Mitsubishi MR-JET-G-N1 User Manual

MR-JET-G-N1

Mitsubishi Electric AC Servo System

User's Manual (Object Dictionary)

-MR-JET-_G-N1

SAFETY INSTRUCTIONS

WARNING

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

CAUTION

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

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

(Please read the instructions carefully before using the equipment.)

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read

through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full

knowledge of the equipment, safety information and instructions.

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

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

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

Forbidden actions and required actions are indicated by the following diagrammatic symbols.

In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other

information are shown separately in the "POINT" area.

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

[Installation/wiring]

WARNING

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

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

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

work.

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

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

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

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

[Setting/adjustment]

WARNING

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

[Operation]

WARNING

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

[Maintenance]

WARNING

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

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

U.S. CUSTOMARY UNITS

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

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

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

-4

Moment of inertia 1 [(× 10

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

Temperature N [°C] × 9/5 + 32 N [°F]

kg•m2)] 5.4675 [oz•inch2]

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

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

CHAPTER 1 SUMMARY OF OBJECT DICTIONARY 12

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

Object units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CHAPTER 2 General Objects 14

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2.9 [Error Settings (Obj. 10F1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

[Error Settings (Obj. 10F1h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

[Local Error Reaction (Obj. 10F1h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

[Sync Error Counter Limit (Obj. 10F1h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.10 [Version number (Obj. 67FEh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

[Version number (Obj. 67FEh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

CONTENTS

CHAPTER 3 PDO Mapping Objects 20

3.1 [1st Receive PDO Mapping (Obj. 1600h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

[1st Receive PDO Mapping (Obj. 1600h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 21

3.2 [1st Transmit PDO Mapping (Obj. 1A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] . . . . . . . . . . . . . . . . . . . . . . 23

CHAPTER 4 Sync Manager Communication Objects 24

4.1 [Sync Manager Communication Type (Obj. 1C00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

[Sync Manager Communication Type (Obj. 1C00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24

[Sync Manager 0 (Obj. 1C00h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

[Sync Manager 1 (Obj. 1C00h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

[Sync Manager 2 (Obj. 1C00h: 03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

[Sync Manager 3 (Obj. 1C00h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.2 [Sync Manager RxPDO assign (Obj. 1C12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Sync Manager RxPDO assign (Obj. 1C12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Assigned PDO 001 (Obj. 1C12h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Assigned PDO 002 (Obj. 1C12h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Assigned PDO 003 (Obj. 1C12h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

[Assigned PDO 004 (Obj. 1C12h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.3 [Sync Manager TxPDO assign (Obj. 1C13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

[Sync Manager TxPDO assign (Obj. 1C13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

[Assigned PDO 001 (Obj. 1C13h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

[Assigned PDO 002 (Obj. 1C13h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

[Assigned PDO 003 (Obj. 1C13h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

[Assigned PDO 004 (Obj. 1C13h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4.4 [SM output parameter (Obj. 1C32h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[SM output parameter (Obj. 1C32h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[Synchronization Type (Obj. 1C32h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[Cycle Time (Obj. 1C32h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

[Synchronization Types supported (Obj. 1C32h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

[Minimum Cycle Time (Obj. 1C32h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

[Calc and Copy Time (Obj. 1C32h: 06h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

[Delay Time (Obj. 1C32h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[Cycle Time Too Small (Obj. 1C32h: 0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.5 [SM input parameter (Obj. 1C33h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[SM input parameter (Obj. 1C33h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[Synchronization Type (Obj. 1C33h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

[Cycle Time (Obj. 1C33h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

[Synchronization Types supported (Obj. 1C33h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

[Minimum Cycle Time (Obj. 1C33h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Calc and Copy Time (Obj. 1C33h: 06h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Delay Time (Obj. 1C33h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

[Cycle Time Too Small (Obj. 1C33h: 0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

CHAPTER 5 Parameter Objects 32

5.1 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.2 [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.3 [PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.4 [PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.5 [PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.6 [PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.7 [PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.8 [PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.9 [PV group parameters (Obj. 2691h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

[PV group parameters (Obj. 2691h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

[PV01 (Obj. 2691h: 01h)] to [PV32 (Obj. 2691h: 20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

CHAPTER 6 Alarm Objects 34

6.1 [Alarm history newest (Obj. 2A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

