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.

1

[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]

2

CONTENTS

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

3

[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

4

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

5

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

6

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

7

[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

8

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

9

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

10

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

11

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

12

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

2

MEMO

1

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

13

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.)

14

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)]

2

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)]

15

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 

16

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 

2

[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)]

17

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

18

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

2 General Objects

2.10 [Version number (Obj. 67FEh)]

19

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.

20

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

3 PDO Mapping Objects

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

21

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.

22

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

3 PDO Mapping Objects

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

23

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).

24

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 

4

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)]

25

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)]

26

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

4 Sync Manager Communication Objects

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

27

[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.

28

4 Sync Manager Communication Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 0 0 (fixed) ns Impossible 

Description

"0" is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0 0 (fixed) ns Impossible 

Description

"0" is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

4

Description

The total number of Sub Indexes is returned.

[Synchronization Type (Obj. 1C33h: 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.

When the setting value of [Obj. 1C32h: 01h] is changed, this object changes also to the same value as [Obj. 1C32h: 01h].

4 Sync Manager Communication Objects

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

29

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible 250000 125000 to

8000000

ns Impossible 

Description

Select a TxPDO 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.

When the setting value of [Obj. 1C32h: 02h] is changed, this object changes to the same value as [Obj. 1C32h: 02h].

[Synchronization Types supported (Obj. 1C33h: 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 Bit4: 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 Bit6: 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

30

4 Sync Manager Communication Objects

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

[Minimum Cycle Time (Obj. 1C33h: 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. 1C33h: 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 inputting to transmitting is returned. The received value varies depending on

the setting of the communication cycle.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 0 0 (fixed) ns Impossible 

Description

The delay time from Sync0 to input is returned. The received value varies depending on the setting of the communication

cycle.

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0 0 (fixed) ns Impossible 

4

Description

"0" is returned.

4 Sync Manager Communication Objects

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

31

5 Parameter Objects

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

32

5 Parameter Objects

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

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

The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 20h of Sub

Index correspond to [Pr. PV01] to [Pr. PV32].

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 32 32 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 32) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW Impossible Possible [Pr. PV01] to [Pr.

PV32]

Description

The values of [Pr. PV01] to [Pr. PV32] can be obtained and set.

5

5 Parameter Objects

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

33

6 Alarm Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

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

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

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

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

 Possible Alarm history

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

hour Possible Alarm history

Description

The accumulated power-on time from time of factory shipment until an alarm occurrence is returned. When there is no history,

"00000000h" is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The value "0000h" is returned.

Bit 0 to Bit 7: Alarm detail number

Bit 8 to Bit 15: Alarm number

34

6 Alarm Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

second Possible Alarm history

Description

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

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

1970, 0:00:00.000000000.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

nanosecond Possible Alarm history

Description

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

nanoseconds, but only the values in milliseconds increase.

For example, if an alarm occurs on January 1, 2000, 12:00:00.001, "000F4240h (1000000)" will be returned.

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

minute Possible Alarm history

Description

The time zone at an alarm occurrence time is returned as a 32-bit integer.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

Description

The daylight saving time at an alarm occurrence time is returned as a 32-bit integer.

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

minute Possible Alarm history

6

6 Alarm Objects

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

35

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

_15 (Obj. 2A0Fh)]

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

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

Writing "1EA5h" clears the alarm history.

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

6.4 [Current alarm (Obj. 2A41h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

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

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

Refer to the following object for the number of each servo parameter which causes the error.
Page 37 [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)]

36

6 Alarm Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

list

Description

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

list

Description

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

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

For example, if [Pr. PC01] is the cause of the error, "0201h" is returned.

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

Bit Description

0 to 7 Servo parameter number

8 to 15 Servo parameter group number

00h: [Pr. PA _ _ ]
01h: [Pr. PB _ _ ]
02h: [Pr. PC _ _ ]
03h: [Pr. PD _ _ ]
04h: [Pr. PE _ _ ]
05h: [Pr. PF _ _ ]
0Ch: [Pr. PT _ _ ]
0Eh: [Pr. PN _ _ ]
11h: [Pr. PV _ _ ]

6

6.7 [Reset alarm (Obj. 2A46h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

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

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

6 Alarm Objects

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

37

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 7 7 (fixed)  Impossible 

Description

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

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

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

has been read.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 0 0 to 9999  Impossible 

Description

The save Index of the drive recorder is returned.

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

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

If the drive recorder history is cleared, counting for the save Index will start from "0".

When reading data of a specific history number with the drive recorder, if the value stored in the save Index is the same before

and after reading, the read data is the data of the same history number.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

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

When there is no history or the data of the drive recorder is recorded with the user settings, "00000000h" is returned.

Bit 0 to Bit 15: Alarm detail number

Bit 16 to Bit 31: Alarm number

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

Returns the cumulative time that the drive recorder has been turned on. When there is no history, "00000000h" is returned.

 Impossible 

38

6 Alarm Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

 Impossible 

Description

The time at when recorded data in the drive recorder is returned as a 32-bit integer (time passed from January 1, 1970,

0:00:00.000000000).

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

1970, 0:00:00.000000000.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible 00000000h 00000000h to

FFFFFFFFh

Description

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

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

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

 Impossible 

6

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

minute Possible 

Description

Returns the time zone of the time at when recorded the drive recorder.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO Impossible 00000000h 80000000h to

7FFFFFFFh

minute Possible 

Description

Returns the daylight saving time at when recorded data in the drive recorder.

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

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

recorder history_15 (Obj. 2A7Fh)]

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

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

6 Alarm Objects

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

39

7 Monitor Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW TXMAP  80000000h to

7FFFFFFFh

Description

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

"00001EA5h".

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

r/min Impossible 

Description

The servo motor speed is returned.

7.3 [Droop pulses (Obj. 2B03h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

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

pulse Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

Description

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

40

7 Monitor Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The command pulse frequency is returned.

kpulse/s Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The regenerative load ratio is returned.

7

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The effective load ratio is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh % Impossible 

Description

The peak load ratio is returned.

7 Monitor Objects

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

41

7.9 [Instantaneous torque (Obj. 2B0Bh)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The instantaneous torque is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

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

pulse Impossible 

7.11 [ABS counter (Obj. 2B0Dh)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The ABS counter is returned.

rev Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

42

7 Monitor Objects

7.9 [Instantaneous torque (Obj. 2B0Bh)]

7.13 [Bus voltage (Obj. 2B0Fh)]

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh V Impossible 

Description

The bus voltage is returned.

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

(Obj. 2B18h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

pulse Impossible 

7

Description

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

7.15 [Electrical angle (Obj. 2B19h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The electrical angle is returned.

pulse Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The internal temperature of the encoder is returned.

