Mitsubishi MR-JE Instruction Manual

General-Purpose AC Servo

Ethernet Interface

MODEL

MR-JE-_C

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

B

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

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

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

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

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

.

A - 1

1. To prevent electric shock, note the following

WARNING

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

2. To prevent fire, note the following

CAUTION

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

3. To prevent injury, note the following

CAUTION

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

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

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

Item Environment

Ambient

temperature

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

Ambient humidity

Storage

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

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

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

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

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

Operation

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

A - 3

r

(2) Wiring

CAUTION

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

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

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

Servo amplifier

DOCOM

Control output signal

For sink output interface

24 V DC

RA

Servo amplifie

DOCOM

Control output signal

For source output interface

24 V DC

RA

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

(3) Test run and adjustment

CAUTION

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

A - 4

CAUTION

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

(4) Usage

CAUTION

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

(5) Corrective actions

CAUTION

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

A - 5

CAUTION

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

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

Contacts must be opened with the emergency stop switch.

Servo motor

B

Electromagnetic brake

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

RA

U

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

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

(7) General instruction

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

A - 6

DISPOSAL OF WASTE

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

EEP-ROM life

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

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

Compliance with global standards

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

«About the manual»

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

Relevant manuals

Manual name Manual No.

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

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

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

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

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

«Cables used for wiring»

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

«U.S. customary units»

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

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

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

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

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

Temperature N [°C] × 9/5 + 32 N [°F]

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MEMO

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1. FUNCTIONS AND CONFIGURATION

1.1 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 axes of servo amplifiers (up to 16 axes of servo amplifiers per group) can be monitored by the controller. In the profile position mode, positioning operation can be performed based on the position data (target position) given via the controller.

1.1.1 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 Ethernet network can be integrated.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function List

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

Function Description

Position control mode (P) (pulse train input)

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

Torque control mode (T) (Analog input)

Position/speed control switching mode (P/S)

Speed/torque control switch mode (S/T)

Torque/position control switch mode (T/P)

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

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

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

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

Absolute position detection system

Model adaptive control

Touch probe function

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

High-resolution encoder

Gain switching function

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

This servo amplifier is used as a position control servo.

This servo amplifier is used as a speed control servo.

This servo amplifier is used as a torque control servo.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

explanation

"MR-JE-_C Servo Amplifier Instruction Manual"

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

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

Section 7.4.8

"MR-JE-_C Servo Amplifier Instruction Manual"

Detailed

1 - 2

1. FUNCTIONS AND CONFIGURATION

Function Description

Analyzes the frequency characteristic of the mechanical system by simply

Machine analyzer function

Robust filter

Slight vibration suppression control

Electronic gear

S-pattern acceleration/deceleration time constant

Auto tuning

Regenerative option

Alarm history clear Clears alarm histories.

Input signal selection (device settings)

Output signal selection (device settings)

Output signal (DO) forced output

Torque limit Limits the servo motor torque.

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

Automatic VC offset

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

Test operation mode

MR Configurator2

One-touch tuning

Tough drive function

Drive recorder function

connecting an MR Configurator2 installed personal computer and the servo amplifier.

MR Configurator2 is necessary for this function.

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

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

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

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

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

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

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

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

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

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

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

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

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

MR Configurator2 is necessary for this function.

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

MR Configurator2 is necessary for this function.

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

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

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 in the drive recorder window of MR Configurator2.

However, the drive recorder is not available when:

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

2. You are using the machine analyzer function.

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

Detailed

explanation

"MR-JE-_C Servo Amplifier Instruction Manual"

"MR-JE-_C Servo Amplifier

Instruction Manual"

Section 6.2 "MR-JE-_C

Servo Amplifier Instruction

Manual"

"MR-JE-_C Servo Amplifier Instruction Manual"

1 - 3

1. FUNCTIONS AND CONFIGURATION

Function Description

You can check the cumulative energization time and the number of on/off times of the

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Modbus/TCP

CC-Link IE Field Network Basic

SLMP

IP address filtering function

Operation specification IP address function

Lost motion compensation function

Limit switch

Software limit

inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.

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

6.4.)

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

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

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

6.3.)

The Modbus/TCP uses dedicated message frames for the Ethernet communication between a client (master) and servers (slaves). The dedicated message frames have functions for reading and writing data, you can set the parameters of servo amplifiers and monitor it by using this function. In the profile mode, driving the servo motor is also possible. This function is used with servo amplifiers with software version A3 or later.

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

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

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

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

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

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

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

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

Detailed

explanation

"MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Modbus/TCP)"

Chapter 2

Chapter 3

Chapter 5

"MR-JE-_C Servo Amplifier Instruction Manual"

Section 7.4.5

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.3 Communication specifications

1.3.1 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: 255.255.255.0

Message format Refer to chapter 2.

Physical layer 1000BASE-T

Communication connector RJ45, 1 port (CN1)

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

Network topology Star

Variable communication speed

Transmission speed between stations

Number of nodes

Standard response time (Note 1)

(Link scan time/timeout time (Note 2, 3))

Note 1. Standard response time refers to the time from when the servo amplifier receives a command from the master station until

when it returns a response to the master station.

2. Calculate the link scan time as follows. Also, use the standard 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).

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

Max. 64 stations (max. number of connections per group: 16 stations) Number of usable stations: 1 station per MR-JE-_C servo amplifier

10 ms

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1. FUNCTIONS AND CONFIGURATION

1.3.2 SLMP communication specifications

Function Description

Communication protocol UDP/TCP (Note)

iQSS No. 45237 (NodeSearch and IPAddressSet only)

Port No.

IP address

Subnet mask Default value: 255.255.255.0

Message format Refer to chapter 3.

Physical layer 1000BASE-T

Communication connector RJ45, 1 port (CN1)

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

Network topology Star

Variable communication speed

Transmission speed between stations

Maximum number of connections

Note. TCP is supported by servo amplifiers with software version A3 or later.

UDP No. 5010

TCP (Note)

UDP No limit

TCP (Note)

No. 5012

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

1

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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 send. Use link devices (RWr, RWw, RX, and RY) for data communications. Sending and receiving the request message and response message at a constant cycle allow the master station (controller) to perform link refresh. The servo amplifier reads the received data as an object library 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, RXn) of the servo amplifier. Table 2.1 and 2.2 list initial settings. The setting of the response message can be changed. When changing it from the initial setting, refer to section 7.2.3. Table 2.1 RYn/RXn mapping (supporting the position/speed/torque control mode, profile mode, and home position return mode)

(Note)

Device No.

RYn0 to RY (n + 3) E

RY (n + 3) F

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

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

Device Symbol Remark

Not used

Cyclic communication ready command

CSR

(Note)

Device No.

RXn0 to RX

(n + 3) E

RX (n + 3) F Cyclic communication ready SSR

Not used

Device Symbol Remark

2 - 2

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and

home position return mode)

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

(Note)

Device No.

RWwn00 6060 Control mode

RWwn01 6040 Control command Controlword RWrn01

RWwn02 2D01 Control input 1 Control DI 1 RWrn02 6041 Control status Statusword

RWwn03 2D02 Control input 2 Control DI 2 RWrn03

RWwn04 2D03 Control input 3 Control DI 3 RWrn04

RWwn05

RWwn06 RWrn06

RWwn07

RWwn08 RWrn08

RWwn09

RWwn0A

RWwn0B 6071

RWwn0C

RWwn0D RWrn0D 2A42 Alarm No. Current alarm 2

RWwn0E

RWwn0F

RWwn10

RWwn11 RWrn10

RWwn12

RWwn13 RWrn12

RWwn14 60E0

RWwn15 60E1

RWwn16 RWrn17

RWwn17 60B8

RWwn18 60F2

RWwn19 2D05 Control input 5 Control DI 5 RWrn1C

RWwn1A RWrn1D

RWwn1B RWrn1E

RWwn1C RWrn1F

RWwn1D

RWwn1E

RWwn1F

Index Device

Modes of operation

607A

60FF

2D20 Speed limit value (tq) Velocity limit value RWrn09 6077 Current torque

6081

6083

6084

6087

Position command (pp)

Speed command (pv)

Torque command (tq)

Command speed (pp)

Acceleration time constant (pp, pv)

Deceleration time constant (pp, pv)

Amount of torque command change (per second) (tq)

Torque limit value (forward)

Torque limit value (reverse)

Touch probe function setting

Positioning operation setting

Target position

Target velocity

Target torque

Profile velocity

Profile acceleration RWrn0E 60B9

Profile deceleration

Torque slope

Positive torque limit value

Negative torque limit value

Touch probe function

Positioning option code

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

2.4 Mapping data details of link device

(Note)

Device No.

RWrn00 6061

RWrn05

RWrn07

RWrn0A 2D11 Control output 1 Status DO 1

RWrn0B 2D12 Control output 2 Status DO 2

RWrn0C 2D13 Control output 3 Status DO 3

RWrn0F

RWrn11

RWrn13

RWrn14

RWrn15

RWrn16

RWrn18

RWrn19

RWrn1A

RWrn1B

Index Device

Control mode display

6064

606C Current speed

60F4 Droop pulses

60BA

60BB

2C12 Input device status 1

Current position (command unit)

Touch probe function status

Touch probe 1 Position latched at the rising edge

Touch probe 1 Position latched at the falling edge

Modes of operation display

Position actual value

Velocity actual value

Following error actual value

Torque actual value

Touch probe status

Touch probe pos1 pos value

Touch probe pos1 neg value

External Input signal display1

Refer to chapter 7.

2 - 3

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

MEMO

2 - 4

3. SLMP

3.1 Summary

POINT

SLMP (UDP) is supported by servo amplifiers with software version A0 or later. SLMP (TCP) is supported by servo amplifiers with software version A3 or later. In SLMP (TCP), if connection with a client disconnects during establishment, the connection may not close and this may cause reconnection failure. In case you cannot reconnect, cycle the power of the servo amplifier.

SLMP (SeamLess Message Protocol) is a common protocol which allows applications to communicate seamlessly regardless of different types of networks and network layers. SLMP communications can be performed for the connection with 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-JE_C 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 send.

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

Ethernet

header

IP

header

UDP

header

Subheader

Request

destination

network No.

Request destination station No.

Request

destination

module I/O No.

(2) Response message format

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

(a) At normal completion

SLMP

Ethernet

header

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.

Request

destination

multi-drop

station No.