[Alarm history newest (Obj. 2A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

[Alarm No. (Obj. 2A00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

[Alarm time (Hour) (Obj. 2A00h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

[Alarm2 No. (Obj. 2A00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

[Alarm time (second) (Obj. 2A00h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm time (nanosecond) (Obj. 2A00h: 05h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm time (time zone) (Obj. 2A00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

[Alarm time (summer time) (Obj. 2A00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

6.2 [Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

6.3 [Clear alarm history (Obj. 2A40h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Clear alarm history (Obj. 2A40h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.4 [Current alarm (Obj. 2A41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Current alarm (Obj. 2A41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.5 [Parameter error number (Obj. 2A44h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Parameter error number (Obj. 2A44h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

6.6 [Parameter error list (Obj. 2A45h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Parameter error list (Obj. 2A45h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)] . . . . . . . . . . . . . . . . . 37

6.7 [Reset alarm (Obj. 2A46h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Reset alarm (Obj. 2A46h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.8 [Drive recorder history newest (Obj. 2A70h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Drive recorder history newest (Obj. 2A70h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Drive recorder history index (Obj. 2A70h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Drive recorder history alarm number (Obj. 2A70h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Drive recorder history power on time (Obj. 2A70h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Drive recorder history time (second) (Obj. 2A70h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

[Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history (time zone) (Obj. 2A70h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Drive recorder history (summer time) (Obj. 2A70h: 07h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

6.9 [Drive recorder history_1 (Obj. 2A71h)] - [Drive recorder history_15 (Obj. 2A7Fh)] . . . . . . . . . . . . . . . . . . 39

CONTENTS

CHAPTER 7 Monitor Objects 40

7.1 [Cumulative feedback pulses (Obj. 2B01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Cumulative feedback pulses (Obj. 2B01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7.2 [Servo motor speed (Obj. 2B02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Servo motor speed (Obj. 2B02h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7.3 [Droop pulses (Obj. 2B03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Droop pulses (Obj. 2B03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7.4 [Cumulative command pulses (Obj. 2B04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Cumulative command pulses (Obj. 2B04h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7.5 [Command pulse frequency (Obj. 2B05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Command pulse frequency (Obj. 2B05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.6 [Regenerative load ratio (Obj. 2B08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Regenerative load ratio (Obj. 2B08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.7 [Effective load ratio (Obj. 2B09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Effective load ratio (Obj. 2B09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.8 [Peak load ratio (Obj. 2B0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Peak load ratio (Obj. 2B0Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.9 [Instantaneous torque (Obj. 2B0Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Instantaneous torque (Obj. 2B0Bh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.10 [Within one-revolution position (Obj. 2B0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Within one-revolution position (Obj. 2B0Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.11 [ABS counter (Obj. 2B0Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[ABS counter (Obj. 2B0Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.12 [Load inertia moment ratio (Obj. 2B0Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Load inertia moment ratio (Obj. 2B0Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.13 [Bus voltage (Obj. 2B0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Bus voltage (Obj. 2B0Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.14 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.15 [Electrical angle (Obj. 2B19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Electrical angle (Obj. 2B19h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.16 [Internal temperature of encoder (Obj. 2B25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Internal temperature of encoder (Obj. 2B25h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

7.17 [Settling time (Obj. 2B26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Settling time (Obj. 2B26h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.18 [Oscillation detection frequency (Obj. 2B27h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Oscillation detection frequency (Obj. 2B27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.19 [Number of tough drive operations (Obj. 2B28h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Number of tough drive operations (Obj. 2B28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.20 [Internal temperature of amplifier (Obj. 2B2Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Internal temperature of amplifier (Obj. 2B2Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.21 [Unit power consumption (Obj. 2B2Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Unit power consumption (Obj. 2B2Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.22 [Unit total power consumption (Obj. 2B2Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Unit total power consumption (Obj. 2B2Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45

7.23 [Error excessive alarm margin (Obj. 2B3Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Error excessive alarm margin (Obj. 2B3Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.24 [Overload alarm margin (Obj. 2B40h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

[Overload alarm margin (Obj. 2B40h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.25 [Overshoot amount (Obj. 2B41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Overshoot amount (Obj. 2B41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.26 [Torque/thrust equivalent to disturbance (Obj. 2B42h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Torque/thrust equivalent to disturbance (Obj. 2B42h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.27 [Unit power consumption 2 (Obj. 2B43h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Unit power consumption 2 (Obj. 2B43h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