7 Monitor Objects

7.13 [Bus voltage (Obj. 2B0Fh)]

43

7.17 [Settling time (Obj. 2B26h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The settling time is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The oscillation detection frequency is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The number of tough drive operations is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The internal temperature of the servo amplifier is returned.

44

7 Monitor Objects

7.17 [Settling time (Obj. 2B26h)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The unit power consumption amount is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The unit total power consumption amount is returned.

Wh Impossible 

7

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

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

pulse Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The overload alarm margin is returned.

7 Monitor Objects

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

45

7.25 [Overshoot amount (Obj. 2B41h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

8FFFFFFFh

Description

The overshoot amount (encoder pulse unit) is returned.

pulse Impossible 

7.26 [Torque/thrust equivalent to disturbance (Obj.

2B42h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The value for torque/thrust equivalent to disturbance is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  80000000h to

7FFFFFFFh

Description

The unit power consumption amount is returned.

WImpossible

46

7 Monitor Objects

7.25 [Overshoot amount (Obj. 2B41h)]

8 Manufacturer Specific Control Object

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible 0 0 to 1  Impossible 

Description

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

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

(disabled state).

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

0: Disabled status

1: Enabled status

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

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

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The cumulative energization time of the servo amplifier is returned.

hour Impossible 

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

8

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The number of times that the inrush relay of the servo amplifier has been turned on/off is returned.

number of times Impossible 

8 Manufacturer Specific Control Object

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

47

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

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

number of times Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The machine diagnostic status is returned.

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

0: Estimation in progress. (normal)

1: Estimation is completed. (normal)

2: The motor may have rotated or traveled in one direction too frequently. (warning)

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

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

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

6: The elapsed operation time may be insufficient. (warning)

When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.

Even if a warning occurs during estimation, upon completion the status will change to "Estimation is completed".

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

0: Estimation in progress. (normal)

1: Estimation is completed. (normal)

2: The motor may have rotated or traveled in one direction too frequently. (warning)

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

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

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

6: The elapsed operation time may be insufficient. (warning)

When warning conditions for 2 to 6 are met at the same time, the lower number takes priority.

Even if a warning occurs during estimation, upon completion the status will change to "Estimation is completed".

[Bit 8 to 11: Vibration estimation status]

0: Estimation in progress.

1: Estimation is completed.

[Bit 12 to 15: reserved]

48

8 Manufacturer Specific Control Object

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

8.7 [Static friction torque at forward rotation (Obj.

2C21h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The static friction at forward rotation torque is returned.

8.8 [Dynamic friction torque at forward rotation (at

rated speed) (Obj. 2C22h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The dynamic friction at forward rotation torque at the rated speed is returned.

8.9 [Static friction torque at reverse rotation (Obj.

2C23h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The static friction at reverse rotation torque is returned.

8.10 [Dynamic friction torque at reverse rotation (at

rated speed) (Obj. 2C24h)]

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

8

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The dynamic friction at reverse rotation torque at the rated speed is returned.

8 Manufacturer Specific Control Object

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

49

8.11 [Oscillation frequency during motor stop (Obj.

2C25h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 Hz Impossible 

Description

The vibration frequency during stop and servo-lock is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The vibration level during stop/servo-lock is returned.

8.13 [Oscillation frequency during motor operating

(Obj. 2C27h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 Hz Impossible 

Description

The vibration frequency during operation is returned.

8.14 [Vibration level during motor operating (Obj.

2C28h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO Impossible  -32768 to 32767 0.1 % Impossible 

Description

The vibration level during operation is returned.

50

8 Manufacturer Specific Control Object

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

FFFFFFFFh

Description

The machine total travel distance is returned.

rev
m

Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0 to 100 % Impossible 

Description

The progress of friction estimation is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 10 10 (fixed)  Impossible 

Description

The number of supported Control DI is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

8

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

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

51

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

52

8 Manufacturer Specific Control Object

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details of

each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

8

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

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

53

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

54

8 Manufacturer Specific Control Object

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The input device status is returned or set. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

8

8 Manufacturer Specific Control Object

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

55

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 10 10 (fixed)  Impossible 

Description

The number of supported Status DO is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

56

8 Manufacturer Specific Control Object

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

8

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

8 Manufacturer Specific Control Object

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

57

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  0000h to FFFFh  Impossible 

Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details

of each bit, refer to the following.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

58

8 Manufacturer Specific Control Object

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

8

8 Manufacturer Specific Control Object

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

59

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The output device status is returned. Refer to the following for details.
MR-JET-G-N1 User's Manual (Communication Function)

60

8 Manufacturer Specific Control Object

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

Description

Set the speed limit value of the cyclic synchronous torque mode (cst).

The input value will be clamped at the servo motor maximum speed. When changing the speed to the permissible speed, set

the speed in [Pr. PA 28.4 Speed range limit selection].

The description of the object varies as shown in the table below, depending on the combination of the setting of [Pr. PT01.1

Speed/acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo

motor

0 (encoder unit) Rotary servo motor 300000 0.01 r/min [Pr. PT67]

1 (command unit)  2147483647 pulse/s [Pr. PV21]

0 to 4294967295 vel units Possible Refer to the

following.

Default Units Parameter

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  0 to 4294967295 Refer to the

following.

Impossible 

Description

The servo motor rated speed is returned. The unit of the returned data varies depending on the combination of [Pr. PT01.1

Speed/acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Units

0 (encoder unit) Rotary servo motor r/min

1 (command unit)  pulse/s

8.41 [Encoder status (Obj. 2D35h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The number of entries is returned.

8

8 Manufacturer Specific Control Object

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

61

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h to

00000001h

 Impossible 

Description

The encoder status is returned.

Bit Description

0 The encoder status is returned by the servo amplifier and confirms whether it is an absolute position detection system.

0: Incremental system
1: Absolute position detection system

1 to 31 

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO Impossible  00000000h

(fixed)

Description

"0" is returned.

 Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RW Impossible 00h 00h to 03h  Impossible 

Description

One-touch tuning command is returned and set. After one-touch tuning, the setting value automatically changes to "0".

0: One-touch tuning stop in progress

1: Basic mode

2: High mode

3: Low mode

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

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

Data Type Access Mapping Default Range Units Save Parameter

I8 RO Impossible  0 to 100 % Impossible 

Description

The one-touch tuning progress is returned. Regardless of whether one-touch tuning is properly completed or not, "100" is

returned at the completion.

62

8 Manufacturer Specific Control Object

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h, 1EA5h  Impossible 

Description

Set a one-touch tuning stop command. To check whether the setting is reflected, read [One-touch tuning mode (Obj. 2D50h)].