Request

data

length

Response

data

length

Monitoring

timer

End code

Request data

Response data

Footer

(b) At abnormal completion

UDP

Ethernet

header

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 TCP/IP and UDP/IP. Add the header on the external device

side before sending a message. TCP/IP is supported by servo amplifiers with software version A3 or later.

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. An

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 TCP/IP and UDP/IP. Add the footer on the external device

2 bytes Big At a request: H5000

At a response: HD000

6 bytes Big At a request: H5400 + Serial number + H0000

At a response: HD400 + Serial number + H0000

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

Store a value of a request message.

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

hexadecimal. Store a value of a request message.

2 bytes Little Fixed to H03FF

1 bytes Fixed to H00

hexadecimal. Example) For 24 bytes: H1800

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.

H0000: Waiting until the processing is completed H0001 to HFFFF (1 to 65535): Waiting time (Unit: 0.25 s)

content.

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

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.

side before sending a message. TCP/IP is supported by servo amplifiers with software version A3 or later.

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

3.4 CiA 402 read/write command

The MR-JE-_C servo amplifier supports the CiA 402 read/write command.

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

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.

SLMP

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.

(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

(b) At abnormal completion

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

(3) Item list

Command 2 bytes Little H4020

Sub command 2 bytes Little H0001

Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)

Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)

Reserved 1 bytes Fixed to H00

Number of data value 2 bytes Little Read data: Fixed to H00

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.

3.4.2 SDO Download (CiA 402 object write)

Sub

Index

Number of data

Reserved

value

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 H4020

Sub command 2 bytes Little H0002

Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)

Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)

Reserved 1 bytes Fixed to H00

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 H4020

Sub command 2 bytes Little H0005

Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)

Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)

Reserved 1 bytes Fixed to H00

Number of data value 2 bytes Little Read data: Fixed to H00

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.

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.

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.

(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

(b) At abnormal completion

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

(3) Item list

Command 2 bytes Little H4020

Sub command 2 bytes Little H0006

Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)

Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)

Reserved 1 bytes Fixed to H00

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.

Sub

Index

Number of data

Reserved

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 The sub command is specified incorrectly. Or, 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.

(2) 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

POINT

Setting [Pr. PN02 Communication error detection time] to several milliseconds may trigger [AL. 86.1] in the following condition. The power of the servo amplifier is cycled, or an instantaneous power failure occurs during CC-Link IE Field Network Basic communication. Setting [Pr. PN10 Ethernet communication time-out selection] to several milliseconds may trigger [AL. 86.4] in the following condition. The power of the servo amplifier is cycled, or an instantaneous power failure occurs during SLMP communication.

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

4.1 CC-Link IE Field Network Basic initial communication setting

Start the cyclic communication in the following procedure.

Network setting

IP address setting

Subnet mask setting

Default gateway setting

Slave station (servo amplifier)

Communication start

procedure

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.) (1) Identification number setting rotary switch (SW1/SW2) (2) Parameter ([Pr. PN11] to [Pr. PN14]) (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 5.) (1) Parameter ([Pr. PN15] to [Pr. PN18]) (2) SLMP communication (IP Address Set command)

[Default gateway setting] The initial value is 192.168.3.1. To change the initial value, set it with either of the

following (1) or (2). (Refer to chapter 5.) (1) Parameter ([Pr. PN19] to [Pr. PN22]) (2) SLMP communication (IP Address Set command)

[Slave station (servo amplifier) power cycling] The settings of the IP address, subnet mask, and default gateway 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 - 1

4. STARTUP

4.2 IP address setting

POINT

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

223.255.255.254. Set the IP address within the range.

Set the IP address by using the SLMP command with the identification number setting rotary switch (SW1/SW2) on the display of the servo amplifier, MR Configurator2, or controller. When the IP address is changed with the identification number setting rotary switch (SW1/SW2), change it before powering on the servo amplifier. The IP address 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.

Identification number setting

rotary switch (SW1/SW2)

00h

01h to FFh

IP address

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

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

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

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

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

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

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

4th octet

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

4 - 2

5. PARAMETERS

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

Changing the values of the parameters for manufacturer setting

CAUTION

5.1 List of communication-related parameters

Setting a value out of the range

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

POINT

To enable a parameter whose symbol is preceded by *, cycle the power after setting it. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20]. The following parameters cannot be used with CC-Link IE Field Network Basic communication.

[Pr. PN10 Ethernet communication time-out selection] [Pr. PN23 KeepAlive time]

No. Symbol Name

PN01 For manufacturer setting 0h

PN02 CERT Communication error detection time 1000 ms [ms]

PN03 For manufacturer setting 0000h

PN04 0000h

PN05 0000h

PN06 0000h

PN07 0000h

PN08 0000h

PN09 1

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

PN11 *IPAD1 IP address setting 1 192

PN12 *IPAD2 IP address setting 2 168

PN13 *IPAD3 IP address setting 3 3

PN14 *IPAD4 IP address setting 4 0

PN15 *SNMK1 Subnet mask setting 1 255

PN16 *SNMK2 Subnet mask setting 2 255

PN17 *SNMK3 Subnet mask setting 3 255

PN18 *SNMK4 Subnet mask setting 4 0

PN19 *DGW1 Default gateway setting 1 192

PN20 *DGW2 Default gateway setting 2 168

PN21 *DGW3 Default gateway setting 3 3

PN22 *DGW4 Default gateway setting 4 1

PN23 *KAA KeepAlive time 3600 [s]

Initial value

Unit

5 - 1

5. PARAMETERS

No. Symbol Name

PN24 *IPAF1 IP address filter 1 0

PN25 *IPAF2 IP address filter 2 0

PN26 *IPAF3 IP address filter 3 0

PN27 *IPAF4 IP address filter 4 0

PN28 *IPFR2 IP address filter 2 range setting 256

PN29 *IPFR3 IP address filter 3 range setting 256

PN30 *IPFR4 IP address filter 4 range setting 256

PN31 *IPOA1 Operation specification IP address 1 0

PN32 *IPOA2 Operation specification IP address 2 0

PN33 *IPOA3 Operation specification IP address 3 0

PN34 *IPOA4 Operation specification IP address 4 0

PN35 *IPOR3 Operation specification IP address 3 range specification 256

PN36 *IPOR4 Operation specification IP address 4 range specification 256

PN37 For manufacturer setting 0000h

PN38 0000h

PN39 0000h

PN40 0000h

PN41 0000h

PN42 0000h

PN43 0000h

PN44 0000h

PN45 0000h

PN46 0000h

PN47 0000h

PN48 0000h

Initial value

Unit

5 - 2

5. PARAMETERS

5.2 Detailed list of communication-related parameters

POINT

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

No./symbol/

name

PN02 CERT Communica-

tion error detection time

PN10 *CONN Ethernet

communication time-out selection

PN11 *IPAD1 IP address

setting 1

Setting

digit

Set the time until [AL. 86.1 Network communication error 1] is detected.

Setting "0" will disable the detection of [AL. 86.1 Network communication error 1].

Setting range: 0 to 1000

Set the network number of the servo amplifier.

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

This parameter is enabled with SLMP.

Setting range: 0 to 60

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

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

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

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

Table 5.1 Relation between IP address setting and identification number setting rotary switch

Identification number

setting rotary switch

(SW1/SW2)

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

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

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

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

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

PN12 *IPAD2 IP address

setting 2

PN13 *IPAD3 IP address

setting 3

00h

01h to FFh

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

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

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

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

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

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

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

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

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

4th octet

Function

IP address

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

Initial value [unit]

1000

[ms]

0

[s]

192

168

3

5 - 3

5. PARAMETERS

No./symbol/

name

PN14 *IPAD4 IP address

setting 4

PN15 *SNMK1 Subnet mask

setting 1

PN16 *SNMK2 Subnet mask

setting 2

PN17 *SNMK3 Subnet mask

setting 3

PN18 *SNMK4 Subnet mask

setting 4

PN19 *DGW1 Default

gateway setting 1

PN20 *DGW2 Default

gateway setting 2

PN21 *DGW3 Default

gateway setting 3

PN22 *DGW4 Default

gateway setting 4

Setting

digit

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

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

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

number setting rotary switch and the parameter setting value.

Setting range: 0 to 255

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

Set the subnet mask assigned by the network administrator. The subnet mask can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

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

Set the subnet mask assigned by the network administrator. The subnet mask can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

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

Set the subnet mask assigned by the network administrator. The subnet mask can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

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

Set the subnet mask assigned by the network administrator. The subnet mask can also be changed simultaneously by the SLMP command

(IPAdressSet).

Setting range: 0 to 255

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

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

(IPAdressSet).

Setting range: 0 to 255

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

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

(IPAdressSet).

Setting range: 0 to 255

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

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

(IPAdressSet).

Setting range: 0 to 255

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

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

(IPAdressSet).

Setting range: 0 to 255

Function

Initial value [unit]

0

255

0

192

168

3

1

5 - 4

5. PARAMETERS

No./symbol/

name

PN24 *IPAF1 IP address

filter 1

PN25 *IPAF2 IP address

filter 2

PN26 *IPAF3 IP address

filter 3

PN27 *IPAF4 IP address

filter 4

PN28 *IPAF2 IP address

filter 2 range specification

PN29 *IPAF3 IP address

filter 3 range specification

PN30 *IPAF4 IP address

filter 4 range specification

PN31 *IPOA1 Operation

specification IP address 1

Setting

digit

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

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

Setting range: 0 to 255

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

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

Setting range: 0 to 255

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

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

Setting range: 0 to 255

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

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

Setting range: 0 to 255

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

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

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

Setting range: 0 to 256

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

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

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

Setting range: 0 to 256

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

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

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

Setting range: 0 to 256

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

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

When the function is enabled, the servo amplifier allows the following data 1) to 3) to be imported only if the IP address of the master station (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) SDO Download (command: 4020h, sub command: 0002h)

2) SDO Object SubID Block Download (command: 4020h, sub command: 0006h)

3) CC-Link IE Field Network Basic request message (RWwn) Monitoring, parameter setting, and test operation can be executed via Ethernet when

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

Setting range: 0 to 255

Function

Initial value [unit]

0

256

0

5 - 5

5. PARAMETERS

No./symbol/

name

PN32 *IPOA2 Operation

specification IP address 2

PN33 *IPOA3 Operation

specification IP address 3

PN34 *IPOA4 Operation

specification IP address 4

PN35 *IPOR3 Operation

specification IP address 3 range specification

Setting

digit

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

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

When the function is enabled, the servo amplifier allows the following data 1) to 3) to be imported only if the IP address of the master station (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) SDO Download (command: 4020h, sub command: 0002h)

2) SDO Object SubID Block Download (command: 4020h, sub command: 0006h)

3) CC-Link IE Field Network Basic request message (RWwn) Monitoring, parameter setting, and test operation can be executed via Ethernet when

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

Setting range: 0 to 255

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

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

When the function is enabled, the servo amplifier allows the following data 1) to 3) to be imported only if the IP address of the master station (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) SDO Download (command: 4020h, sub command: 0002h)

2) SDO Object SubID Block Download (command: 4020h, sub command: 0006h)

3) CC-Link IE Field Network Basic request message (RWwn) Monitoring, parameter setting, and test operation can be executed via Ethernet when

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

Setting range: 0 to 255

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

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

When the function is enabled, the servo amplifier allows the following data 1) to 3) to be imported only if the IP address of the master station (external device) matches with the operation specification IP address. If they are mismatched, the data is discarded.