CHAPTER 8 Manufacturer Specific Control Object 47

8.1 [Drive recorder status (Obj. 2C02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Drive recorder status (Obj. 2C02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.2 [Clear drive recorder history (Obj. 2C03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Clear drive recorder history (Obj. 2C03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.3 [Power ON cumulative time (Obj. 2C18h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Power ON cumulative time (Obj. 2C18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.4 [Number of inrush relay on/off times (Obj. 2C19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

[Number of inrush relay on/off times (Obj. 2C19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.5 [Dynamic relay ON/OFF number (Obj. 2C1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

8.6 [Machine diagnostic status (Obj. 2C20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Machine diagnostic status (Obj. 2C20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

8.7 [Static friction torque at forward rotation (Obj. 2C21h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

[Static friction torque at forward rotation (Obj. 2C21h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.8 [Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h)] . . . . . . . . . . . . . . . . . . . . . . . . 49

[Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . .49

8.9 [Static friction torque at reverse rotation (Obj. 2C23h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

[Static friction torque at reverse rotation (Obj. 2C23h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.10 [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h)] . . . . . . . . . . . . . . . . . . . . . . . . 49

[Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . .49

8.11 [Oscillation frequency during motor stop (Obj. 2C25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Oscillation frequency during motor stop (Obj. 2C25h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.12 [Vibration level during motor stop (Obj. 2C26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Oscillation frequency during motor stop (Obj. 2C26h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.13 [Oscillation frequency during motor operating (Obj. 2C27h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Oscillation frequency during motor operating (Obj. 2C27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.14 [Vibration level during motor operating (Obj. 2C28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Vibration level during motor operating (Obj. 2C28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.15 [Machine total distance (Obj. 2C2Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Machine total distance (Obj. 2C2Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.16 [Friction estimate status (Obj. 2C31h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Friction estimate status (Obj. 2C31h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.17 [Supported Control DI (Obj. 2D00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Supported Control DI (Obj. 2D00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Supported Control DI 1 (Obj. 2D00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Supported Control DI 2 (Obj. 2D00h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

[Supported Control DI 3 (Obj. 2D00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Supported Control DI 4 (Obj. 2D00h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Supported Control DI 5 (Obj. 2D00h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Supported Control DI 6 (Obj. 2D00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Supported Control DI 7 (Obj. 2D00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Supported Control DI 8 (Obj. 2D00h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Supported Control DI 9 (Obj. 2D00h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Supported Control DI 10 (Obj. 2D00h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.18 [Control DI 1 (Obj. 2D01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Control DI 1 (Obj. 2D01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.19 [Control DI 2 (Obj. 2D02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

[Control DI 2 (Obj. 2D02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.20 [Control DI 3 (Obj. 2D03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[Control DI 3 (Obj. 2D03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.21 [Control DI 4 (Obj. 2D04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[Control DI 4 (Obj. 2D04h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.22 [Control DI 5 (Obj. 2D05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[Control DI 5 (Obj. 2D05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.23 [Control DI 6 (Obj. 2D06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[Control DI 6 (Obj. 2D06h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.24 [Control DI 7 (Obj. 2D07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Control DI 7 (Obj. 2D07h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.25 [Control DI 8 (Obj. 2D08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Control DI 8 (Obj. 2D08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.26 [Control DI 9 (Obj. 2D09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Control DI 9 (Obj. 2D09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.27 [Control DI 10 (Obj. 2D0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

CONTENTS

[Control DI 10 (Obj. 2D0Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

8.28 [Supported Status DO (Obj. 2D10h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO (Obj. 2D10h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO 1 (Obj. 2D10h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO 2 (Obj. 2D10h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO 3 (Obj. 2D10h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO 4 (Obj. 2D10h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Supported Status DO 5 (Obj. 2D10h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Supported Status DO 6 (Obj. 2D10h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Supported Status DO 7 (Obj. 2D10h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Supported Status DO 8 (Obj. 2D10h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Supported Status DO 9 (Obj. 2D10h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Supported Status DO 10 (Obj. 2D10h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.29 [Status DO 1 (Obj. 2D11h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Status DO 1 (Obj. 2D11h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.30 [Status DO 2 (Obj. 2D12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Status DO 2 (Obj. 2D12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.31 [Status DO 3 (Obj. 2D13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Status DO 3 (Obj. 2D13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.32 [Status DO 4 (Obj. 2D14h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Status DO 4 (Obj. 2D14h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.33 [Status DO 5 (Obj. 2D15h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Status DO 5 (Obj. 2D15h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.34 [Status DO 6 (Obj. 2D16h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Status DO 6 (Obj. 2D16h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.35 [Status DO 7 (Obj. 2D17h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Status DO 7 (Obj. 2D17h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