• 1EA5h: Stops one-touch tuning.

• Other than 1EA5h: Triggers a parameter out of range error.

When the object is read, whether one-touch tuning can be stopped is returned.

Bit Description

0 0: One-touch tuning can be stopped with the command. (One-touch tuning in progress)

1: One-touch tuning cannot be stopped with the command. (One-touch tuning not in progress)

1 to 31 

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The servo parameter that was changed in one-touch tuning is returned to the value before the change. To check whether the

setting is reflected, read [One-touch tuning mode (Obj. 2D50h)].

• 0000h: Restores to factory setting

• 0001h: Restores to the value before one-touch tuning

When the object is read, whether the servo parameter that changed in one-touch tuning can be restored to the value before

the change is returned.

Bit Description

0 0: Cannot be restored to factory setting with the command. (One-touch tuning in progress)

1: Can be restored to factory setting with the command. (One-touch tuning not in progress)

1 0: Cannot be restored to the value before one-touch tuning with the command. (One-touch tuning has not been performed for the axis,

one-touch tuning is in progress for the axis, or an incorrect axis was selected.)
1: Can be restored to the value before one-touch tuning with the command. (One-touch tuning executed)

2 to 31 

8

8 Manufacturer Specific Control Object

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

63

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO Impossible  Refer to the

following.

Description

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

Refer to "One-touch tuning error" in the following manual.
MR-JET User's Manual (Adjustment)

0000h: Finished normally

C000h: Tuning canceled

C_01h: Overshoot exceeded

C_02h: Servo-off during tuning

C_03h: Control mode error

C_04h: Time-out

C_05h: Load to motor inertia ratio miscalculated

C_06h: Servo amplifier built-in command start error

C_07h: Servo amplifier built-in command generation error

C_08h: Stop signal

C_09h: Parameter

C_0Ah: Alarm

C00Fh: One-touch tuning disabled

 Impossible 

64

8 Manufacturer Specific Control Object

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

9 PDS Control Objects

9.1 [Error code (Obj. 603Fh)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The No. of the latest error which occurred after power-on is returned.

When [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs, "0118h" is returned.

9.2 [Controlword (Obj. 6040h)]

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

Data Type Access Mapping Default Range Units Save Parameter

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

9

Description

PDS status switching command is given, or control commands are returned and set.

Use bit 0 to bit 3 and bit 7 in the PDS status transition.

Bit Name Description

0 SO Switch-on

1 EV Enable voltage

2 QS Quick stop

3 EO Enable Operation

4 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 66 [Bit 4: OMS]

5 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

6 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

7 FR Fault reset

8 HALT 0: Operation ready

9 OMS Differs depending on the value of [Modes of operation]. Refer to the following for details.

10 

11 CPTL Positive Torque Limit switching

12 CNTL Negative Torque Limit switching

13 

14

15

Page 66 [Bit 5: OMS]

Page 66 [Bit 6: OMS]

1: Pauses the operation according to [Halt option code (Obj. 6050h)].
Refer to the following for details.

Page 66 [Bit 8: OMS]

Page 66 [Bit 9: OMS]

9 PDS Control Objects

9.1 [Error code (Obj. 603Fh)]

65

■[Bit 4: OMS]

Setting

Symbol Description

value

6 (hm) HOS Homing operation start

8 (csp) 

9 (csv)

10 (cst)

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

■[Bit 5: OMS]

Setting
value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

■[Bit 6: OMS]

Setting
value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

■[Bit 8: OMS]

Setting
value

6 (hm) HALT 0: The servo motor is driven.

8 (csp) 

9 (csv)

10 (cst)

Symbol Description

1: The servo motor is stopped according to [Halt option code (Obj. 605Dh)].

■[Bit 9: OMS]

Setting
value

6 (hm) 

8 (csp)

9 (csv)

10 (cst)

Symbol Description

66

9 PDS Control Objects

9.2 [Controlword (Obj. 6040h)]

9.3 [Statusword (Obj. 6041h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RO TXMAP  0000h to FFFFh  Impossible 

Description

The PDS status transition and other drive conditions are returned.

Bit Symbol Description

0 RTSO Ready-to-switch-on

1 SO Switch-on

2 OE Operation-enabled

3FFault

4 VE Voltage-enabled

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

5 QS Quick stop

0: In a Quick stop
1: Not in a Quick stop (including in the test mode)

6 SOD Switch on disabled

7WWarning

0: No warning has occurred.
1: A warning has occurred.

8 

9RMRemote

0: Not following the Controlword
1: In operation following the Controlword

10 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 68 [Bit 10: OMS]

11 ILA Internal limit active

0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have not been
reached.
1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has been reached.
(Enabled in csp, csv, or hm mode)

12 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 68 [Bit 12: OMS]

13 OMS Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.

Page 68 [Bit 13: OMS]

14 

15 

9

9 PDS Control Objects

9.3 [Statusword (Obj. 6041h)]

67

■[Bit 10: OMS]

Setting

Name Description

value

6 (hm)  Bit 13 off/bit 12 off/bit 10 off: Homing procedure is in progress.

8 (csp) 

9 (csv)

10 (cst)

Bit 13 off/bit 12 off/bit 10 on: Homing procedure is interrupted or not started.
Bit 13 off/bit 12 on/bit 10 off: Homing is attained, but target is not reached.
Bit 13 off/bit 12 on/bit 10 on: Homing procedure is completed successfully.
Bit 13 on/bit 12 off/bit 10 off: Homing error occurred, velocity is not 0.
Bit 13 on/bit 12 off/bit 10 on: Homing error occurred, velocity is 0.
Bit 13 on/bit 12 on/bit 10 off: -

■[Bit 12: OMS]

Setting
value

6 (hm) Homing

8 (csp) Drive follows

9 (csv) 0: [Target velocity (Obj. 60FFh)] is being discarded.

10 (cst) 0: [Target torque (Obj. 6071h)] is being discarded.

Name Description

Refer to the following.

attained

the command
value

Page 68 [Bit 10: OMS]

0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.

1: [Target velocity (Obj. 60FFh)] is being used as a speed control loop input.

1: [Target torque (Obj. 6071h)] is being used as a torque control loop input.

■[Bit 13: OMS]

Setting
value

6 (hm) Homing error Refer to the following.

8 (csp) Following error 0: No following error

9 (csv) 

10 (cst)

Name Description

Page 68 [Bit 10: OMS]

1: Following error
When the time set in [Following error time out (Obj. 6066h)] elapses in a state where the value of [Following error actual
value (Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit becomes "1".