1) SDO Download (command: 4020h, sub command: 0002h)

2) SDO Object SubID Block Download (command: 4020h, sub command: 0006h)

3) CC-Link IE Field Network Basic request message (RWwn) Monitoring, parameter setting, and test operation can be executed via Ethernet when

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

Setting range: 0 to 255

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

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

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

Setting range: 0 to 256

Function

Initial value [unit]

0

256

5 - 6

5. PARAMETERS

No./symbol/

name

PN36 *IPOA4 Operation

specification IP address 4 range specification

Setting

digit

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

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

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

Setting range: 0 to 256

Function

Initial value [unit]

256

5 - 7

5. PARAMETERS

MEMO

5 - 8

6. MANUFACTURER FUNCTIONS

6.1 Stroke end

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

During rotation at constant speed During deceleration to a stop

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

Servo motor speed

0 r/min

LSP or LSN

ON OFF

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

Mode Return method

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

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

Operation status

Part of droop pulses

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

Servo motor speed

LSP or LSN

0 r/min

ON OFF

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

A difference will be

Part of droop

generated between the

pulses

command position and the current position.

Perform a home position return again.

Remark

6 - 1

6. MANUFACTURER FUNCTIONS

6.2 One-touch tuning

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

(1) Related object

Index

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

2D51h 0 Reading One-touch tuning status 1 bytes 0

2D52h 0 Writing One-touch tuning Stop 2 bytes 0

2D53h 0 Writing One-touch tuning Clear 2 bytes 0

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

Sub-

address

Read/write Name

Data

type

Initial value

Description

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

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

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

Unit: %

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

trigger the error code "CCD4h".

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

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

touch tuning. The setting value of the restored

parameter is stored to the EEP-ROM.

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

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

misestimated C00Fh: One-touch tuning disabled

6 - 2

6. MANUFACTURER FUNCTIONS

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

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

Start

Startup of the system

Operation

One-touch tuning execution

One-touch tuning in progress

One-touch tuning completion

Tuning result check

End

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

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

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

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

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

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

6 - 3

6. MANUFACTURER FUNCTIONS

2

6.3 Machine diagnosis function

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

C20h

Bit 0 to Bit 3 Friction estimation status at forward rotation

Bit 4 to Bit 7 Friction estimation status at reverse rotation

Bit 8 to Bit 11 Vibration estimation status

During estimation

During estimation Estimation completed

During estimation

Estimation completed

C21h/2C22h

C23h/2C24h

C25h to 2C28h

Index

2C20h 0 Reading Machine diagnostic status 2 bytes Refer to section 7.1.

2C21h 0 Reading

2C22h 0 Reading

2C23h 0 Reading

2C24h 0 Reading

2C25h 0 Reading

2C26h 0 Reading

2C27h 0 Reading

2C28h 0 Reading

Sub-

address

Read/write Name

Static friction torque at

forward rotation

Dynamic friction torque at

forward rotation (at rated

Static friction torque at

reverse rotation

Dynamic friction torque at

reverse rotation (at rated

Oscillation frequency during

motor stop

Vibration level during motor

Oscillation frequency during

motor operating

Vibration level during motor

Undefined value Estimated value

speed)

stop

operating

Data

type

2 bytes

Initial value

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

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

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

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

Vibration frequency at stop/servo-lock Vibration frequency during stop/servo-lock

is displayed in increments of 1 Hz.

Vibration level at stop/servo-lock Vibration level during stop/servo-lock is

displayed in increments of 0.1%.

Vibration frequency during operation Vibration frequency during operation is

displayed in increments of 1 Hz.

Vibration level during operation Vibration level during operation is

displayed in increments of 0.1%.

Description

6 - 4

6. MANUFACTURER FUNCTIONS

6.4 Servo amplifier life diagnosis function

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

Index

2C18h 0 Reading Power ON cumulative time 4 bytes

2C19h 0 Reading Inrush relay ON/OFF number 4 bytes

Sub-

address

Read/write Name

Data

type

Initial value

Description

The cumulative energization time of the servo amplifier is returned.

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

6 - 5

6. MANUFACTURER FUNCTIONS

MEMO

6 - 6

7. OBJECT LIBRARY

Each data such as control parameters, command values, and feedback values is handled as an object composed of an address, object name, data type, access rule, and other elements. The object data can be exchanged between the master station (controller) and the slave stations (servo amplifiers). The aggregate of these objects is called object library.

7.1 Object library list

Sub

Index

1000 0 Supported profile information (Device Type)

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

1001 0 Alarm information (Error Register)

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

1008 0 Servo amplifier model (Manufacturer Device

1009 0 Hardware version (Manufacturer Hardware

100A 0 Servo amplifier software version (Manufacturer

1010 0 Writing command to EEP-ROM (Store

1 Saving all parameters (Save all parameters)

1011 0 Restoring default EEP-ROM parameters (Restore

1 Restoring all default parameters (Restore all

1018 0 Device information (Identity Object)

1 Vendor ID (Vendor ID)

2 Product number (Product Code)

3 Revision number (Revision Number)

4 Serial number (Serial Number)

Name) The model name of the servo amplifier is

returned.

Version) The hardware version of the network module is

returned.

Software Version) The software version of the servo amplifier is

returned.

parameters) The number of entries is returned.

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

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

1: The parameter can be saved with the

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

default parameters) The number of entries is returned.

default parameters) The parameter of the servo amplifier can be

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

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

The number of entries is returned.

The vendor ID of a servo amplifier is returned.

The servo amplifier serial number is returned.

The revision number of a servo amplifier is returned.

The serial number of the network module is returned.

Name and function

command. (A parameter is being saved.)

command. (No parameter is being saved.)

Data

type

4

bytes

1

bytes

Character

string

Character

string

Character

string

1

bytes

4

bytes

1

bytes

4

bytes

1

bytes

4

bytes

4

bytes

4

bytes

4

bytes

Read/

Variable

write

mapping

Reading Impos-

Read/

write

Reading Impos-

Read/

write

Reading Impos-

sible

Impos-

sible

Impos-

sible

Initial value Range Unit

00020192h 00020192h

(fixed)

00h

to

01h

1 01h

00000001h

1 01h (fixed)

00000001h

4 04h (fixed)

00000002h 00000002h

(fixed)

00001003h 00001003h

(fixed)

00000000h

to

FFFFFFFFh

00000000h 00000000h

to

FFFFFFFFh

Saved

to EEP-

ROM

Parameter

7 - 1

7. OBJECT LIBRARY

Sub

Index

1A00 0 Response message mapping (Transmit PDO

1

2001

to

2021

2081

to

20C0

2101

to

2150

2181

to

21B0

2201

to

2240

2281

to

22B0

2481

to

24D0

2581

to

25B0

Mapping) The number of objects to be mapped is set.

Response message mappings 1 to 32 (Mapped Object 001 to 032)

to

The object to be mapped is set.

32

Bit 0 to Bit 7: Length of the object to be mapped

Bit 8 to Bit 15: Sub Index of the object to be

Bit 16 to Bit 31: Index of the object to be mapped

0 PA01 to PA32

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

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

0 PB01 to PB64

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

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

0 PC01 to PC80

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

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

0 PD01 to PD48

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

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

0 PE01 to PE64

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

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

0 PF01 to PF48

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

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

0 PT01 to PT80

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

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

0 PN01 to PN48

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

Refer to chapter 5 for details.

Name and function

(Bit unit)

mapped

Data

type

1

bytes

4

bytes

4

bytes

4

bytes

4

bytes

4

bytes

4

bytes

4

bytes

4

bytes

4

bytes

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Read/

write

Variable mapping

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Impos-

sible

Initial value Range Unit

15 00h to 20h

(32)

60610008h 00000000h

to

FFFFFFFFh

Saved

to EEP-

ROM

Parameter

PA01

to

PA32

PB01

to

PB64

PC01

to

PC80

PD01

to

PD48

PE01

to

PE64

PF01

to

PF48

PT01

to

PT80

PN01

to

PN48

7 - 2

7. OBJECT LIBRARY

Sub

Index

2A00

2A0F

0 Alarm history 0 to Alarm history 15 (Alarm history

to

newest) The number of entries in the latest alarm of the

alarm history is returned.

1 Alarm No. (Alarm No.)

The number of the alarm that has occurred is returned.

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

2 Alarm occurrence time (Alarm time (Hour))

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

3 Alarm 2 No. (Alarm2 No.)

The number of the alarm that has occurred is returned.

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

2A40 0 Alarm history clear (Clear alarm history)

Writing "1EA5h" clears the alarm history.

2A41 0 Current alarm (Current alarm)

The number of the current alarm is returned. When no alarm has occurred, "00000000h" is returned.

Bit 0 to Bit 15: Alarm detail number Bit 16 to Bit 31: Alarm number

2A42 0 Current alarm 2 (Current alarm 2)

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

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

2A44 0 Number of parameter errors (Parameter error

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

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

2A45 0 Parameter error No. (Parameter error list)

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

1

Parameter error No. 1 to 32 (Parameter error list 1

to

to 32)

32

When [AL. 37 Parameter error] has occurred, the 1st to 32nd numbers of the parameter which causes the alarm is returned.

