) When using this point table with the absolute value command method

µm

inch

Set the target address (absolute value).

(2) When using this point table with the incremental value command method

Set the travel distance. A "-" sign indicates a reverse rotation command.

Set the command speed of the servo motor for execution of positioning.
The setting value must be equal to or less than the instantaneous permissible

speed of the servo motor used.
If a value smaller than "1" is set for the servo motor speed, the servo motor may

not rotate.

Set the dwell.
To disable the dwell, set "0" or "2" to the auxiliary function.
To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" to the

auxiliary function and "0" to the dwell.
When the dwell is set, a positioning of the next point table will be started after

the positioning of the selected data is completed, and the set dwell has
elapsed.

Set the auxiliary function.
(1) When using the point table with the absolute value command method

0: Automatic operation for a selected point table is performed.
1: Automatic operation for the next point table is performed.
8: Automatic operation for a point table selected at start-up is performed.
9: Automatic operation for point table No. 1 is performed.

(2) When using this point table with the incremental value command method

2: Automatic operation for a selected point table is performed.
3: Automatic operation for the next point table is performed.
10: Automatic operation for a point table selected at start-up is performed.
11: Automatic operation for point table No. 1 is performed.

When an opposite rotation direction is set, the servo motor rotates in the
opposite direction after smoothing zero (command output) is confirmed.

Setting "1" or "3" to point table No. 255 results in an error.
Refer to section 6.2.6 (1) (b) for details.

6 - 36

6. SERVO MOTOR DRIVING

A

(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])
Select the absolute value command method as shown below.

[Pr. PT01]

0

Absolute value command method

2) Rotation direction selection ([Pr. PA14])
Select the servo motor rotation direction when "Controlword bit 4 (New set-point)" is switched on.

[Pr. PA14] setting

0

1

Servo motor rotation direction

"Controlword bit 4 (New set-point)" on

CCW rotation with + position data
CW rotation with - position data

CW rotation with + position data
CCW rotation with - position data

CCW

CW

3) Position data unit ([Pr. PT01])
Set the unit of the position data.

[Pr. PT01] setting Position data unit

_ 0 _ _ mm

_ 1 _ _ inch

_ 3 _ _ pulse

4) Feed length multiplication ([Pr. PT03])
Set the feed length multiplication factor (STM) of the position data.

[Pr. PT03] setting

_ _ _ 0 - 999.999 to + 999.999 - 99.9999 to + 99.9999

_ _ _ 1 - 9999.99 to + 9999.99 - 999.999 to + 999.999

_ _ _ 2 - 99999.9 to + 99999.9 - 9999.99 to + 9999.99

_ _ _ 3 - 999999 to + 999999 - 99999.9 to + 99999.9

[mm] [inch] [pulse] (Note 2)

Position data input range (Note 1)

- 999999 to + 999999

Note 1. The "-" sign has different meanings under the absolute value command method and the incremental value

command method. Refer to section 6.2.1 for details.

2. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.

djust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

6 - 37

6. SERVO MOTOR DRIVING

(c) Operation

Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set­point)" starts positioning to the position data at the set speed, acceleration time constant and

(2) Incremental value command method

Position data 0 to 999999 (Note 1)

Servo motor
speed

Acceleration
time constant

Deceleration
time constant

Dwell 0 to 20000 ms

Auxiliary
function

Note 1. When the unit of the position data is μm or inch, the location of the decimal point is changed according to the STM setting.

2. The unit will be mm/s in the linear servo motor control mode.

deceleration time constant.

Item Object to be used Setting

Point table mode (pt)
selection

Point table selection Target point table Set the point table No. to use.

Start Controlword Switch on "Controlword bit 4 (New set-point)".

Modes of operation Set "-101".

POINT

The incremental value command method ([Pr. PT01] = _ _ _ 1) is not available
in the absolute position detection system. When using the absolute position
detection system, select the absolute value command method ([Pr. PT01] = _ _
_ 0).

(a) Point table

Set the point table values using MR Configurator2 or "Point table 001 to 255".
Set the position data, servo motor speed, acceleration time constant, deceleration time constant,
dwell time, and auxiliary function to the point table.
When you set a value outside the setting range to the point table, the setting value will be clamped
with the maximum or minimum value. If the value becomes out of the range because of the changes
in the command unit or the connected servo motor, [AL. 37] will occur.

Item Setting range Unit Description

STM

μm

×10

(STM-4)

×10

pulse

0 to permissible
speed

0 to 20000 ms Set a time for the servo motor to reach the rated speed.

0 to 20000 ms Set a time for the servo motor to stop from the rated speed.

0, 1, 8, or 9

0.01 r/min

0.01 mm/s
(Note 2)

Set the travel distance.

inch

The unit can be changed by [Pr. PT03] (Feed length multiplication).

Set the command speed of the servo motor for execution of positioning.
The setting value must be equal to or less than the instantaneous permissible

speed of the servo motor used.

Set the dwell.
To disable the dwell, set "0" to the auxiliary function.
To perform a continuous operation, set "1", "8" or "9" to the auxiliary function

and "0" to the dwell.
When the dwell is set, a positioning of the next point table will be started after

the positioning of the selected data is completed, and the set dwell has
elapsed.

Set the auxiliary function.
0: Automatic operation for a selected point table is performed.
1: Automatic operation for the next point table is performed.
8: Automatic operation for a point table selected at start-up is performed.
9: Automatic operation for point table No. 1 is performed.
Setting "1" to point table No. 255 results in an error.
Refer to section 6.2.6 (1) (b) for details.