68

9 PDS Control Objects

9.3 [Statusword (Obj. 6041h)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RW Impossible 2 2 (fixed)  Possible [Pr. PT68.0]

Description

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

Setting value Description

0 (not supported) 

1 (not supported)

2 In the cyclic synchronous position/velocity mode (csp/csv) and homing mode (hm), the servo motor decelerates to a stop with [Quick

stop deceleration (Obj. 6085h)] and the state shifts to "Switch On Disabled".
In the cyclic synchronous torque mode (cst), the state immediately shifts to "Switch On Disabled" and the servo motor stops with the
dynamic brake.

3 (not supported) 

4 (not supported)

5 (not supported)

6 (not supported)

7 (not supported)

8 (not supported)

9

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RW Impossible 1 1 (fixed)  Possible [Pr. PT68.2]

Description

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

Setting value Description

0 

1 In the homing mode (hm), the servo motor decelerates to a stop with [Homing acceleration (Obj. 609Ah)] and the status remains as

2 (not supported) 

3 (not supported)

4 (not supported)

The following shows the case where Halt Bit (Bit 8 of [Controlword (Obj. 6040h)]) is set to "1" and "0", and the reflective timing

of the deceleration time setting in each control mode.

Control mode Halt Bit is set to "1" Halt Bit is set to "0" Reflective timing of

Homing mode (hm) When Halt Bit is set to "1", the servo motor decelerates to a stop with [Homing

"Operation Enabled (servo-on)".

acceleration (609Ah)], and the status remains as Operation Enabled (servo-on). Then,
homing is restarted with the following procedure: (1) set Halt Bit to "0", (2) reset Homing
Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "0", and (3) change Homing
Operation Start (Bit 4 of [Controlword (Obj. 6040h)]) to "1".

deceleration time setting

Reflected when "Homing Operation
Start" is set to "1".

9 PDS Control Objects

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

69

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

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

Data Type Access Mapping Default Range Units Save Parameter

I8 RW RXMAP 0 Refer to the

following.

Description

Set a control mode.

Setting value Description

0 No mode change/No mode assigned

1 

2 

3 

4 

5 

6 Homing mode (hm)

7 

8 Cyclic synchronous position mode (csp)

9 Cyclic synchronous velocity mode (csv)

10 Cyclic synchronous torque mode (cst)

 Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

I8 RO TXMAP  Refer to the

following.

Description

The current control mode is returned.

Setting value Description

0 No mode change/No mode assigned

1 

2 

3 

4 

5 

6 Homing mode (hm)

7 

8 Cyclic synchronous position mode (csp)

9 Cyclic synchronous velocity mode (csv)

10 Cyclic synchronous torque mode (cst)

-1 Test Operation mode: JOG Operation

-2 Test Operation mode: Positioning Operation

-4 Test Operation mode: DO forced output

-6 Test Operation mode: Machine analyzer

-9 Test Operation mode: Test Exit

 Impossible 

70

9 PDS Control Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP  Impossible 

Description

The supported control mode is returned. The description is as follows.

Bit Description Defined value

0 Profile position mode (pp) 0

1 Velocity mode (vl) 0

2 Profile velocity mode (pv) 0

3 Profile torque mode (tq) 0

4 Reserved 0

5 Homing mode (hm) 1: Supported

6 Interpolated position mode (ip) 0

7 Cyclic synchronous position mode (csp) 1: Supported

8 Cyclic synchronous velocity mode (csv) 1: Supported

9 Cyclic synchronous torque mode (cst) 1: Supported

10 Cyclic synchronous torque mode with communication angle (cstca) 0

11 to 31 Reserved 0

9

9 PDS Control Objects

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

71

10 Position Control Function Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The current position is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

inc Impossible 

pos units Impossible 

Description

The current position of the command unit is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 00C00000h 00000000h to

FFFFFFFFh

Description

In the cyclic synchronous position mode (csp), when the time set with [Following error time out (Obj. 6066h)] has elapsed with

the number of droop pulses exceeding the setting value of this object, bit 13 of [Statusword (Obj. 6041h)] is turned on. When

the setting value of this object is "FFFFFFFFh", bit 13 of [Statusword] is always off.

pos units Possible [Pr. PC67]

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP 10 0 to 65535 ms Possible [Pr. PC69]

Description

Refer to the following object.
Page 72 [Following error window (Obj. 6065h)]

72

10 Position Control Function Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

pos units Impossible 

Description

The droop pulses are returned.

10.6 [Control effort (Obj. 60FAh)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The speed command is returned. The unit of the returned data varies depending on the combination of [Pr. PT01.1 Speed/

acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Unit

0 Rotary servo motor 0.01 r/min

*1

1

 pulse/s

vel units Impossible 

10

*1 When [Pr. PT01.1] is set to "1", the return value may differ due to unit conversion.

10 Position Control Function Objects

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

73

11 Profile Velocity Mode Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

Description

The speed command is returned. The unit of the returned data varies depending on the combination of [Pr. PT01.1 Speed/

acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Unit

0 Rotary servo motor 0.01 r/min

*1

1

*1 When [Pr. PT01.1] is set to "1", the return value may differ due to unit conversion.

 pulse/s

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

vel units Impossible 

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RO TXMAP  -2147483648 to

2147483647

vel units Impossible 

Description

The current speed is returned. The unit of the returned data varies depending on the combination of [Pr. PT01.1 Speed/

acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Unit

0 Rotary servo motor 0.01 r/min

*1

1

*1 When [Pr. PT01.1] is set to "1", the return value may differ due to unit conversion.

 pulse/s

11.3 [Target velocity (Obj. 60FFh)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

vel units Impossible 

Description

Set the speed command used in the cyclic synchronous velocity mode (csv). The unit of the returned data varies depending

on the combination of [Pr. PT01.1 Speed/acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Unit

0 Rotary servo motor 0.01 r/min

1  pulse/s

74

11 Profile Velocity Mode Objects

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

MEMO

11

11 Profile Velocity Mode Objects

11.3 [Target velocity (Obj. 60FFh)]

75

12 Profile Torque Mode Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

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

Description

The total number of Sub Indexes is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 0000h 0000h to 0001h  Possible [Pr. PC42]

Description

Select the torque limit. The description is as follows.