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

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

Name and function

Data

Read/

type

write

mapping

1

Read Impos-

bytes

Variable

4

Reading Impos-

bytes

4

Reading Impos-

bytes

2

Reading Impos-

bytes

2

Writing Impos-

bytes

4

Reading Possible 00000000h

Initial value Range Unit

3 03h (fixed)

sible

0 00000000h

sible

0 00000000h

sible

0 0000h to

sible

bytes

2

Reading Possible 0000h to

bytes

2

bytes

1

bytes

2

bytes

Reading Impos-

sible

Reading Impos-

sible

Reading Impos-

sible

0000h to

20h

(32)

0 0000h to

to

FFFFFFFFh

to

FFFFFFFFh

FFFFh

to

FFFFFFFFh

FFFFh

01F4h

(500)

20h (32)

(fixed)

FFFFh

Saved

to EEP-

hour

ROM

Parameter

7 - 3

7. OBJECT LIBRARY

Sub

Index

2A46 0 Alarm reset (Reset alarm)

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

2B01 0 Cumulative feedback pulses (Cumulative

2B02 0 Servo motor speed (Servo motor speed)

2B03 0 Droop pulses (Droop pulses)

2B04 0 Cumulative command pulses (Cumulative

2B05 0 Command pulse frequency (Command pulse

2B06 0 Analog speed command voltage (Analog speed

2B07 0 Analog torque limit voltage/Analog torque

2B08 0 Regenerative load ratio (Regenerative load ratio)

2B09 0 Effective load ratio (Effective load ratio)

2B0A 0 Peak load ratio (Peak load ratio)

2B0B 0 Instantaneous torque (Instantaneous torque)

2B0C 0 Position within one-revolution (Within one-

2B0D 0 Multi-revolution counter (ABS counter)

2B0E 0 Load to motor inertia ratio (Load to motor inertia

2B0F 0 Bus voltage (Bus voltage)

2B16 0 F/B cumulative value of A/B-phase output pulse

2B25 0 Internal temperature of encoder (Internal

2B26 0 Settling time (Settling time)

2B27 0 Oscillation detection frequency (Oscillation

2B28 0 Number of tough drive operations (Number of

2B2A 0 Internal temperature of amplifier (Internal

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

feedback pulses.

The servo motor speed is returned.

The droop pulses (encoder unit) are returned.

command pulses) The cumulative command pulses are returned.

frequency) The command pulse frequency is returned.

command voltage) The analog speed command voltage is returned.

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

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

The regenerative load ratio is returned.

The effective load ratio is returned.

The peak load ratio is returned.

The instantaneous torque is returned.

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

Returns the multi-revolution counter.

ratio) The load to motor inertia ratio is returned.

The bus voltage is returned.

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

output pulse is returned.

temperature of encoder) The internal temperature of encoder is returned.

The settling time is returned.

detection frequency) The oscillation detection frequency is returned.

tough drive operations) The number of tough drive operations is returned.

temperature of amplifier) The internal temperature of amplifier is returned.

Name and function

Data

Read/

type

2

bytes

4

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

2

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 8000h to

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

4

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 8000h to

1

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 8000h to

bytes

Variable

write

mapping

Writing Impos-

Read/

Possible 80000000h

write

Read Possible 8000h to

Read Possible 80000000h

Initial value Range Unit

0 0000h to

sible

FFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

7FFFh

FFFFh

7FFFh

to

7FFFFFFFh

to

7FFFFFFFh

FFFFh

to

7FFFFFFFh

7FFFh

FFFFh

7FFFh

Saved

to EEP-

pulse

r/min

pulse

kpulse/s

V

%

pulse

rev

0.01

times

V

pulse

°C

ms

Hz

times

°C

Parameter

ROM

7 - 4

7. OBJECT LIBRARY

Sub

Index

2B2D 0 Unit power consumption (Unit power

2B2E 0 Unit total power consumption (Unit total power

2B2F 0 Current position (Current position)

2B30 0 Command position (Command position)

2B31 0 Command remaining distance (Command

2B81 0 Cumulative feedback pulses at alarm occurrence

2B82 0 Servo motor speed at alarm occurrence (Alarm

2B83 0 Droop pulses at alarm occurrence (Alarm Monitor

2B84 0 Cumulative command pulses at alarm occurrence

2B85 0 Command pulse frequency at alarm occurrence

2B86 0 Analog speed command voltage at alarm

2B87 0 Analog torque limit voltage/

2B88 0 Regenerative load ratio at alarm occurrence

2B89 0 Effective load ratio at alarm occurrence (Alarm

2B8A 0 Peak load ratio at alarm occurrence (Alarm

2B8B 0 Instantaneous torque at alarm occurrence (Alarm

2B8C 0 Position within one-revolution at alarm

consumption) The unit power consumption is returned.

consumption) The unit total power consumption is returned.

The current position is returned.

The command position is returned.

remaining distance) The command remaining distance is returned.

(Alarm Monitor 1 Cumulative feedback pulses) The cumulative feedback pulses at alarm

occurrence are returned.

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

returned.

3 Droop pulses) The droop pulses at alarm occurrence are

returned.

(Alarm Monitor 4 Cumulative command pulses) The cumulative command pulses (encoder unit)

at alarm occurrence are returned.

(Alarm Monitor 5 Command pulse frequency) The command pulse frequency at alarm

occurrence is returned.

occurrence (Alarm Monitor 6 Analog speed command voltage) The analog speed command voltage at alarm

occurrence is returned.

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

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

command voltage at alarm occurrence is returned.

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

returned.

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

returned.

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

returned.

Monitor 11 Instantaneous torque) The instantaneous torque at alarm occurrence is

returned.

occurrence (Alarm Monitor 12 Within onerevolution position)

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

Name and function

Data

Read/

type

2

Reading Possible 8000h to

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 8000h to

bytes

4

Reading Possible 80000000h

bytes

Variable

write

mapping

Read Possible 80000000h

Initial value Range Unit

7FFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

7FFFh

FFFFh

7FFFh

to

7FFFFFFFh

Saved

to EEP-

W

Wh

pulse

r/min

pulse

kpulse/s

V

%

pulse

ROM

Parameter

7 - 5

7. OBJECT LIBRARY

Sub

Index

2B8D 0 Multi-revolution counter at alarm occurrence

2B8E 0 Load to motor inertia ratio at alarm occurrence

2B8F 0 Bus voltage at alarm occurrence (Alarm Monitor

2B96 0 F/B cumulative value of A/B-phase output pulse at

2BA5 0 Internal temperature of encoder at alarm

2BA6 0 Settling time at alarm occurrence (Alarm Monitor

2BA7 0 Oscillation detection frequency at alarm

2BA8 0 Number of tough drive operations at alarm

2BAA 0 Internal temperature of amplifier at alarm

2BAD 0 Unit power consumption at alarm occurrence

2BAE 0 Unit total power consumption at alarm occurrence

2BAF 0 Current position at alarm occurrence (Alarm

2BB0 0 Command position at alarm occurrence (Alarm

2BB1 0 Command remaining distance at alarm

2C10 0 External input pin status (External Input pin

1 External input pin status 1 (External Input pin

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

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

is returned.

15 Bus voltage) The bus voltage at alarm occurrence is returned.

alarm occurrence (Alarm Monitor 22 Cumulative encoder out pulses)

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

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

38 Settling time) The settling time at alarm occurrence is returned.

occurrence (Alarm Monitor 39 Oscillation detection frequency)

The oscillation detection frequency at alarm occurrence is returned.

occurrence (Alarm Monitor 40 Number of tough drive operations)

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

occurrence (Alarm Monitor 42 Internal temperature of amplifier)

The internal temperature of amplifier at alarm occurrence is returned.

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

is returned.

(Alarm Monitor 46 Unit total power consumption) The unit total power consumption at alarm

occurrence is returned.

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

returned.

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

returned.

occurrence (Alarm Monitor 49 Command remaining distance)

The command remaining distance at alarm occurrence is returned.

display) The number of entries in external input pin status

is returned.

display1) The external input pin status is returned.

Name and function

Data

Read/

write

Variable mapping

type

4

Reading Possible 80000000h

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 0000h to

bytes

4

Reading Possible 80000000h

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 0000h to

bytes

2

Reading Possible 8000h to

bytes

2

Reading Possible 8000h to

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

4

Reading Possible 80000000h

bytes

1

Reading Impos-

bytes

4

Reading Possible 00000000h

bytes

Initial value Range Unit

1 01h (fixed)

sible

to

7FFFFFFFh

FFFFh

to

7FFFFFFFh

7FFFh

FFFFh

7FFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to

FFFFFFFFh

Saved

to EEP-

rev

0.01

times

V

pulse

°C

ms

Hz

times

°C

W

Wh

Parameter

ROM

7 - 6

7. OBJECT LIBRARY

Sub

Index

2C11 0 External output pin status (External Output pin

1 External output pin status 1 (External Output pin

2C12 0 Input device status (External Input signal display)

1 Input device status 1 (External Input signal

2 Input device status 2 (External Input signal

3 Input device status 3 (External Input signal

4 Input device status 4 (External Input signal

2C18 0 Power ON cumulative time (Power ON cumulative

2C19 0 Number of inrush relay ON/OFF times (Number

display) The number of entries in external output pin

status is returned.

display1) The external input pin status is returned.

The number of entries in input device status is returned.

display1) The input device status 1 is returned.

display2) The input device status 2 is returned.

display3) The input device status 3 is returned.

display4) The input device status 4 is returned.

time) The cumulative time after power on of the servo

amplifier is returned.

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

the servo amplifier is returned.

Name and function

Data

Read/

type

1

bytes

4

Reading Possible 00000000h

bytes

1

Reading Impos-

bytes

4

Reading Possible 00000000h

bytes

4

Reading Possible 00000000h

bytes

4

Reading Possible 00000000h

bytes

4

Reading Possible 00000000h

bytes

4

Reading Impos-

bytes

4

Reading Impos-

bytes

Variable

write

mapping

Read Impos-

Initial value Range Unit

1 01h (fixed)

sible

4 04h (fixed)

sible

0 00000000h

sible

0 00000000h

sible

to

FFFFFFFFh

to

FFFFFFFFh

to

FFFFFFFFh

to

FFFFFFFFh

to

FFFFFFFFh

to

FFFFFFFFh

to

FFFFFFFFh

Saved

to EEP-

hour

times

ROM

Parameter

7 - 7

7. OBJECT LIBRARY

Sub

Index

2C20 0 Machine diagnostic status (Machine diagnostic

2C21 0 Static friction torque at forward rotation (Static

2C22 0 Dynamic friction torque at forward rotation (at

2C23 0 Static friction torque at reverse rotation (Static

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

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

direction too frequently.)

