Mitsubishi Electric AC Servo System

MR-J5-G-N1/MR-J5W-G-N1

User's Manual

(Object Dictionary)

-MR-J5-_G_-_N1

-MR-J5W_-_G-_N1

-MR-J5D_-_G_-_N1

SAFETY INSTRUCTIONS

Please read the instructions carefully before using the equipment.

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

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.

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.

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

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

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 manual, keep it accessible to the operator.

1

2

[Installation/wiring]

WARNING

● To prevent an electric shock, turn off the power and wait for 15 minutes or more (20 minutes or more for the converter unit/drive unit) 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 of the servo amplifier to the protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground.

● 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.

ABOUT THE MANUAL

e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.

e-Manuals enable the following:

• Searching for desired information in multiple manuals at the same time (manual cross searching)

• Jumping from a link in a manual to another manual for reference

• Browsing for hardware specifications by scrolling over the components shown in product illustrations

• Bookmarking frequently referenced information

• Copying sample programs to engineering tools

If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For the related manuals, refer to the User's Manual (Introduction).

Introduction

This manual is necessary primarily for installing, wiring, and using options.

Hardware

Rotary Servo Motor

Linear Servo Motor

Direct Drive Motor

Partner Encoder

Function

The manual is necessary for operation of servo amplifiers.

For the usage of each function, refer to this manual.

Communication Function

Adjustment

Troubleshooting

The manual is necessary for using communication functions.

The manual is necessary for adjustment of operation status.

The manual is necessary for specifying the causes of alarms and warnings.

It describes the parameters of the servo amplifier.

Parameters

Object Dictionary It describes the objects for the servo amplifier.

When reading this manual to use a drive unit, substitute "drive unit" for "servo amplifier".

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

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10

-4

kg•m

2

)]

1 [N]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [inch]

141.6 [oz•inch]

5.4675 [oz•inch

2

]

0.2248 [lbf]

N [°F]

3

4

CONTENTS

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

ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

CHAPTER 1 SUMMARY OF OBJECT DICTIONARY

1.1

1.2

17

Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Object units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Using appropriate object numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

CHAPTER 2 OBJECT DICTIONARY LIST 20

2.5

2.6

2.7

2.8

2.1

2.2

2.3

2.4

Section definition of object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

General Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

PDO Mapping Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Sync Manager Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Parameter Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Alarm Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Monitor Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Manufacturer Specific Control Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.9

PDS Control Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2.10

Position Control Function Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.11

Profile Velocity Mode Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

2.12

Profile Torque Mode Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.13

Profile Position Mode Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2.14

Homing Mode Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.15

Point table Mode Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.16

Factor Group Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.17

Touch Probe Function Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.18

Optional application FE Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

2.19

Cyclic Synchronous Position Mode Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

CHAPTER 3 General Objects

3.1

3.2

3.3

3.4

3.5

3.6

3.7

3.8

36

[Device Type (Obj. 1000h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Device Type (Obj. 1000h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Error Register (Obj. 1001h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Error Register (Obj. 1001h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

[Manufacturer Device Name (Obj. 1008h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Manufacturer Device Name (Obj. 1008h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Manufacturer Hardware Version (Obj. 1009h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Manufacturer Hardware Version (Obj. 1009h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Manufacturer Software Version (Obj. 100Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Manufacturer Software Version (Obj. 100Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

[Store parameters (Obj. 1010h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Store parameters (Obj. 1010h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Save all parameters (Obj. 1010h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

[Restore default parameters (Obj. 1011h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Restore default parameters (Obj. 1011h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Restore all default parameters (Obj. 1011h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

[Identity Object (Obj. 1018h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.9

[Identity Object (Obj. 1018h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Vendor ID (Obj. 1018h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Product Code (Obj. 1018h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

[Revision Number (Obj. 1018h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Serial Number (Obj. 1018h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

[Error Settings (Obj. 10F1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Error Settings (Obj. 10F1h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Local Error Reaction (Obj. 10F1h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

[Sync Error Counter Limit (Obj. 10F1h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.10

[Version number (Obj. 67FEh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

[Version number (Obj. 67FEh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CHAPTER 4 PDO Mapping Objects

4.1

4.2

4.3

4.4

4.5

4.6

4.7

4.8

44

[1st Receive PDO Mapping (Obj. 1600h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[1st Receive PDO Mapping (Obj. 1600h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

[Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 45

[2nd Receive PDO Mapping (Obj. 1601h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[2nd Receive PDO Mapping (Obj. 1601h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 47

[3rd Receive PDO Mapping (Obj. 1602h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[3rd Receive PDO Mapping (Obj. 1602h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

[Mapped Object 001 (Obj. 1602h: 01h)] - [Mapped Object 032 (Obj. 1602h: 20h)]. . . . . . . . . . . . . . . . . . . . . . . 49

[4th Receive PDO Mapping (Obj. 1603h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[4th Receive PDO Mapping (Obj. 1603h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[1st Transmit PDO Mapping (Obj. 1A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[1st Transmit PDO Mapping (Obj. 1A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

[Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)] . . . . . . . . . . . . . . . . . . . . . . 51

[2nd Transmit PDO Mapping (Obj. 1A01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)] . . . . . . . . . . . . . . . . . . . . . . 53