[Pr. PC42.0]/[Positive/
Negative torque limit 2
select (Obj. 2D6Dh: 01h)]

0h/0000h [Pr. PA11]/[Positive torque

1h/0001h [Pr. PA11]/[Positive torque

Forward rotation torque limit value Reverse rotation torque limit value

CPTL: 0 CPTL: 1 CNTL: 0 CNTL: 1

limit value (Obj. 60E0h)]

limit value (Obj. 60E0h)]

[Pr. PA11]/[Positive torque
limit value (Obj. 60E0h)]

[Pr. PC43]/[Positive torque
limit value2 (Obj. 2D6Dh:
02h)]

[Pr. PA12]/[Negative torque
limit value (Obj. 60E1h)]

[Pr. PA12]/[Negative torque
limit value (Obj. 60E1h)]

[Pr. PA12]/[Negative torque
limit value (Obj. 60E1h)]

[Pr. PC44]/[Negative torque
limit value2 (Obj. 2D6Dh:
03h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 10000 0 to 10000 0.1 % Possible [Pr. PC43]/[Pr.

PC44]

Description

The torque generated by the servo motor can be limited. Set the torque limit value of the servo motor for CCW power running

or CW regeneration.

If this object is set to "0", the servo motor does not generate torque.

When POL is disabled, the value of [Pr. PC43 Forward rotation torque limit 2] will be set, and when POL is enabled, the value

of [Pr. PC44 Reverse rotation torque limit 2] will be set.

76

12 Profile Torque Mode Objects

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW Impossible 10000 0 to 10000 0.1 % Possible [Pr. PC43]/[Pr.

PC44]

Description

The torque generated by the servo motor can be limited. Set the torque limit value of the servo motor for CW power running or

CCW regeneration.

If this object is set to "0", the servo motor does not generate torque.

When POL is disabled, the value of [Pr. PC44 Reverse rotation torque limit 2] will be set, and when POL is enabled, the value

of [Pr. PC43 Forward rotation torque limit 2] will be set.

12

12 Profile Torque Mode Objects

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

77

12.2 [Target torque (Obj. 6071h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RW RXMAP  -32768 to 32767 0.1 % Impossible 

Description

Set the torque command used in the cyclic synchronous torque mode (cst).

12.3 [Max torque (Obj. 6072h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW TXMAP/RXMAP  0 to 10000 0.1 % Possible [Pr. PE53]

Description

When [Pr. PC78.1] is set to "0" (disabled), the torque limit with this object and the torque limit with the value of [Pr. PE53] will

be disabled.

The maximum torque of the servo motor is returned. The values notified by this object are the maximum current and feedback

values and may not match the maximum torque described in "Rotary Servo Motor User's Manual (HG-KNS/HG-SNS)".

When [Pr. PC78.1] is set to "1" (enabled), the torque or thrust generated by the servo motor can be limited with the setting

value of this object. When this object is set to "0", the torque limit is disabled.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  -32768 to 32767 0.1 % Impossible 

Description

The torque command is returned.

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RO TXMAP  -32768 to 32767 0.1 % Impossible 

Description

The current torque is returned.

78

12 Profile Torque Mode Objects

12.2 [Target torque (Obj. 6071h)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RW RXMAP 0 0 (fixed)  Impossible 

Description

Set the torque command pattern. Only the value of "0" can be set.

Setting value Description

0 Linear ramp

2

1 sin

ramp (Not supported)

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP  0 to 10000 0.1 % Possible [Pr. PA11]/[Pr.

PA12]

12

Description

The torque generated by the servo motor can be limited. Set the torque limit value of the servo motor for CCW power running

or CW regeneration.

If this object is set to "0", the servo motor does not generate torque.

When POL is disabled, the value of [Pr. PA11 Forward rotation torque limit] will be set, and when POL is enabled, the value of

[Pr. PA12 Reverse rotation torque limit] will be set.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U16 RW RXMAP  0 to 10000 0.1 % Possible [Pr. PA11]/[Pr.

PA12]

Description

The torque generated by the servo motor can be limited. Set the torque limit value of the servo motor for CW power running or

CCW regeneration.

If this object is set to "0", the servo motor does not generate torque.

When POL is disabled, the value of [Pr. PA12 Reverse rotation torque limit] will be set, and when POL is enabled, the value of

[Pr. PA11 Forward rotation torque limit] will be set.

12 Profile Torque Mode Objects

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

79

13 Profile Position Mode Objects

13.1 [Target position (Obj. 607Ah)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP  80000000h to

7FFFFFFFh

Description

Set the position command used in the cyclic synchronous position mode (csp). Check the setting value of [Gear ratio (Obj.

6091h)] before setting a value in this object.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

pos units Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP  80000000h to

7FFFFFFFh

pos units Impossible 

Description

Set the range for limiting the command position.

[Position range limit (Obj. 607Bh)] cannot be written. Writing a value will result in a write error.

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP pos units Impossible 

Description

Refer to the following object.
Page 80 [Min position range limit (Obj. 607Bh: 01h)]

80

13 Profile Position Mode Objects

13.1 [Target position (Obj. 607Ah)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

Description

Set the range for limiting the command position.

For [Min position limit (Obj. 607Dh: 01h)], set the stroke limit value for the address increasing direction in units of commands.

For [Min position limit (Obj. 607Dh: 02h)], set the stroke limit value for the address decreasing direction in units of commands.

[Target position (Obj. 607Ah)] is limited within the range between [Min position limit (Obj. 607Dh: 01h)] and [Max position limit

(Obj. 607Dh: 02h)].

If the same value is set for [Min position limit (Obj. 607Dh: 01h)] and [Max position limit (Obj. 607Dh: 02h)], the function of

[Software position limit (607Dh)] is disabled.

Setting [Home offset (Obj. 607Ch)] will compensate for the software position limit.

After compensation, [Max position range limit] = [Max position range limit] - [Home offset]

After compensation, [Min position range limit] = [Min position range limit] - [Home offset]

When [Min position limit (Obj. 607Dh: 01 h)] is set to a value greater than [Max position limit (Obj. 607Dh: 02 h)], the function

of [Software position limit (Obj. 607Dh)] is disabled.

pos units Possible [Pr. PT17]

13

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

Description

Refer to the following object.
Page 81 [Min position limit (Obj. 607Dh: 01h)]

pos units Possible [Pr. PT15]

13 Profile Position Mode Objects

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

81

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP 10000 0 to 4294967295 Refer to the

following.

Description

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

object.

The unit is fixed to "r/min".

When changing the returning value to the permissible speed, set "1" in [Pr. PA28.4 Speed range limit selection].

Impossible 

13.5 [Profile velocity (Obj. 6081h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP  0 to maximum

speed

vel units Possible 

Description

Set to "0".

When the object is read, "0" is returned.

13.6 [Profile acceleration (Obj. 6083h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP acc units Possible 

Description

Set to "0".

When the object is read, "0" is returned.

13.7 [Profile deceleration (Obj. 6084h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP acc units Possible 

Description

Set to "0".