3: Warning (The servo motor speed may too slow

for friction estimation.)

4: Warning (The change in the servo motor

speed may be small for friction estimation.)

5: Warning (The acceleration/deceleration time

constants may be too short for friction estimation.)

6: Warning (The operation time may not be

enough.)

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

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

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

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

direction too frequently.)

3: Warning (The servo motor speed may too slow

for friction estimation.)

4: Warning (The change in the servo motor

speed may be small for friction estimation.)

5: Warning (The acceleration/deceleration time

constants may be too short for friction estimation.)

6: Warning (The operation time may not be

enough.)

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

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

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

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

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

returned in increments of 0.1%.

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

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

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

returned in increments of 0.1%.

Name and function

Data

type

2

bytes

2

bytes

2

bytes

2

bytes

Read/

Variable

write

mapping

Reading Impos-

sible

Initial value Range Unit

0 0000h to

FFFFh

0 8000h to

7FFFh

0 8000h to

7FFFh

0 8000h to

7FFFh

0.1 %

Saved

to EEP-

Parameter

ROM

7 - 8

7. OBJECT LIBRARY

Sub

Index

2C24 0 Dynamic friction torque at reverse rotation (at

2C25 0 Vibration frequency during stop/servo-lock

2C26 0 Vibration level during stop/servo-lock (Vibration

2C27 0 Vibration frequency during operation (Oscillation

2C28 0 Vibration level during operation (Vibration level

2D01

to

2D0A

2D11

to 2D1A

2D20 0 Speed limit value (Velocity limit value)

2D28 0 Servo motor rated speed (Motor rated speed)

2D29 0 Servo motor maximum speed (Motor max speed)

2D30 0 Device name (character string) (Manufacturer

2D31 0 Hardware version (character string) (Manufacturer

2D32 0 Software version (character string) (Manufacturer

2D33 0 Serial No. (character string) (Serial Number 2)

2D35 0 Encoder status display (Encoder status)

1 Encoder status 1 (Encoder status1)

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

rated speed)) Friction torque at reverse rotation torque at rated

speed is returned in increments of 0.1%.

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

returned in increments of 1 Hz.

level during motor stop) Vibration level during stop/servo-lock is returned in

increments of 0.1%.

frequency during motor operating) Vibration frequency during operation is returned

in increments of 1 Hz.

during motor operating) Vibration level during operation is returned in

increments of 0.1%.

0 Control input 1 to Control input 10 (Control DI 1 to

Control DI 10) The on/off status of input device can be read. The

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

0 Control output 1 to Control output 10 (Status DO

1 to Status DO 10) The on/off status of output device can be read.

The speed limit value is set.

The servo motor rated speed is returned.

The servo motor maximum speed is returned.

Device Name 2) The model name of the servo amplifier is returned. The description is the same as that of

Manufacturer Device Name (1008h).

Hardware Version 2) The hardware version of the servo amplifier is

returned.

Software Version 2) The software version of the servo amplifier is

returned.

The servo amplifier serial number is returned.

The number of entries is returned.

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

absolute position detection system or not is returned.

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

Name and function

Data

type

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

4

bytes

4

bytes

4

bytes

Character

string

Character

string

Character

string

Character

string

1

bytes

4

bytes

Read/

Variable

write

mapping

Reading Impos-

Read/

Possible 0 0000h to

write

Reading Possible 0000h to

Read/

Possible 50000 00000000h

write

Reading Impos-

Initial value Range Unit

0 8000h to

sible

0 8000h to

sible

0 8000h to

sible

0 8000h to

sible

0 8000h to

sible

permissible instantane-

ous speed

00000000h

sible

FFFFFFFFh

00000000h

sible

FFFFFFFFh

sible

1 01h (fixed)

sible

00000000h

sible

00000001h

7FFFh

FFFFh

to

Saved

to EEP-

0.1 %

Hz

0.1 %

Hz

0.1 %

0.01

r/min

Parameter

ROM

PT52

7 - 9

7. OBJECT LIBRARY

Sub

Index

2D42 0 Maximum value of multi-revolution counter (Max

2D50 0 One-touch tuning command (One-touch tuning

2D51 0 One-touch tuning status (One-touch tuning

2D52 0 Stop of one-touch tuning (One-touch tuning Stop)

2D53 0 Returning parameters changed in one-touch

2D54 0 One-touch tuning error code (One-touch tuning

603F 0 Latest error No. display (Error code)

6040 0 Control command (Controlword)

ABS counter) The maximum value of the multi-revolution

counter is displayed.

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

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

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

status) The one-touch tuning progress is returned.

Writing "1EA5h" can stop one-touch tuning. Any value other than "1EA5h" is ignored.

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

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

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

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

The description of the error codes is as follows. 0000: Finished normally C000: Tuning canceled C001: Overshoot exceeded C002: Servo-off during tuning C003: Control mode error C004: Time-out C005: Load to motor inertia ratio misestimated C00F: One-touch tuning disabled

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

1000h: Generic error

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

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

Name and function

Data

Read/

type

4

Reading Impos-

bytes

1

bytes

1

bytes

2

bytes

2

bytes

2

Reading Impos-

bytes

2

Reading Possible 0 0000h to

bytes

2

bytes

Variable

write

mapping

Read/

write

Read Impos-

Writing Impos-

Read/

Possible 0 0000h to

write

Initial value Range Unit

sible

Impos-

sible

00000000h

0 00h to 03h

0 00h to 64h %

0 0000h/

0 0000h to

to

FFFFFFFFh

1EA5h

0001h

C00Fh

FFFFh

Saved

to EEP-

rev

ROM

Parameter

7 - 10

7. OBJECT LIBRARY

Sub

Index

6041 0 Control status (Statusword)

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

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

605A 0 Quick stop option code

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

605D 0 Halt option code

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

6060 0 Control mode (Modes of operation)

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

-20: Position control mode

-21: Speed control mode

-22: Torque control mode

6061 0 Control mode display (Modes of operation

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

-20: Position control mode

-21: Speed control mode

-22: Torque control mode

6063 0 Current position (absolute position) [ENC unit]

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

6064 0 Current position (Position actual value)

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

6065 0 Error excessive width (Following error window)

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

6066 0 Error excessive detection time (Following error

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

Name and function

Data

Read/

type

write

mapping

2

Reading Possible 0000h to

bytes

2

Read/

Variable

bytes

write

2

Read/

write

1

Read/

Possible 0 80h to 7Fh

write

1

Reading Possible -20 80h to 7Fh

Initial value Range Unit

Impos-

2 0002h

sible

Impos-

1 0001h

sible

FFFFh

(fixed)

bytes

4

Reading Possible 80000000h

bytes

to

pulse

7FFFFFFFh

4

Reading Possible 80000000h

bytes

to

pos

units

7FFFFFFFh

4

Read/

bytes

Possible 12582912 00000000h

write

to

pos

units

FFFFFFFFh

2

Read/

bytes

Possible 10 0000h to

write

FFFFh

ms

Saved

to EEP-

ROM

Parameter

PT69

PC75/

PC76

PC77

7 - 11

7. OBJECT LIBRARY

Sub

Index

6067 0 Permissible error range (Position window)

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

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

6068 0 Permissible error judgment time (Position window

time) Refer to Position window (6067h).

606B 0 Command speed (Velocity demand value)

The speed command is returned.

606C 0 Current speed (Velocity actual value)

The current speed is returned.

606D 0 Speed reached judgment width (Velocity window)

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

606E 0 Speed reached judgment time (Velocity window

time) Refer to Velocity window (606Dh).

606F 0 Zero speed (Velocity threshold)

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

6070 0 Zero speed judgment time (Velocity threshold

time) Refer to Velocity threshold (606Fh).

6071 0 Command torque (Target torque)

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

6072 0 Maximum torque (nominal value) (Max torque)

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

6074 0 Internal torque command (Torque demand value)

The torque command is returned.

6077 0 Current torque (Torque actual value)

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

607A 0 Position command (absolute/incremental) (Target

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

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

607B 0 Command value limit (Position range limit)

The number of entries is returned.

Name and function

Data

Read/

type

Variable

write

mapping

4

Read/

bytes

2

bytes

4

Reading Possible 0 80000000h

Possible 100 00000000h

write

Read/

Possible 10 0000h to

write

Initial value Range Unit

bytes

4

Reading Possible 80000000h

bytes

2

Read/

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

bytes

2

Possible 2000 0000h to

write

Read/

Possible 10 0000h to

write

Read/

Possible 5000 0000h to

write

Read/

Possible 10 0000h to

write

Read/

Possible 0 8000h to

write

Read/

Possible 0000h to

write

Read Possible 0 8000h to

bytes

2

Reading Possible 8000h to

bytes

4

Read/

bytes

1

bytes

Reading Impos-

Possible 0 80000000h

write

2 00h to 02h

sible

to 0000FFFEh/ FFFFFFFFh

FFFFh

to 7FFFFFFFh

FFFFh

7FFFh

FFFFh

7FFFh

to 7FFFFFFFh

pos

units

ms

0.01

r/min

0.01

r/min

0.01

r/min

ms

0.01

r/min

ms

0.1 %

pos

units

Saved

to EEP-

ROM

Parameter

PT65

PT66

PT67

PT68

PT63

PT64

7 - 12

7. OBJECT LIBRARY

Sub

Index

607B 1 Command value limit (lower limit) (Min position

range limit) Set the range for limiting the command position

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

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

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

2 Command value limit (upper limit) (Max position

range limit) Set the range for limiting the command position

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

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

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

607C 0 Home position (Home offset)

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

Do not perform writing because doing so causes an error.

607D 0 Software limit (Software position limit)

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

1 Stroke limit - (Min position limit)

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

2 Stroke limit + (Max position limit)

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

607E 0 Rotation direction selection (Polarity)

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

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

607F 0 Maximum speed command (Max profile velocity)

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

6080 0 Servo motor maximum speed (Max motor speed)

The maximum speed of the servo motor is returned. Operation cannot be performed at a speed exceeding the speed set with this object.

6081 0 Command speed (Profile velocity)

The current speed command value can be read. The speed command value can also be set. Set a

value in units of 0.01 r/min.

6083 0 Acceleration time constant (Profile acceleration)

The current acceleration time constant can be read.

The acceleration time constant can also be set. Set the length of time until the servo motor

accelerates to the rated speed in units of ms.