8.36 [Status DO 8 (Obj. 2D18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Status DO 8 (Obj. 2D18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.37 [Status DO 9 (Obj. 2D19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Status DO 9 (Obj. 2D19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.38 [Status DO 10 (Obj. 2D1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Status DO 10 (Obj. 2D1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.39 [Velocity limit value (Obj. 2D20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Velocity limit value (Obj. 2D20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8.40 [Motor rated speed (Obj. 2D28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Motor rated speed (Obj. 2D28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

8.41 [Encoder status (Obj. 2D35h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Encoder status (Obj. 2D35h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Encoder status 1 (Obj. 2D35h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Encoder status 2 (Obj. 2D35h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.42 [One-touch tuning mode (Obj. 2D50h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[One-touch tuning mode (Obj. 2D50h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.43 [One-touch tuning status (Obj. 2D51h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[One-touch tuning status (Obj. 2D51h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

8.44 [One-touch tuning Stop (Obj. 2D52h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[One-touch tuning Stop (Obj. 2D52h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

8.45 [One-touch tuning Clear (Obj. 2D53h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[One-touch tuning Clear (Obj. 2D53h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

8.46 [One-touch tuning Error Code (Obj. 2D54h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[One-touch tuning Error Code (Obj. 2D54h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64

CHAPTER 9 PDS Control Objects 65

9.1 [Error code (Obj. 603Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Error code (Obj. 603Fh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

9.2 [Controlword (Obj. 6040h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Controlword (Obj. 6040h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

9.3 [Statusword (Obj. 6041h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Statusword (Obj. 6041h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

9.4 [Quick stop option code (Obj. 605Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

[Quick stop option code (Obj. 605Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.5 [Halt option code (Obj. 605Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

[Halt option code (Obj. 605Dh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.6 [Modes of operation (Obj. 6060h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[Modes of operation (Obj. 6060h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.7 [Modes of operation display (Obj. 6061h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[Modes of operation display (Obj. 6061h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.8 [Supported drive modes (Obj. 6502h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

[Supported drive modes (Obj. 6502h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

CHAPTER 10 Position Control Function Objects 72

10.1 [Position actual internal value (Obj. 6063h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Position actual internal value (Obj. 6063h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

10.2 [Position actual value (Obj. 6064h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Position actual value (Obj. 6064h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

10.3 [Following error window (Obj. 6065h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Following error window (Obj. 6065h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

10.4 [Following error time out (Obj. 6066h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Following error time out (Obj. 6066h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

10.5 [Following error actual value (Obj. 60F4h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Following error actual value (Obj. 60F4h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

10.6 [Control effort (Obj. 60FAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Control effort (Obj. 60FAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

CONTENTS

CHAPTER 11 Profile Velocity Mode Objects 74

11.1 [Velocity demand value (Obj. 606Bh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Velocity demand value (Obj. 606Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

11.2 [Velocity actual value (Obj. 606Ch)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Velocity actual value (Obj. 606Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

11.3 [Target velocity (Obj. 60FFh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Target velocity (Obj. 60FFh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

CHAPTER 12 Profile Torque Mode Objects 76

12.1 [Positive/Negative torque limit 2 (Obj. 2D6Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Positive/Negative torque limit 2 setting (Obj. 2D6Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Positive/Negative torque limit 2 select (Obj. 2D6Dh: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Positive torque limit value 2 (Obj. 2D6Dh: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Negative torque limit value 2 (Obj. 2D6Dh: 03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

12.2 [Target torque (Obj. 6071h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Target torque (Obj. 6071h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

12.3 [Max torque (Obj. 6072h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Max torque (Obj. 6072h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

12.4 [Torque demand value (Obj. 6074h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Torque demand value (Obj. 6074h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