When the object is read, "0" is returned.

82

13 Profile Position Mode Objects

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

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

Description

Set the deceleration time constant or deceleration for the Quick stop function. When [Pr. PT01.1] is set to "0", set the time

required for the servo motor to stop from the rated speed.

The description of the object varies as shown in the table below depending on [Pr. PT01.1 Speed/acceleration/deceleration

unit selection].

[Pr. PT01.1] Units Default Range Parameter

0 (encoder unit) ms 100 0 to 20000

1 (command unit) pulse/s

*1 If the setting value of this object is "0", the deceleration time constant is 100 ms.
*2 If the setting value is "0", the servo motor decelerates in accordance with the setting value of [Pr. PC24].

2

0 0 to 4294967295

Refer to the
following.

acc units Possible Refer to the

following.

*1

*2

[Pr. PC24]

[Pr. PV09]

13

13 Profile Position Mode Objects

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

83

14 Homing Mode Objects

14.1 [Home offset (Obj. 607Ch)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW TXMAP 0 -2147483648 to

2147483647

Description

Set the difference between the zero position of the machine coordinate system and the homing position.

14.2 [Homing method (Obj. 6098h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I8 RW RXMAP 37 -43 to 37  Possible [Pr. PT45]

pos units Possible [Pr. PT08]

Description

Set a homing method.

14.3 [Homing speeds (Obj. 6099h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

Description

Set the servo motor speed for homing. If the set speed exceeds 8000 r/min, the servo motor speed is clamped at 8000 r/min.

When changing the maximum value of "Range" to the permissible speed, set [Pr. PA28.4 Speed range limit selection] to "1".

The description of the object varies as shown in the table below, depending on the combination of the setting of [Pr. PT01.1

Speed/acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Default Units Parameter

0 (encoder unit) Rotary servo motor 10000 0.01 r/min [Pr. PT05]

1 (command unit)  500000 pulse/s [Pr. PV11]

0 to maximum
speed

vel units Possible Refer to the

following.

84

14 Homing Mode Objects

14.1 [Home offset (Obj. 607Ch)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP Refer to the

following.

0 to maximum
speed

vel units Possible Refer to the

following.

Description

Set a creep speed after proximity dog at homing. If the set speed exceeds 8000 r/min, the servo motor speed is clamped at

8000 r/min. When changing the maximum value of "Range" to the permissible speed, set [Pr. PA28.4 Speed range limit

selection] to "1". The description of the object varies as shown in the table below, depending on the combination of the setting

of [Pr. PT01.1 Speed/acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Default Units Parameter

0 (encoder unit) Rotary servo motor 1000 0.01 r/min [Pr. PT06]

1 (command unit)  100000 pulse/s [Pr. PV13]

14.4 [Homing acceleration (Obj. 609Ah)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO RXMAP Refer to the

following.

Refer to the
following.

acc units Possible Refer to the

following.

Description

Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed. The

description of the object varies as shown in the table below, depending on the combination of the setting of [Pr. PT01.1 Speed/

acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Default Range Units Parameter

0 (encoder unit) 0 0 to 20000 ms [Pr. PT56]

1 (command unit) 0 0 to 4294967295

*1 When the setting value is "0", the servo motor decelerates in accordance with the setting value of [Pr. PT56].

*1

pulse/s

2

[Pr. PV15]

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible Impossible 

14

Description

The total number of Sub Indexes is returned.

14 Homing Mode Objects

14.4 [Homing acceleration (Obj. 609Ah)]

85

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

Data Type Access Mapping Default Range Units Save Parameter

I8 RO Impossible Impossible 

Description

The supported homing type is returned. The range values are fixed to the default values.

Sub Index Name Default

01h 1st supported homing method 37

02h 2nd supported homing method 35

03h 3rd supported homing method 34

04h 4th supported homing method 33

05h 5th supported homing method 28

06h 6th supported homing method 27

07h 7th supported homing method 24

08h 8th supported homing method 23

09h 9th supported homing method 22

0Ah 10th supported homing method 21

0Bh 11th supported homing method 20

0Ch 12th supported homing method 19

0Dh 13th supported homing method 12

0Eh 14th supported homing method 11

0Fh 15th supported homing method 8

10h 16th supported homing method 7

11h 17th supported homing method 6

12h 18th supported homing method 5

13h 19th supported homing method 4

14h 20th supported homing method 3

15h 21st supported homing method -1

16h 22nd supported homing method -2

17h 23rd supported homing method -3

18h 24th supported homing method -4

19h 25th supported homing method -6

1Ah 26th supported homing method -7

1Bh 27th supported homing method -8

1Ch 28th supported homing method -9

1Dh 29th supported homing method -10

1Eh 30th supported homing method -11

1Fh 31st supported homing method -33

20h 32nd supported homing method -34

21h 33rd supported homing method -36

22h 34th supported homing method -38

23h 35th supported homing method -39

24h 36th supported homing method -40

25h 37th supported homing method -41

26h 38th supported homing method -42

27h 39th supported homing method -43

86

14 Homing Mode Objects

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

15 Factor Group Objects

15.1 [Polarity (Obj. 607Eh)]

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RW RXMAP 00h 00h to E0h  Possible [Pr. PA14]

[Pr. PC29.3]

Description

The rotation direction selection can be set.

Bit Description

0 reserved

1 reserved

2 reserved

3 reserved

4 reserved

5 0: Servo motor CCW rotation at positive torque

1: Servo motor CW rotation at positive torque

6 0: Servo motor CCW rotation at positive speed

1: Servo motor CW rotation at positive speed

7 0: Servo motor CCW rotation in the positioning address increase direction

1: Servo motor CW rotation in the positioning address increase direction

15

15 Factor Group Objects

15.1 [Polarity (Obj. 607Eh)]

87

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

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP  0 to 4294967295 inc Impossible 

Description

The encoder resolution is returned.

Writing a value triggers an error.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW TXMAP 1 1 (fixed) rev Impossible 

Description

The number of revolutions of the servo motor is returned. The value for the number of revolutions of the servo motor is fixed to

"1".

Writing a value triggers an error.