Name and function

Data

type

4

bytes

4

bytes

4

bytes

1

bytes

4

bytes

4

bytes

1

bytes

4

bytes

4

bytes

4

bytes

4

bytes

Read/

Variable

write

mapping

Read/

Possible 00000000h

write

Read/

Possible 00057E3Fh

write

Read/

Possible 0 80000000h

write

Reading Impos-

sible

Read/

Possible 0 80000000h

write

Read/

Possible 0 80000000h

write

Read/

Possible 00h 00h to FFh

write

Read/

Possible 2000000 00000000h

write

Read/

Possible 00000000h

write

Read/

Possible 10000 00000000h

write

Read/

Possible 0 00000000h

write

Initial value Range Unit

to EEP-

ROM

Saved

(degree)

80000000h

to

7FFFFFFFh

pos

units

(pulse)

(degree)

7FFFFFFFh

80000000h

to

7FFFFFFFh

pos

units

(pulse)

to

units

pos

7FFFFFFFh

2 02h (fixed)

to

units

pos

7FFFFFFFh

to

units

pos

7FFFFFFFh

to

r/min

0.01

001E8480h

(2000000)

r/min

to

FFFFFFFFh

to

r/min

0.01

permissible instantane-

ous speed

ms

to

FFFFFFFFh

Parameter

PT17/

PT18

PT15/

PT16

PA14/

PC29

PT51

PT50

PC01

7 - 13

7. OBJECT LIBRARY

Sub

Index

6084 0 Deceleration time constant (Profile deceleration)

The current deceleration time constant can be read.

The deceleration time constant can also be set. Set the length of time until the servo motor

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

6085 0 Deceleration time constant at Quick stop

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

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

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

6086 0 Acceleration/deceleration pattern (Motion profile

type) Set the acceleration/deceleration pattern in the

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

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

6087 0 Torque slope

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

[Range] Limited within the range of 0 to

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

input).

6088 0 Torque command pattern (Torque profile type)

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

608F 0 Encoder information (Position encoder resolution)

The number of entries is returned.

1 Encoder resolution (Encoder increments)

The encoder resolution is returned.

2 Number of revolutions of the servo motor (fixed to

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

6091 0 Servo motor shaft gear ratio (Gear ratio)

The number of entries is returned.

1 Number of revolutions of the servo motor axis

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

[Pr. PA06] for the settable values.

2 Number of revolutions of the drive axis (electronic

gear denominator) (Shaft revolutions) Set the numerator of the electronic gear. Refer to

[Pr. PA07] for the settable values.

6092 0 Travel distance per revolution of the drive axis

(Feed constant) The number of entries is returned.

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

Name and function

Data

type

4

bytes

4

bytes

2

bytes

4

bytes

2

bytes

1

bytes

4

bytes

4

bytes

1

bytes

4

bytes

4

bytes

1

bytes

Read/

Variable

write

mapping

Read/

Possible 0 00000000h

write

Read/

Possible 100 00000000h

write

Read/

Possible -1 FFFFh (-1)

write

Read/

Possible 0 00000000h

write

Read/

Possible 0 0000h

write

Reading Impos-

sible

Read/

Possible 00000000h

write

Read/

Possible 1 00000001h

write

Reading Impos-

sible

Read/

Possible 1 00000001h

write

Read/

Possible 1 00000001h

write

Reading Impos-

sible

Initial value Range Unit

to EEP-

ROM

Saved

ms

to

FFFFFFFFh

ms

to

FFFFFFFFh

(fixed)

0.1%

to

00989680h

(fixed)

2 02h (fixed) pulse/

rev

pulse

to

FFFFFFFFh

rev

to

00000001h

2 02h (fixed)

rev

to 00FFFFFFh (16777215)

rev

to 00FFFFFFh (16777215)

2 02h (fixed)

Parameter

PC02

PC51

PT49

PA06

PA07

7 - 14

7. OBJECT LIBRARY

Sub

Index

6092 1 Travel distance (Feed)

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

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

2 Number of revolutions of the drive axis (fixed to 1

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

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

6098 0 Home position return types (Homing method)

Set a home position return type.

6099 0 Home position return speed (Homing speeds)

The number of entries is returned.

1 Home position return speed (Speed during

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

return.

2 Creep speed (Speed during search for zero)

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

609A 0 Set acceleration/deceleration time constant at

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

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

60A8 0 SI unit position

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

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

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

60A9 0 SI unit velocity (SI unit velocity)

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

60B8 0 Touch probe function setting (Touch probe

function) Set the command for the touch probe function.

60B9 0 Status of the touch probe function (Touch probe

status) The status of the touch probe function is

returned.

60BA 0 Rising edge position of touch probe (Touch probe

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

probe 1 is returned.

60BB 0 Falling edge position of touch probe (Touch

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

probe 1 is returned.

60E0 0 Forward rotation torque limit (Positive torque limit

value) The forward rotation torque limit can be read. The forward rotation torque limit can also be set. Set a forward torque limit value in units of 0.1%.

Name and function

Data

Read/

type

4

bytes

Variable

write

mapping

Read/

Possible 360000

write

Initial value Range Unit

(degree)/

Encoder

resolution

(pulse)

4

Read/

bytes

1

bytes

1

bytes

4

bytes

4

bytes

4

bytes

4

bytes

Reading Impos-

Possible 1 00000001h

write

Read/

Possible 37 D5h (-43)

write

2 02h (fixed)

sible

Read/

Possible 10000 0 to

write

Read/

Possible 1000 0 to

write

Read/

Possible 0 00000000h

write

Read/

write

Impos-

sible

FD410000h

(degree)

00000000h

(pulse)

4

Read/

bytes

2

Read/

bytes

2

Reading Possible 0 0000h to

Impos-

write

FEB44700h FEB44700h

sible

Possible 0 0000h to

write

bytes

4

Reading Possible 0 80000000h

bytes

4

Reading Possible 0 80000000h

bytes

2

Read/

bytes

Possible 10000 0000h to

write

00000001h

to

FFFFFFFFh

to

00000001h

to 27h (39)

permissible instantane-

ous speed

permissible instantane-

ous speed

to 00004E20h

(20000)

00000000h

to

FFFFFFFFh

(0.01 r/min)

FFFFh

to

7FFFFFFFh

to

7FFFFFFFh

2710h

(10000)

Saved

to EEP-

pos

Parameter

ROM

units

rev

0.01

PT01

PT45

PT05

r/min

0.01

PT06

r/min

ms

PT61/

PT62

pos

units

pos

units

0.1%

PA11/

(PA12)

7 - 15

7. OBJECT LIBRARY

Sub

Index

60E1 0 Reverse rotation torque limit (Negative torque

60E3 0 Supported homing method (Supported homing

60E3 1

60F2 0 Profile position mode setting (Positioning option

60F4 0 Droop pulses [command unit] (Following error

60FA 0 Speed command (Control effort)

60FF 0 Command speed (Target velocity)

6502 0 Supported control mode (Supported drive modes)

limit value) The reverse rotation torque limit can be read. The reverse rotation torque limit can also be set. Set a reverse torque limit value in units of 0.1%.

method) The number of supported homing methods is

returned.

Number specification of supported homing

to

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

39

method) Set the number of the supported home position

return type.

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

other than "0" will cause an error.

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

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

position from the internal absolute target position.

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

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

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

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

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

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

01: The servo motor rotates in the address

decreasing direction regardless of the sign of the position data.

10: The servo motor rotates in the address

increasing direction regardless of the sign of the position data.

11: The servo motor rotates from the current

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

actual value) The droop pulses are returned.

The speed command is returned.

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

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

Name and function

Data

Read/

type

2

bytes

1

Reading Impos-

bytes

1

Reading Impos-

bytes

2

bytes

4

bytes

4

bytes

4

bytes

4

Reading Possible 0000002Dh 0000002Dh

bytes

Variable

write

mapping

Read/

Possible 10000 0000h to

write

Read/

Possible 0000h 0000h to

write

Read Possible 80000000h

Read Possible 0 80000000h

Read/

Possible 0 80000000h

write

Initial value Range Unit

39 00h to FFh

sible

37 80h to 7Fh

sible

2710h

(10000)

00C0h

to

7FFFFFFFh

to

7FFFFFFFh

to

7FFFFFFFh

to 0000002Dh

Saved

to EEP-

0.1%

pos

units

0.01

r/min

0.01

r/min

Parameter

ROM

PA12/

(PA11)

7 - 16

7. OBJECT LIBRARY

7.2 Object library details (objects in the 1000s)

POINT

This section describes the objects in the 1000s. Refer to section 7.1 for details on the objects not listed here.

7.2.1 Writing command to EEP-ROM (1010h)

POINT

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

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

Index

1010h

Parameter setting values can be saved in EEP-ROM.

Sub

Index

0

1

Writing command to EEP-

2

ROM (Store parameters)

3

4

5

Name

Number of entries (Number of entries)

Saving all parameters (Save all parameters)

For manufacturer setting

Data type

1 bytes Reading

4 bytes

Read/

write

Read/

write

7 - 17

7. OBJECT LIBRARY

(1) Usage

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

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

7.2.2 Restore default EEP-ROM parameters (1011h)

Sub

Index

Number of entries (Number of

0

entries)

Saving all parameters (Save

1

all parameters)

2

3

For manufacturer setting

4

5

Sub

Index

Number of entries (Number of

0

entries)

Saving all parameters (Save

1

all parameters)

2

3

For manufacturer setting

4

5

Item Saved parameter Returned value

01h

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

Item Setting value

01h

00000000h Disabled

65766173h ("save") Enabled

Other than above Error

Write to EEP-ROM

Parameter

Index

1011h

Sub

Index

0

1

Restoring default EEP-ROM parameters (Restore default

2

parameters)

3

4

5

Name

Number of entries (Number of entries)

Restoring all default parameters (Restore all default parameters)

For manufacturer setting

Data type

1 bytes Reading

4 bytes

Read/

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

7 - 18

write

7. OBJECT LIBRARY

7.2.3 Response message mapping (1A00h)

(1) Object list

Index

1A00h

The object to be registered with response messages can be set. Set the number of objects to be registered with Transmit PDO Mapping (1A00h: 0). Set the objects to be registered with Mapped Object 001 (1A00h: 1) to Mapped Object 032 (1A00h: 32). The following shows the description of Mapped Object 001 (1A00h: 1) to Mapped Object 032 (1A00h: 32).

Name bit Detail name Description

16 to 31 Index of object to be mapped

Response message mappings 1 to 32 (Mapped Objects 001 to 032)

8 to 15

0 to 7 Size of object to be mapped

Refer to the description about RWrn in section 2.3 Link device for details on the initial values.