12.5 [Torque actual value (Obj. 6077h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Torque actual value (Obj. 6077h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

12.6 [Torque profile type (Obj. 6088h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Torque profile type (Obj. 6088h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

12.7 [Positive torque limit value (Obj. 60E0h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Positive torque limit value (Obj. 60E0h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

12.8 [Negative torque limit value (Obj. 60E1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Negative torque limit value (Obj. 60E1h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

CHAPTER 13 Profile Position Mode Objects 80

13.1 [Target position (Obj. 607Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Target position (Obj. 607Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

13.2 [Position range limit (Obj. 607Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Position range limit (Obj. 607Bh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Min position range limit (Obj. 607Bh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Max position range limit (Obj. 607Bh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

13.3 [Software position limit (Obj. 607Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Software position limit (Obj. 607Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Min position limit (Obj. 607Dh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Max position limit (Obj. 607Dh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

13.4 [Max motor speed (Obj. 6080h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Max motor speed (Obj. 6080h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

13.5 [Profile velocity (Obj. 6081h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Profile velocity (Obj. 6081h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

13.6 [Profile acceleration (Obj. 6083h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Profile acceleration (Obj. 6083h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

13.7 [Profile deceleration (Obj. 6084h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Profile deceleration (Obj. 6084h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

13.8 [Quick stop deceleration (Obj. 6085h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Quick stop deceleration (Obj. 6085h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

CHAPTER 14 Homing Mode Objects 84

14.1 [Home offset (Obj. 607Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Home offset (Obj. 607Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

14.2 [Homing method (Obj. 6098h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Homing method (Obj. 6098h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

14.3 [Homing speeds (Obj. 6099h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Homing speeds (Obj. 6099h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Speed during search for switch (Obj. 6099h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Speed during search for zero (Obj. 6099h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

14.4 [Homing acceleration (Obj. 609Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Homing acceleration (Obj. 609Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

14.5 [Supported homing method (Obj. 60E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Supported homing method (Obj. 60E3h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

[1st supported homing method (Obj. 60E3h: 01h)] - [39th supported homing method (Obj. 60E3h: 27h)] . . . . .86

CHAPTER 15 Factor Group Objects 87

15.1 [Polarity (Obj. 607Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

[Polarity (Obj. 607Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

15.2 [Position encoder resolution (Obj. 608Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Position encoder resolution (Obj. 608Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Encoder increments (Obj. 608Fh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Motor revolutions (Obj. 608Fh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

15.3 [Gear ratio (Obj. 6091h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Gear ratio (Obj. 6091h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Motor revolutions (Obj. 6091h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Shaft revolutions (Obj. 6091h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

15.4 [Feed constant (Obj. 6092h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Feed constant (Obj. 6092h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Feed (Obj. 6092h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Shaft revolutions (Obj. 6092h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

15.5 [SI unit position (Obj. 60A8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[SI unit position (Obj. 60A8h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

15.6 [SI unit velocity (Obj. 60A9h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[SI unit velocity (Obj. 60A9h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

15.7 [SI unit acceleration (Obj. 60AAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[SI unit acceleration (Obj. 60AAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

CHAPTER 16 Optional application FE Objects 92

CONTENTS

16.1 [Digital inputs (Obj. 60FDh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Digital inputs (Obj. 60FDh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

CHAPTER 17 Cyclic Synchronous Position Mode Objects 96

17.1 [Position offset (Obj. 60B0h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Position offset (Obj. 60B0h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

17.2 [Velocity offset (Obj. 60B1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Velocity offset (Obj. 60B1h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

17.3 [Torque offset (Obj. 60B2h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Torque offset (Obj. 60B2h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

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

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

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

1 SUMMARY OF OBJECT DICTIONARY

Each data such as control parameters, command values, and feedback values is handled as an object composed of an Index

value, object name, data type, access rule, and other elements. The object data can be exchanged between the master

station (external device) and the slave stations (servo amplifiers). The aggregate of these objects is called an object

dictionary.

This manual describes the object dictionary which is necessary for servo amplifiers to be used via EtherCAT communication.

1.1 Structure

The following shows the detailed structure of the object dictionary.

Item Explanation

Data Type Indicates the object size.

Access Indicates whether the object can be read or written.