88

15 Factor Group Objects

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

15.3 [Gear ratio (Obj. 6091h)]

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 1 1 to 2147483647 rev Possible [Pr. PA06]

Description

The number of revolutions of the servo motor shaft (numerator) can be set. Refer to "[Pr. PA06 Electronic gear numerator

(*CMX)]" in the following manual for the range of settable values.
MR-JET-G User's Manual (Parameters)

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP 1 1 to 2147483647 rev Possible [Pr. PA07]

Description

The number of revolutions of the drive shaft (denominator) can be set. Refer to "[Pr. PA07 Electronic gear denominator

(*CDV)]" in the following manual for the range of settable values.
MR-JET-G User's Manual (Parameters)

15

15 Factor Group Objects

15.3 [Gear ratio (Obj. 6091h)]

89

15.4 [Feed constant (Obj. 6092h)]

[Position actual internal value (Obj. 6063h)] × [Feed constant (Obj. 6092h)]

[Position encoder resolution (Obj. 608Fh)] × [Gear ratio (Obj. 6091h)]

[Position actual value (Obj. 6064h)] =

[Position actual value (Obj. 6064h)] is calculated from [Gear ratio (Obj. 6091h)] and [Feed constant (Obj. 6092h)] as follows.

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

Data Type Access Mapping Default Range Units Save Parameter

U8 RO Impossible 2 2 (fixed)  Impossible 

Description

The total number of Sub Indexes (= 2) is returned.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP pos units Impossible 

Description

The travel distance per revolution of the output shaft is returned. Writing a value triggers an error.

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW RXMAP  1 to 1000 rev Possible 

Description

The number of revolutions of the servo motor is returned. Writing a value triggers an error.

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  00000000h

(fixed)

Description

This object value is set automatically.

 Impossible 

90

15 Factor Group Objects

15.4 [Feed constant (Obj. 6092h)]

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

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RW Impossible  Refer to the

following.

Description

The SI unit speed is returned.

The SI unit speed is automatically set in accordance with the combination of [Pr. PT01.1 Speed/acceleration/deceleration unit

selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Range

0 (encoder unit) Rotary servo motor FEB44700h (0.01 r/min)

1 (command unit)  00000300h (pulse/s)

 Impossible 

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

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW Impossible  Refer to the

following.

 Impossible 

15

Description

The SI unit acceleration is returned.

The SI unit acceleration is automatically set in accordance with the combination of [Pr. PT01.1 Speed/acceleration/

deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Range

0 (encoder unit) FD030000h (ms)

2

1 (command unit) 00005700h (pulse/s

)

15 Factor Group Objects

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

91

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

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

Data Type Access Mapping Default Range Units Save Parameter

U32 RO TXMAP  00000000h to

037F0007h

Description

The ON/OFF status of the input device connected to the servo amplifier is returned.

Bit Name DI pin

17 DI1 CN3-2

18 DI2 CN3-12

19 DI3 CN3-19

20 DI4 

21 DI5 

22 EM2/EM1 CN3-20

Bit Description

0 Negative limit switch

When [Pr. PA14] is set to "0":
0: LSN (Reverse rotation stroke end) off
1: LSN (Reverse rotation stroke end) on
When [Pr. PA14] is set to "1":
0: LSP (Forward rotation stroke end) off
1: LSP (Forward rotation stroke end) on

1 Positive limit switch

When [Pr. PA14] is set to "0":
0: LSP (Forward rotation stroke end) off
1: LSP (Forward rotation stroke end) on
When [Pr. PA14] is set to "1":
0: LSN (Reverse rotation stroke end) off
1: LSN (Reverse rotation stroke end) on

2 Home switch

0: DOG (Proximity dog) off
1: DOG (Proximity dog) on

3 to 16 (reserved)

The value at reading is undefined.

17 DI1

Refer to the following for details.
Page 93 DI1

18 DI2

Refer to the following for details.
Page 93 DI2

19 DI3

Refer to the following for details.
Page 94 DI3

20 DI4

Refer to the following for details.
Page 94 DI4

21 DI5

Refer to the following for details.
Page 95 DI5

22 EM2/EM1

Refer to the following for details.

Page 95 EM2/EM1

 Impossible 

92

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

Bit Description

23 (reserved)

The value at reading is undefined.

24 to 31 (reserved)

The value at reading is undefined.

■DI1

[Pr. PC79.0]
Setting digit (BIN): _ _ x _

0 With assigned function  0: Input device selected with [Pr. PD03.0-1] is turned off

1  0 0: Input 0 V to DI1 pin

[Pr. PD03.0-1]

*1

No assigned function 0 0: Input 0 V to DI1 pin

*2*3

[Pr. PD60.0]
Setting digit (BIN): _ _ _ x

1 0: Input 24 V to DI1 pin

1 0: Input 24 V to DI1 pin

Description of DI1

*4

1: Input device selected with [Pr. PD03.0-1] is turned on

1: Input 24 V to DI1 pin

1: Input 0 V to DI1 pin

1: Input 24 V to DI1 pin

1: Input 0 V to DI1 pin

*1 With the setting value of this servo parameter, whether to return the on/off state of the input device selected in [Pr. PD03.0-1] or to return

the on/off state of DI1 pin can be selected.
*2 With the setting value of this servo parameter, the input device to be assigned to DI1 pin can be changed.
*3 "With assigned function" is applicable when this servo parameter is set to specific values such as "04 (PC)" and "0A (LSP)" and a device

is assigned to DI1 pin.
*4 With the setting value of this servo parameter, the polarity of DI1 pin can be selected.
*5 Refer to "[Pr. PD03 Input device selection 1 (*DI1)]" in the following manual for DI pins which correspond to DI1.

MR-JET-G User's Manual (Parameters)

*5

■DI2

[Pr. PC79.0]
Setting digit (BIN): _ x _ _

0 With assigned function  0: Input device selected with [Pr. PD04.0-1] is turned off

1  0 0: Input 0 V to DI2 pin

[Pr. PD04.0-1]

*1

No assigned function 0 0: Input 0 V to DI2 pin

*2*3

[Pr. PD60.0]
Setting digit (BIN): _ _ x _

1 0: Input 24 V to DI2 pin

1 0: Input 24 V to DI2 pin

Description of DI2

*4

1: Input device selected with [Pr. PD04.0-1] is turned on

1: Input 24 V to DI2 pin

1: Input 0 V to DI2 pin

1: Input 24 V to DI2 pin

1: Input 0 V to DI2 pin

*1 With the setting value of this servo parameter, whether to return the on/off state of the input device selected in [Pr. PD04.0-1] or to return

the on/off state of DI2 pin can be selected.
*2 With the setting value of this servo parameter, the input device to be assigned to DI2 pin can be changed.
*3 "With assigned function" is applicable when this servo parameter is set to specific values such as "04 (PC)" and "0A (LSP)" and a device

is assigned to DI2 pin.
*4 With the setting value of this servo parameter, the polarity of DI2 pin can be selected.
*5 Refer to "[Pr. PD04 Input device selection 2 (*DI2)]" in the following manual for DI pins which correspond to DI2.