(2) Usage

Change the response message mapping in the following procedure.

Sub

Index

0

1

Response message mapping (Transmit PDO Mapping)

32

Sub Index of object to be mapped

Name

Number of entries (Number of entries)

Response message mapping 1 (Mapped Object 001)

Response message mapping 32 (Mapped Object 032)

Set the Index for the object to be mapped. To set the object as unassigned (gap), set "0".

Set the Sub Index for the object to be mapped. To set the object as unassigned (gap), set "0".

Set the size of the object to be mapped in units of bits. For example, set "16" for 2 bytes.

To set the object as unassigned (gap), set the size in units of bits.

Data type

1 bytes

4 bytes

Read/

write

Read/

write

Stop the CC-Link IE Field Network Basic communication. (RY (n + 3) F = 00h)

Initialize the number of entries for response message mapping by the SLMP. (Index: 1A00h, Sub: 0 = 0 (the number of entries = 0))

Set the response message mapping by the SLMP. (Index: 1A00h, Sub: 1 to 32)

Set the number of entries for response message mapping by the SLMP. (Index: 1A00h, Sub: 0 = n (the number of entries = n))

Start the CC-Link IE Field Network Basic communication. (RY (n + 3) F = 01h)

7 - 19

7. OBJECT LIBRARY

(3) Setting precautions

(a) The response message mapping can be set while the CC-Link IE Field Network Basic

7.3 Object library details (objects in the 2000s)

communication is being stopped (RX (n + 3) F = 00h).

(b) Map the objects in the order of Sub Index 1 to 32 regardless of the object size. The necessary

number of RWr devices is reserved automatically.

(c) Keep the total size of the objects to be mapped within 64 bytes.

(d) Gaps can be inserted by setting objects to be mapped with Index of 0 and Sub Index of 0. Set the

gap size in units of bits for the objects to be mapped.

(e) The arrangement changed by the response message mapping is not saved. The arrangement needs

to be set every time the power of the servo amplifier is cycled.

POINT

This section describes the objects in the 2000s. Refer to section 7.1 for details on the objects not listed here.

7.3.1 External input pin status (2C10h)

Index

2C10h

Sub

Index

0

External input pin status (External Input pin display)

1

Name

Number of entries (Number of entries)

External input pin status 1 (External Input pin display1)

Data type

1 bytes Reading

4 bytes Reading

Read/

write

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

(1) Usage

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

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

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

0 3 8 16 24

1 4 9 17 25

2 1 10 18 26

3 2 11 19 27

4 8 12 20 28

5 21 13 21 29

6 6 14 22 30

7 19 15 23 31

7 - 20

7. OBJECT LIBRARY

7.3.2 External output pin status (2C11h)

Index

2C11h

Sub

Index

0

External output pin status (External Output pin display)

1

Name

Number of entries (Number of entries)

External output pin status 1 (External Output pin display1)

Data type

1 bytes Reading

4 bytes Reading

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

(1) Usage

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

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

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

0 14 8 16 24

1 22 9 17 25

2 16 10 18 26

3 11 19 27

4 12 20 28

5 15 13 21 29

6 14 22 30

7 15 23 31

7.3.3 Input device status (2C12h)

Read/

write

Index

2C12h

Sub

Index

0

1

Input device status (External

2

Input signal display)

3

4

The current input device status can be read.

Name

Number of entries (Number of entries)

Input device status 1 (External Input signal display1)

Input device status 2 (External Input signal display2)

Input device status 3 (External Input signal display3)

Input device status 4 (External Input signal display4)

Data type

1 bytes

4 bytes

Read/

write

Reading

7 - 21

7. OBJECT LIBRARY

(1) Usage

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

Bit

0 SON (Servo-on)

1

2

3

4

5 PC (Proportional control)

6 RES (Reset)

7 CR (Clear)

8 SP1 (Speed selection 1)

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

10 SP3 (Speed selection 3)

11

12

13

14

15 LOP (Control switching)

16

17

18 EM2/EM1 (Forced stop 2/1)

19

20

21

22

23

24

25

26

27 CDP (Gain switching)

28

29

30

31

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

LSP (Forward rotation stroke end)

LSN (Reverse rotation stroke end)

TL (External torque limit selection)

TL1 (Internal torque limit selection)

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

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

CM1 (Electronic gear setting

1)

CM2 (Electronic gear setting

2)

STAB2 (Second acceleration/deceleration selection)

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

Input device abbreviation (Note)

7 - 22

7. OBJECT LIBRARY

7.3.4 Control input (2D01h to 2D0Ah)

Index

2D01h

2D0Ah

Sub

Index

to

0 Control input (Control DI1 to Control DI10) 2 bytes

Name

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

The following table lists readable and writable input devices.

(1) Bit definition of control DI1

Bit Symbol Description

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

C_EM2

0

C_EM1

1

2

3

4 C_CDP

5

6

7

8 C_TL1

9

10

11

12

13

14

15

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

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

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

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

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

motor inertia ratio and gain values.

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

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

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

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

Data type

Read/

write

Read/

write

7 - 23

7. OBJECT LIBRARY

(2) Bit definition of control DI2

Bit Symbol Description

0

1

2

3

4

5

6

7

8 C_PC

9

10

11

12

13

14

15 C_ORST

(3) Bit definition of control DI3

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13 C_STAB2

14

15

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

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

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

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

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

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

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

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

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

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

Bit 13 Acceleration time constant Deceleration time constant

0 Pr. PC01 Pr. PC02

1 Pr. PC30 Pr. PC31

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

7 - 24

7. OBJECT LIBRARY

(4) Bit definition of control DI4

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(5) Bit definition of control DI5

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11 C_DOG

12

13

14

15

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

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

with [Pr. PT29].

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

7 - 25

7. OBJECT LIBRARY

(6) Bit definition of control DI6

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(7) Bit definition of control DI7

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(8) Bit definition of control DI8

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

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

7 - 26

7. OBJECT LIBRARY

(9) Bit definition of control DI9

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(10) Bit definition of control DI10

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

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

7 - 27

7. OBJECT LIBRARY

7.3.5 Control output (2D11h to 2D1Ah)

Index

2D11h

2D1Ah

Sub

Index

to

0 Control output (Status DO1 to Status DO10) 2 bytes Reading

Name

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

(1) Bit definition of Status DO 1

Bit Symbol Description

0 The value at reading is undefined.

EEP-ROM write completed

1 S_ERF

2 S_SA

3 S_MBR

4 S_CDPS

5

6

7 S_TL

8 S_TL1

9

10

11

12 S_INP

13 S_TLC

14 S_ABSV

15 S_BWNG

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

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

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

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

Variable gain selection S_CDPS turns on during gain switching.

The value at reading is undefined.

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

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

The value at reading is undefined.

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

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

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

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

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

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

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

Data type

Read/

write

7 - 28

7. OBJECT LIBRARY

(2) Bit definition of Status DO 2

Bit Symbol Description

Z-phase already passed

0 S_ZPASS

1

2

3 S_ZSP

4 S_VLC

5

6

7

8 S_PC

9

10

11

12

13

14

15 S_ZP2

0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up This bit is available with servo amplifiers with software version A3 or later.

The value at reading is undefined.

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

PC17].

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

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

The value at reading is undefined.

Under proportional control S_PC turns on under proportional control.

The value at reading is undefined.

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

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

1) [AL. 69 Command error] occurs.

2) Home position return is not being executed.

3) Home position return is in progress.

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

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

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

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

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

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

This bit will be enabled in the profile mode.

7 - 29

7. OBJECT LIBRARY

(3) Bit definition of Status DO 3

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9 S_RSTP

10 The value at reading is undefined.

11 S_MTTR

12

13

14

15

(4) Bit definition of Status DO 4

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

Forced stop deceleration S_RSTP turns on during a forced stop deceleration. This bit is available with servo amplifiers with software version A3 or later.

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

turn on S_MTTR.

The value at reading is undefined.

7 - 30

7. OBJECT LIBRARY

(5) Bit definition of Status DO 5

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(6) Bit definition of Status DO 6

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

7 - 31

7. OBJECT LIBRARY

(7) Bit definition of Status DO 7

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(8) Bit definition of Status DO 8

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

7 - 32

7. OBJECT LIBRARY

(9) Bit definition of Status DO 9

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

(10) Bit definition of Status DO 10

Bit Symbol Description

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

The value at reading is undefined.

7 - 33

7. OBJECT LIBRARY

7.4 Object library details (objects in the 6000s)

POINT

This section describes the objects in the 6000s. Refer to section 7.1 for details on the objects not listed here.

7.4.1 Control status (6041h)

Index

6041h 0 Control status (Statusword) 2 bytes Reading

Sub

Index

Name

Data type

Read/

write

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

Bit Description

0 Ready To Switch On

1 Switched On

2 Operation Enabled

3 Fault

4 Voltage Enabled

5 Quick Stop

6 Switch On Disabled

7 Warning

8 Reserved (Note 2)

9 Reserved (Note 2)

10 Target reached (Note 1)

11 Internal Limit Active

12 to 13 Operation Mode Specific (Note 1)

14 to 15 Reserved (Note 2)

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

2. The value at reading is undefined.

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

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

0 0 0 0 0 Not ready to switch on

1 0 0 0 0 Switch on disable

0 1 0 0 0 1 Ready to switch on

0 1 0 0 1 1 Switch on

0 1 0 1 1 1 Operation enabled

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

0 1 1 1 1 Fault reaction active

0 1 0 0 0 Fault

1 Main power on (power input on)

1 Warning (warning occurrence)

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

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

7 - 34

7. OBJECT LIBRARY

7.4.2 Quick stop option code (605Ah)

Index

605Ah 0 Quick stop option code (Quick stop option code) 2 bytes

Sub

Index

Name

Data type

Read/

write

Read/

write

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

Setting

value

1 For manufacturer setting

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

2

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

3 For manufacturer setting

4

5

6

7

8

Description

7 - 35

7. OBJECT LIBRARY

7.4.3 Halt option code (605Dh)

(1) Object list

Index

605Dh 0 Halt option code (Halt option code) 2 bytes

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

Setting

value

The description varies depending on the control mode.

1

Refer to the following table.

2 For manufacturer setting

3

4

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

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

The servo motor decelerates

Profile position mode (pp)

Profile velocity mode (pv)

Profile torque mode (tq)

Homing mode (hm)

to a stop according to Profile deceleration (6084h).