RO: Only reading is available RW: Readable and writable

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

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

Default Indicates the initial value of the object.

Range Indicates the object range. If a value outside the range is written, a parameter

external error (error code CCD4h) occurs.

Units Indicates the object unit.

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

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

Description Describes the object.

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

Object units

This section explains the pos units, vel units, and acc units used in this manual.

pos units

The unit is pulse.

vel units

The unit can be changed as shown in the following table by [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

Setting value Unit

0 0.01 r/min

1 pulse/s

acc units

The unit can be changed as shown in the following table by [Pr. PT01.1].

Setting value Unit

0 ms

1 pulse/s

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

MEMO

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

2 General Objects

Ex.

2.1 [Device Type (Obj. 1000h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00020192h 00020192h

(fixed)

Description

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

is returned.

Bit Symbol Description

0 to 7  0192h (CiA 402)

8 to 15  0002h (Servo drive)

2.2 [Error Register (Obj. 1001h)]

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

 Impossible 

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The alarm occurrence is returned.

Bit Symbol Description

0  Always on while an alarm is occurring.

1 to 7 

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

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

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

Description

The model name of the servo amplifier is returned.

RO Impossible Impossible 

If MR-JET-10G-N1 is used, the model name is returned as shown below.

"MR-JET-G-N1 " (Empty spaces after the model name are filled with blank spaces to make the name 32 characters long.)

2 General Objects

2.1 [Device Type (Obj. 1000h)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

RO Impossible Impossible 

Description

The hardware version of the servo amplifier is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

VISIBLE STRING

Description

The software version of the servo amplifier is returned.

RO Impossible Impossible 

2.6 [Store parameters (Obj. 1010h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

Description

The total number of Sub Indexes is returned.

Default Range Description

01h 01h (fixed) Sub Index 1 is supported.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000001h 00000000h to

FFFFFFFFh

Description

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

volatile memory.

The descriptions of the read values are as follows.

Bit Symbol Description

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

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

1  0: The parameters are not automatically saved.

2 to 7 

 Impossible 

2 General Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

Description

The total number of Sub Indexes is returned.

Default Range Description

01h 01h (fixed) Sub Index 1 is supported.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 00000001h 00000000h to

FFFFFFFFh

Description

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

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

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

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

 Impossible 

2 General Objects

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

2.8 [Identity Object (Obj. 1018h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The total number of Sub Indexes is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000A1Eh

(fixed)

 Impossible 

Description

The vendor ID of the servo amplifier is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The product code of the selected servo amplifier is returned. The following shows the product code for each model.

• MR-JET-_G-N1: 00000305h

 Impossible 

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

 Impossible 

Description

The revision number of the selected servo amplifier is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The serial number of the servo amplifier is returned. The value "00000000h" is returned.

 Impossible 

2 General Objects

2.8 [Identity Object (Obj. 1018h)]

2.9 [Error Settings (Obj. 10F1h)]

[Error Settings (Obj. 10F1h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 02h 02h (fixed)  Impossible 

Description

The total number of Sub Indexes is returned.

[Local Error Reaction (Obj. 10F1h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h

(fixed)

Description

Reserved

[Sync Error Counter Limit (Obj. 10F1h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 9 0 to 32767  Impossible [Pr. PN18]

 Impossible 

Description

Set the threshold at which [AL. 086.1 Network receive data error (Network communication error 1)] is detected.

When "0" is set, [AL. 086.1] does not occur.

If PDO data is not updated with Sync0, the internal error counter will be added by "3".

When the PDO data is updated successfully, the internal error counter is subtracted by "1".

Refer to the following for the example of the counter.

Receive (SM2) Event 1 0 1 0 1 0 1 0 1 0 1

Internal Error Counter (Setting value = 9)

If detection of [AL. 086.1] is disabled, the servo motor cannot be stopped at occurrence of a communication error. The larger

the setting value, the longer it takes to stop the servo motor when there is a communication error. Use caution when changing

the setting value, otherwise the movable part may collide against the machine.