MR-JET-G User's Manual (Parameters)

*5

16

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

93

■DI3

[Pr. PC79.0]
Setting digit (BIN): x _ _ _

0 With assigned function  0: Input device selected with [Pr. PD05.0-1] is turned off

1  0 0: Input 0 V to DI3 pin

[Pr. PD05.0-1]

*1

No assigned function 0 0: Input 0 V to DI3 pin

*2*3

[Pr. PD60.0]
Setting digit (BIN): _ x _ _

1 0: Input 24 V to DI3 pin

1 0: Input 24 V to DI3 pin

Description of DI3

*4

1: Input device selected with [Pr. PD05.0-1] is turned on

1: Input 24 V to DI3 pin

1: Input 0 V to DI3 pin

1: Input 24 V to DI3 pin

1: Input 0 V to DI3 pin

*1 With the setting value of this servo parameter, whether to return the on/off state of the input device selected in [Pr. PD04.0-1] or to return

the on/off state of DI3 pin can be selected.
*2 With the setting value of this servo parameter, the input device to be assigned to DI3 pin can be changed.
*3 "With assigned function" is applicable when this servo parameter is set to specific values such as "04 (PC)" and "0A (LSP)" and a device

is assigned to DI3 pin.
*4 With the setting value of this servo parameter, the polarity of DI3 pin can be selected.
*5 Refer to "[Pr. PD05 Input device selection 3 (*DI3)]" in the following manual for DI pins which correspond to DI3.

MR-JET-G User's Manual (Parameters)

*5

■DI4

[Pr. PC79.1]
Setting digit (BIN): _ _ _ x

0 With assigned function  0: Input device selected with [Pr. PD38.0-1] is turned off

1  0 0: Input 0 V to DI4 pin

[Pr. PD38.0-1]

*1

No assigned function 0 0: Input 0 V to DI4 pin

*2*3

[Pr. PD60.0]
Setting digit (BIN): x _ _ _

1 0: Input 24 V to DI4 pin

1 0: Input 24 V to DI4 pin

Description of DI4

*4

1: Input device selected with [Pr. PD38.0-1] is turned on

1: Input 24 V to DI4 pin

1: Input 0 V to DI4 pin

1: Input 24 V to DI4 pin

1: Input 0 V to DI4 pin

*5

*1 With the setting value of this servo parameter, whether to return the on/off state of the input device selected in [Pr. PD38.0-1] or to return

the on/off state of DI4 pin can be selected.
*2 With the setting value of this servo parameter, the input device to be assigned to DI4 pin can be changed.
*3 "With assigned function" is applicable when this servo parameter is set to specific values such as "04 (PC)" and "0A (LSP)" and a device

is assigned to DI4 pin.
*4 With the setting value of this servo parameter, the polarity of DI4 pin can be selected.
*5 Refer to "[Pr. PD38 Input device selection 4 (*DI4)]" in the following manual for DI pins which correspond to DI4.

MR-JET-G User's Manual (Parameters)

94

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

■DI5

[Pr. PC79.1]
Setting digit (BIN): _ _ x _

0 With assigned function  0: Input device selected with [Pr. PD39.0-1] is turned off

1  0 0: Input 0 V to DI5 pin

[Pr. PD39.0-1]

*1

No assigned function 0 0: Input 0 V to DI5 pin

*2*3

[Pr. PD60.1]
Setting digit (BIN): _ _ _ x

1 0: Input 24 V to DI5 pin

1 0: Input 24 V to DI5 pin

Description of DI5

*4

1: Input device selected with [Pr. PD39.0-1] is turned on

1: Input 24 V to DI5 pin

1: Input 0 V to DI5 pin

1: Input 24 V to DI5 pin

1: Input 0 V to DI5 pin

*1 With the setting value of this servo parameter, whether to return the on/off state of the input device selected in [Pr. PD39.0-1] or to return

the on/off state of DI5 pin can be selected.
*2 With the setting value of this servo parameter, the input device to be assigned to DI5 pin can be changed.
*3 "With assigned function" is applicable when this servo parameter is set to specific values such as "04 (PC)" and "0A (LSP)" and a device

is assigned to DI5 pin.
*4 With the setting value of this servo parameter, the polarity of DI5 pin can be selected.
*5 Refer to "[Pr. PD39 Input device selection 5 (*DI5)]" in the following manual for DI pins which correspond to DI5.

MR-JET-G User's Manual (Parameters)

*5

■EM2/EM1

[Pr. PC79.1]
Setting digit (BIN): _ x _ _

0 2 0: EM2 (Forced stop 2) off

1  0: Input 24 V to EM2/EM1 pin

[Pr. PA04.3] Description of EM2/EM1

*1

1: EM2 (Forced stop 2) on

0 0: EM1 (Forced stop 1) off

1: EM1 (Forced stop 1) on

1: Input 0 V to EM2/EM1 pin

*2

16

*1 With the setting value of this servo parameter, whether to return the on/off state of EM2 (Forced stop 2)/EM1 (Forced stop 1) or to return

the on/off state of EM2/EM1 pin can be selected.
*2 The DI pin corresponding to EM2/EM1 is the CN3-20 pin.

16 Optional application FE Objects

16.1 [Digital inputs (Obj. 60FDh)]

95

17 Cyclic Synchronous Position Mode Objects

17.1 [Position offset (Obj. 60B0h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 80000000h to

7FFFFFFFh

Description

Set the position offset.

17.2 [Velocity offset (Obj. 60B1h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I32 RW RXMAP 0 -2147483648 to

2147483647

pos units Impossible 

vel units Impossible 

Description

Set the velocity offset.

The description of the object varies as shown in the table below, depending on the combination of [Pr. PT01.1 Speed/

acceleration/deceleration unit selection] and the connected servo motor.

[Pr. PT01.1] Connected servo motor Units

0 (encoder unit) Rotary servo motor 0.01 r/min

1 (command unit)  pulse/s

17.3 [Torque offset (Obj. 60B2h)]

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

Data Type Access Mapping Default Range Units Save Parameter

I16 RW RXMAP 0 -32768 to 32767 0.1 % (rated

torque of 100 %)

Description

Set the torque offset.

Impossible 

96

17 Cyclic Synchronous Position Mode Objects

17.1 [Position offset (Obj. 60B0h)]

MEMO

17

17 Cyclic Synchronous Position Mode Objects

17.3 [Torque offset (Obj. 60B2h)]

97

REVISIONS

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

Revision date *Manual number Description

November 2019 IB(NA)-0300505ENG-A First edition

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

© 2019 MITSUBISHI ELECTRIC CORPORATION

98