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

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

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

Sub

Index

Name

Description

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

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

Data type

Reflecting timing of deceleration time

setting

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

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

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

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

Read/

write

Read/

write

7 - 36

7. OBJECT LIBRARY

7.4.4 Control mode display (6061h)

Index

6061h 0 Control mode display (Modes of operation Display) 1 bytes Reading

Sub

Index

Name

Data type

Read/

write

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

Control mode

Position control mode -20

Speed control mode -21

Torque control mode -22

Profile position mode (pp) 1

Profile velocity mode (pv) 3

Profile torque mode (tq) 4

Homing mode (hm) 6

Test mode: JOG operation -1

Test mode: Positioning operation -2

Test mode: DO forced output -4

Test mode: Machine analyzer -6

Setting

value

7.4.5 Software limit (607Dh)

Index

607Dh

Sub

Index

0

Software limit (Software

1

Position Limit)

2

Name

Number of entries (Number of entries)

Min Position Limit (Stroke limit -)

Max Position Limit (Stroke limit +)

Data type

1 bytes Reading

4 bytes

Read/

write

Read/

write

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

7 - 37

7. OBJECT LIBRARY

7.4.6 Polarity (607Eh)

Index

607Eh 0 Rotation direction selection (Polarity) 1 bytes

Sub

Index

Name

Data type

Read/

write

Read/

write

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

Bit Description

0 Reserved

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

2

3

4

Torque POL

5

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

Velocity POL

6

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

Position POL

7

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

7.4.7 Degree (60F2h)

Index

60F2h 0 Profile position mode setting (Positioning option code) 2 bytes

Sub

Index

Name

Data type

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

Item (Index, Sub Index) Description

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

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

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

clamped within the range 0° to 359.999°.

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

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

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

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

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

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

Read/

write

Read/

write

7 - 38

7. OBJECT LIBRARY

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

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

0 0 _ 0 _ _

0 1 _ 2 _ _

1 0 _ 3 _ _

1 1 _ 1 _ _

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

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

360 = 0

50

330

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

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

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

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

50

360 = 0

330

50

360 = 0

330

50

360 = 0

330

150 210

Bit 7: 0 Bit 6: 0

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

The servo motor rotates only in the address decreasing direction.

150 210

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

360 = 0

330

50

330

210 150

Bit 7: 0 Bit 6: 0

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

The servo motor rotates only in the address decreasing direction.

Bit 7: 0 Bit 6: 1

360 = 0

210 150

Bit 7: 0 Bit 6: 1

150 210

Bit 7: 1 Bit 6: 0

The servo motor rotates only in the address increasing direction.

360 = 0

330

50

210 150

Bit 7: 1 Bit 6: 0

The servo motor rotates only in the address increasing direction.

150 210

Bit 7: 1 Bit 6: 1

The servo motor rotates in the shorter direction.

360 = 0

330

50

210 150

Bit 7: 1 Bit 6: 1

The servo motor rotates in the shorter direction.

50

7 - 39

7. OBJECT LIBRARY

7.4.8 Touch probe (60B8h to 60BBh)

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

(1) Object list

Index

60B8h 0 Touch probe function setting (Touch probe function) 2 bytes

60B9h 0 Status of the touch probe function (Touch probe status) 2 bytes Reading

60BAh 0

60BBh 0

When the touch probe function (60B8h) is set, and TPR1 (touch probe1), an external signal, is turned on/off, the current position of the rising and falling edges are latched. The latch status of the current position data can be checked with the touch probe status (60B9h). The latched current data can be read with the touch probe position positive value (60BAh) and the touch probe position negative value (60BBh). For details of each object, refer to sections 7.4.9 to 7.4.12.

(2) Usage

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

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

edge of TPR1 (Touch probe 1).

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

data has not been stored yet.

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

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

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

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

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

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

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

Sub

Index

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

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

Name

Data type

4 bytes Reading

Read/

write

Read/

write

7 - 40

7. OBJECT LIBRARY

The following shows a timing chart.

60B8h Bit 0

60B8h Bit 1

60B8h Bit 4

60B8h Bit 5

60B9h Bit 0

60B9h Bit 1

60B9h Bit 2

TPR1 (Touch Probe 1) (Touch probe signal)

(a) 60B8h = 0013h 1 0 1 0 1 0 1 0 1 0 1 0 1 0

ON

OFF

(d) 60B9h = 0003h

(b) 60B9h = 0001h

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

60BAh

60BBh

A0

(c) TPR1 on (e) TPR1 off

0

BC

7.4.9 Touch probe function setting (60B8h)

Index

60B8h 0 Touch probe function setting (Touch probe function) 2 bytes

Sub

Index

Name

Data type

Read/

write

Read/

write

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

Bit Description

0: Latch function disabled

0

1: Latch function enabled

0: Latch with the first trigger

1

1: Continuously latch with trigger inputs

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

3

0: Stop sampling at the rising edge of touch probe

4

1: Start sampling at the rising edge of touch probe

0: Stop sampling at the falling edge of touch probe

5

1: Start sampling at the falling edge of touch probe

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

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

7 - 41

7. OBJECT LIBRARY

7.4.10 Touch probe function status (60B9h)

Index

60B9h 0 Status of the touch probe function (Touch probe status) 2 bytes Reading

Sub

Index

Name

Data type

Read/

write

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

Bit Description

0: Latch function of touch probe is disabled

0

1: Latch function of touch probe is enabled.

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

1

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

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

2

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

3 to 15 The value at reading is undefined.

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

7.4.11 Rising edge position of touch probe (60BAh)

Index

60BAh 0

Sub

Index

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

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

7.4.12 Falling edge position of touch probe (60BBh)

Index

60BBh 0

Sub

Index

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

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

Name

Data type

4 bytes Reading

Data type

4 bytes Reading

Read/

write

Read/

write

7 - 42

7. OBJECT LIBRARY

7.4.13 Supported control mode (6502h)

Index

6502h 0 Supported control mode (Supported Drive Modes) 4 bytes Reading

Sub

Index

Name

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

Bit Supported Modes Defined value

0 Profile position mode (pp) 1: Supported

2 Profile velocity mode (pv) 1: Supported

3 Profile torque mode (tq) 1: Supported

5 Homing mode (hm) 1: Supported

Data type

Read/

write

7 - 43

7. OBJECT LIBRARY

MEMO

7 - 44

REVISIONS

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

Revision Date *Manual Number Revision

Mar. 2017 SH(NA)030256ENG-A First edition

Aug. 2017 SH(NA)030256ENG-B A maximum altitude of 2000 m above sea level is supported. Modbus/TCP is supported.

3. To prevent injury, note the

following

4. Additional instructions

(1) Transportation and

installation

(2) Wiring Partially changed.

(3) Test run and adjustment Partially changed.

(4) Usage Partially changed.

(5) Corrective actions Partially changed.

Section 1.2 Partially added and partially changed.

Section 1.3.2 Partially added and partially changed.

Section 2.2 Partially changed.

Section 3.1 POINT is added.

Section 3.2 (2) Partially changed.

Chapter 4 POINT is added.

Section 5.1 CAUTION is added. POINT is added.

Section 5.2 Partially changed.

Section 7.1 Partially added and partially changed.

Section 7.2.3 Partially changed.

Section 7.3.5 Partially changed.

Section 7.4.2 Partially changed.

Section 7.4.3 Partially added and partially changed.

Section 7.4.6 Partially added and partially changed.

Partially changed.

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

2017 MITSUBISHI ELECTRIC CORPORATION



MEMO

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

Warranty

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

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

[Term]

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

[Limitations]

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

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

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

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

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

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

2. Term of warranty after the stop of production

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

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

3. Service in overseas countries

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

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

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

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

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

5. Change of Product specifications

6. Application and use of the Product

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

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

SH(NA)030256ENG-B

hardware or software problem

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

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

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

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

maintained and replaced

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

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

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

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

of the Product from our company

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

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

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

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

damages to products other than Mitsubishi products.

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

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

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,

railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

MODEL

MODEL CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper. SH(NA)030256ENG-B(1708)MEE Printed in Japan Specifications are subject to change without notice.

Mitsubishi MR-JE Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

Compliance with global standards

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Outline of CC-Link IE Field Network Basic

1.1.1 Features

1.2 Function List

1.3 Communication specifications

1.3.1 Communication specifications of CC-Link IE Field Network Basic

1.3.2 SLMP communication specifications

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

2.1 Summary

2.2 Message format

2.3 Link device

2.4 Mapping data details of link device

3. SLMP

3.1 Summary

3.2 Message format

3.3 Command

3.4 CiA 402 read/write command

3.4.1 SDO Upload (CiA 402 object read)

3.4.2 SDO Download (CiA 402 object write)

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

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

3.5 Error codes

4. STARTUP

4.1 CC-Link IE Field Network Basic initial communication setting

4.2 IP address setting

5. PARAMETERS

5.1 List of communication-related parameters

5.2 Detailed list of communication-related parameters

6. MANUFACTURER FUNCTIONS

6.1 Stroke end

6.2 One-touch tuning

6.3 Machine diagnosis function

6.4 Servo amplifier life diagnosis function

7. OBJECT LIBRARY

7.1 Object library list

7.2 Object library details (objects in the 1000s)

7.2.1 Writing command to EEP-ROM (1010h)

7.2.2 Restore default EEP-ROM parameters (1011h)

7.2.3 Response message mapping (1A00h)

7.3 Object library details (objects in the 2000s)

7.3.1 External input pin status (2C10h)

7.3.2 External output pin status (2C11h)

7.3.3 Input device status (2C12h)

7.3.4 Control input (2D01h to 2D0Ah)

7.3.5 Control output (2D11h to 2D1Ah)

7.4 Object library details (objects in the 6000s)

7.4.1 Control status (6041h)

7.4.2 Quick stop option code (605Ah)

7.4.3 Halt option code (605Dh)

7.4.4 Control mode display (6061h)

7.4.5 Software limit (607Dh)

7.4.6 Polarity (607Eh)

7.4.7 Degree (60F2h)

7.4.8 Touch probe (60B8h to 60BBh)

7.4.9 Touch probe function setting (60B8h)

7.4.10 Touch probe function status (60B9h)

7.4.11 Rising edge position of touch probe (60BAh)

7.4.12 Falling edge position of touch probe (60BBh)

7.4.13 Supported control mode (6502h)

REVISIONS

Warranty