03254769

(error)

999

2 General Objects

2.9 [Error Settings (Obj. 10F1h)]

2.10 [Version number (Obj. 67FEh)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00040100h 00040100h

(fixed)

 Impossible 

Description

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

Bit Symbol Description

0 to 7  Sub version No. (0)

8 to 15  Minor version No. (1)

16 to 23  Major version No. (4)

24 to 31  Reserved (0)

2 General Objects

2.10 [Version number (Obj. 67FEh)]

3 PDO Mapping Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

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

3 PDO Mapping Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

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

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

Index Sub Name Default

1600h 00h 1st Receive PDO Mapping 0Ah

01h Mapped Object 001 60600008h

02h Mapped Object 002 00000008h

03h Mapped Object 003 60400010h

04h Mapped Object 004 2D010010h

05h Mapped Object 005 2D020010h

06h Mapped Object 006 2D030010h

07h Mapped Object 007 607A0020h

08h Mapped Object 008 60FF0020h

09h Mapped Object 009 2D200020h

0Ah Mapped Object 010 60710010h

0Bh Mapped Object 011 00000000h

0Ch Mapped Object 012 00000000h

0Dh Mapped Object 013 00000000h

0Eh Mapped Object 014 00000000h

0Fh Mapped Object 015 00000000h

10h Mapped Object 016 00000000h

11h Mapped Object 017 00000000h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000010h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000010h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

3 PDO Mapping Objects

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

3.2 [1st Transmit PDO Mapping (Obj. 1A00h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

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

3 PDO Mapping Objects

3.2 [1st Transmit PDO Mapping (Obj. 1A00h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h to

FFFFFFFFh

Description

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

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

Index Sub Name Default

1A00h 00h 1st Transmit PDO Mapping 0Ah

01h Mapped Object 001 60610008h

02h Mapped Object 002 00000008h

03h Mapped Object 003 60410010h

04h Mapped Object 004 2D110010h

05h Mapped Object 005 2D120010h

06h Mapped Object 006 2D130010h

07h Mapped Object 007 60640020h

08h Mapped Object 008 606C0020h

09h Mapped Object 009 60F40020h

0Ah Mapped Object 010 60770010h

0Bh Mapped Object 011 00000000h

0Ch Mapped Object 012 00000000h

0Dh Mapped Object 013 00000000h

0Eh Mapped Object 014 00000000h

0Fh Mapped Object 015 00000000h

10h Mapped Object 016 00000000h

11h Mapped Object 017 00000000h

12h Mapped Object 018 00000000h

13h Mapped Object 019 00000000h

14h Mapped Object 020 00000000h

15h Mapped Object 021 00000000h

16h Mapped Object 022 00000000h

17h Mapped Object 023 00000000h

18h Mapped Object 024 00000000h

19h Mapped Object 025 00000000h

1Ah Mapped Object 026 00000000h

1Bh Mapped Object 027 00000000h

1Ch Mapped Object 028 00000000h

1Dh Mapped Object 029 00000000h

1Eh Mapped Object 030 00000000h

1Fh Mapped Object 031 00000000h

20h Mapped Object 032 00000000h

 Impossible PDO mapping

3 PDO Mapping Objects

3.2 [1st Transmit PDO Mapping (Obj. 1A00h)]

4 Sync Manager Communication Objects

4.1 [Sync Manager Communication Type (Obj. 1C00h)]

[Sync Manager Communication Type (Obj. 1C00h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

[Sync Manager 0 (Obj. 1C00h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

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

Description

This means Mailbox Write (from the master station to the slave station).

[Sync Manager 1 (Obj. 1C00h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 02h 02h (fixed)  Impossible 

Description

This means Mailbox Read (from the slave station to the master station).

[Sync Manager 2 (Obj. 1C00h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 03h 03h (fixed)  Impossible 

Description

This means Process Data Write (Outputs) (from the master station to the slave station).

[Sync Manager 3 (Obj. 1C00h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

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

Description

This means Process Data Read (Inputs) (from the slave station to the master station).

4 Sync Manager Communication Objects

4.1 [Sync Manager Communication Type (Obj. 1C00h)]

4.2 [Sync Manager RxPDO assign (Obj. 1C12h)]

[Sync Manager RxPDO assign (Obj. 1C12h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible 01h 00h to 04h  Impossible 

Description

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

[Assigned PDO 001 (Obj. 1C12h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 1600h 1600h to 1603h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Select an object from [1st Receive PDO Mapping (Obj.

1600h)] to [4th Receive PDO Mapping (Obj. 1603h)].