6 - 38

6. SERVO MOTOR DRIVING

A

(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])
Select the incremental value command method as shown below.

[Pr. PT01]

1

Incremental value command method

2) Rotation direction selection ([Pr. PA14])
Select the servo motor rotation direction when "Controlword bit 4 (New set-point)" is switched on.

[Pr. PA14] setting

0 CCW rotation (address increase) CW rotation (address decrease)

1 CW rotation (address increase) CCW rotation (address decrease)

Forward rotation start

(Controlword bit 4 (New set-point): on

Controlword bit 5 (Direction): off)

Servo motor rotation direction

Reverse rotation start

(Controlword bit 4 (New set-point): on

Controlword bit 5 (Direction): on)

Controlword bit 5 off

Controlword bit 5 on

CCWCCW

CW CW

Controlword bit 5 on

[Pr. PA14]: 0 [Pr. PA14]: 1

Controlword bit 5 off

3) Position data unit ([Pr. PT01])
Set the unit of the position data.

[Pr. PT01] setting Position data unit

_ 0 _ _ mm

_ 1 _ _ inch

_ 3 _ _ pulse

4) Feed length multiplication ([Pr. PT03])
Set the feed length multiplication factor (STM) of the position data.

[Pr. PT03] setting

_ _ _ 0 0 to + 999.999 0 to + 99.9999

_ _ _ 1 0 to + 9999.99 0 to + 999.999

_ _ _ 2 0 to + 99999.9 0 to + 9999.99

_ _ _ 3 0 to + 999999 0 to + 99999.9

Position data input range

[mm] [inch] [pulse] (Note)

0 to + 999999

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.

djust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

6 - 39

6. SERVO MOTOR DRIVING

(c) Operation

Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set­point)" starts positioning to the position data at the set speed, acceleration time constant and
deceleration time constant.
Switching on "Controlword bit 5 (Direction)" starts a reverse rotation of the motor in accordance with

6.2.3 Related object

The following shows the functions and related objects of the point table mode (pt).

Torque limit value
(60E0h, 60E1h)

the values set to the selected point table.

Item Object to be used Setting

Point table mode (pt)
selection

Point table selection Target point table Set the point table No. to use.

Rotation direction Controlword

Start Controlword Switch on "Controlword bit 4 (New set-point)".

Modes of operation Set "-101".

Forward rotation direction when "Controlword
bit 5 (Direction)" is off.

Reverse rotation direction when "Controlword
bit 5 (Direction)" is on.

Quick stop deceleration
(6085h)

Quick stop option code
(605Ah)

Target point table
(2D60h)

Point table
(2801h to 28FFh)

Software position limit
(607Dh)

Point demand value
(2D68h)

Point actual value
(2D69h)

Point table error
(2A43h)

M code actual value
(2D6Ah)

Gear ratio
(6091h)

Polarity
(607Eh)

Following error actual value
(60F4h)

Position actual value
(6064h)

Velocity actual value
(606Ch)

Torque actual value
(6077h)

Acceleration

limit

function

Point
table

function

+

-

Speed
(2801h: 2 to 28FFh: 2)

Acceleration
(2801h: 3 to 28FFh: 3)

Deceleration
(2801h: 4 to 28FFh: 4)

Point data
(2801h: 1 to 28FFh: 1)

Control

effort

Position

limit

function

× ×

Position
trajectry

generator

Position

control

(60FAh)

Velocity

control

Torque
control

Motor

Encoder

×××

×

×

×

Position actual internal value (6063h)

×

6 - 40

6. SERVO MOTOR DRIVING

(1) Related object

Index Sub Name

0 Software position limit U8 ro 2 Number of entries

607Dh

6085h

605Ah

6063h

6064h Position actual value I32 ro Current position (Pos units)

606Ch Velocity actual value I32 ro

6077h Torque actual value I32 ro

6092h

60F4h

60FAh Control effort I32 ro

60E0h

60E1h

6091h

607Eh Polarity U8 rw 0

60A8h SI unit position U32 rw 0

60A9h SI unit velocity U32 rw 0

1 Min position limit I32 rw 0 Minimum position address (Pos units)

2 Max position limit I32 rw 0 Maximum position address (Pos units)

Quick stop

deceleration

Quick stop option

code

Position actual

internal value

0 Feed constant U8 ro 2

1 Feed

2 Shaft revolutions Number of servo motor shaft revolutions

Following error actual

value

Positive torque limit

value

Negative torque limit

value

0 Gear ratio U8 ro 2 Gear ratio

1 Motor revolutions

2 Shaft revolutions 1

Data

Type

U32 rw 100

U32 rw

U16 rw 10000

U16 rw 10000

U32 rw

Access Default Description

Deceleration time constant for Quick stop
Unit: ms

I16 rw 2

I32 ro Current position (Enc inc)

Travel distance setting

I32 ro Droop pulses (Pos units)

1

Operation setting for Quick stop
Refer to chapter 10.

Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)

Current torque
Unit: 0.1% (rated torque of 100%)

Travel distance per revolution of an output
shaft

Refer to chapter 10.

Position control loop output (speed
command)

Unit: Vel unit (0.01 r/min or 0.01 mm/s)

Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)

Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)

Number of revolutions of the servo motor axis
(numerator)

Number of revolutions of the drive axis
(denominator)

Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to chapter 10.

SI unit position
The value is automatically set according to

the setting of "Position data unit" of [Pr.
PT01].

Refer to chapter 10.

SI unit velocity

0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

6 - 41