[Assigned PDO 002 (Obj. 1C12h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1600h to 1603h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details. Page 25 [Assigned PDO 001 (Obj. 1C12h: 01h)]

[Assigned PDO 003 (Obj. 1C12h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1600h to 1603h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details. Page 25 [Assigned PDO 001 (Obj. 1C12h: 01h)]

[Assigned PDO 004 (Obj. 1C12h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1600h to 1603h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details. Page 25 [Assigned PDO 001 (Obj. 1C12h: 01h)]

4 Sync Manager Communication Objects

4.2 [Sync Manager RxPDO assign (Obj. 1C12h)]

4.3 [Sync Manager TxPDO assign (Obj. 1C13h)]

[Sync Manager TxPDO assign (Obj. 1C13h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible 01h 00h to 04h  Impossible 

Description

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

[Assigned PDO 001 (Obj. 1C13h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 1A00h 1A00h to 1A03h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Select an object from [1st Transmit PDO Mapping (Obj.

1A00h)] to [4th Transmit PDO Mapping (Obj. 1A03h)].

[Assigned PDO 002 (Obj. 1C13h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1A00h to 1A03h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details. Page 26 [Assigned PDO 001 (Obj. 1C13h: 01h)]

[Assigned PDO 003 (Obj. 1C13h: 03h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1A00h to 1A03h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details. Page 26 [Assigned PDO 001 (Obj. 1C13h: 01h)]

[Assigned PDO 004 (Obj. 1C13h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  1A00h to 1A03h  Impossible 

Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details. Page 26 [Assigned PDO 001 (Obj. 1C13h: 01h)]

4 Sync Manager Communication Objects

4.3 [Sync Manager TxPDO assign (Obj. 1C13h)]

4.4 [SM output parameter (Obj. 1C32h)]

[SM output parameter (Obj. 1C32h: 00h)]

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 0Ch 0Ch (fixed)  Impossible 

Description

The total number of Sub Indexes is returned.

[Synchronization Type (Obj. 1C32h: 01h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible  0000h or 0002h  Impossible 

Description

Select synchronous mode or asynchronous mode.

00h: Free Run

01h: Synchronous (not supported)

02h: DC Sync0

03h: DC Sync1 (not supported)

This can be rewritten only in the Pre-Operational state.

If the setting value of [Obj. 1C33h: 01h] is changed, this object also changes to the same value as [Obj. 1C33h: 01h].

[Cycle Time (Obj. 1C32h: 02h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 250000 Refer to the text ns Impossible 

Description

Select an RxPDO communication cycle.

125000: 0.125 ms

250000: 0.25 ms

500000: 0.5 ms

1000000: 1 ms

2000000: 2 ms

4000000: 4 ms

8000000: 8 ms

Rewriting during the Pre-Operational state can change the PDO communication cycle.

Only the communication cycles shown above can be set.

4 Sync Manager Communication Objects

4.4 [SM output parameter (Obj. 1C32h)]

[Synchronization Types supported (Obj. 1C32h: 04h)]

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0005h 0005h (fixed)  Impossible 

Description

Bit 0: FreeRun supported

Bit 1: Synchronous supported (not supported)

Bit 2 to Bit 4: DC Type supported

000 = No DC (not supported)

001 = DC Sync0

010 = DC Sync1 (not supported)

100 = Subordinated Application with fixed Sync0 (not supported)

Bit 5 to Bit 6: Shift settings

00 = No Output Shift supported

01 = Output Shift with local time (not supported)

10 = Output Shift with Sync1 (not supported)

Bit 7 to Bit 9: Reserved

Bit10: Delay Time should be measured (not supported)

Bit 11: Delay Time is fix. (not supported)

Bit 12 to Bit 13: Reserved

Bit14: Dynamic Cycle Times (not supported)

Bit 15: Reserved

[Minimum Cycle Time (Obj. 1C32h: 05h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible ns Impossible 

Description

The minimum communication cycle is returned.

Servo amplifier Minimum communication cycle

MR-JET-_G-N1 125000

[Calc and Copy Time (Obj. 1C32h: 06h)]

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible ns Impossible 

Description

The minimum value of the delay time from data receiving to outputting is returned. The received value varies depending on

the setting of the communication cycle.

4 Sync Manager Communication Objects

4.4 [SM output parameter (Obj. 1C32h)]

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