[3rd Transmit PDO Mapping (Obj. 1A02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[3rd Transmit PDO Mapping (Obj. 1A02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[4th Transmit PDO Mapping (Obj. 1A03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

[4th Transmit PDO Mapping (Obj. 1A03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

CHAPTER 5 Sync Manager Communication Objects

5.1

5.2

5.3

55

[Sync Manager Communication Type (Obj. 1C00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Sync Manager Communication Type (Obj. 1C00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Sync Manager 0 (Obj. 1C00h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Sync Manager 1 (Obj. 1C00h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

[Sync Manager 2 (Obj. 1C00h: 03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Sync Manager 3 (Obj. 1C00h: 04h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

[Sync Manager RxPDO assign (Obj. 1C12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Sync Manager RxPDO assign (Obj. 1C12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Assigned PDO 001 (Obj. 1C12h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

[Assigned PDO 002 (Obj. 1C12h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Assigned PDO 003 (Obj. 1C12h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Assigned PDO 004 (Obj. 1C12h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

[Sync Manager TxPDO assign (Obj. 1C13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Sync Manager TxPDO assign (Obj. 1C13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

5

6

5.4

5.5

[Assigned PDO 001 (Obj. 1C13h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

[Assigned PDO 002 (Obj. 1C13h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Assigned PDO 003 (Obj. 1C13h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[Assigned PDO 004 (Obj. 1C13h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

[SM output parameter (Obj. 1C32h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[SM output parameter (Obj. 1C32h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Synchronization Type (Obj. 1C32h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

[Cycle Time (Obj. 1C32h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

[Synchronization Types supported (Obj. 1C32h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Minimum Cycle Time (Obj. 1C32h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

[Calc and Copy Time (Obj. 1C32h: 06h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Delay Time (Obj. 1C32h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[Cycle Time Too Small (Obj. 1C32h: 0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

[SM input parameter (Obj. 1C33h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[SM input parameter (Obj. 1C33h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Synchronization Type (Obj. 1C33h: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

[Cycle Time (Obj. 1C33h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

[Synchronization Types supported (Obj. 1C33h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

[Minimum Cycle Time (Obj. 1C33h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[Calc and Copy Time (Obj. 1C33h: 06h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

[Delay Time (Obj. 1C33h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

[Cycle Time Too Small (Obj. 1C33h: 0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

CHAPTER 6 Parameter Objects 70

6.5

6.6

6.7

6.8

6.1

6.2

6.3

6.4

[PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

[PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

6.9

[PN01 (Obj. 2581h)] - [PN32 (Obj. 25A0h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

6.10

[PV group parameters (Obj. 2691h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

[PV group parameters (Obj. 2691h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

[PV01 (Obj. 2691h: 01h)] - [PV32 (Obj. 2691h: 20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

[PV33 (Obj. 2691h: 21h)] - [PV40 (Obj. 2691h: 28h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

CHAPTER 7 Alarm Objects

7.1

7.2

7.3

72

[Alarm history newest (Obj. 2A00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Alarm history newest (Obj. 2A00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Alarm No. (Obj. 2A00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Alarm time (Hour) (Obj. 2A00h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

[Alarm2 No. (Obj. 2A00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Alarm time (second) (Obj. 2A00h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Alarm time (nanosecond) (Obj. 2A00h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

[Alarm time (time zone) (Obj. 2A00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Alarm time (summer time) (Obj. 2A00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

[Alarm history _1 (Obj. 2A01h)] - [Alarm history _15 (Obj. 2A0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Clear alarm history (Obj. 2A40h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

7.4

7.5

7.6

7.7

7.8

7.9

[Clear alarm history (Obj. 2A40h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Current alarm (Obj. 2A41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Current alarm (Obj. 2A41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

[Point table error (Obj. 2A43h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Point table error (Obj. 2A43h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Point table error No. (Obj. 2A43h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Point table error factor (Obj. 2A43h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

[Parameter error number (Obj. 2A44h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Parameter error number (Obj. 2A44h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

[Parameter error list (Obj. 2A45h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Parameter error list (Obj. 2A45h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

[Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)] . . . . . . . . . . . . . . . . . 78

[Reset alarm (Obj. 2A46h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Reset alarm (Obj. 2A46h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Converter Alarm No. (Obj. 2A47h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

[Converter Alarm No. (Obj. 2A47h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

7.10

[Drive recorder history newest (Obj. 2A70h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Drive recorder history newest (Obj. 2A70h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Drive recorder history index (Obj. 2A70h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Drive recorder history alarm number (Obj. 2A70h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

[Drive recorder history power on time (Obj. 2A70h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Drive recorder history time (second) (Obj. 2A70h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

[Drive recorder history (time zone) (Obj. 2A70h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

[Drive recorder history (summer time) (Obj. 2A70h: 07h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

7.11

[Drive recorder history 1 (Obj. 2A71h)] - [Drive recorder history 15 (Obj. 2A7Fh)]. . . . . . . . . . . . . . . . . . . 82

CHAPTER 8 Monitor Objects 83

8.1

8.2

8.3

8.4

8.5

8.6

8.7

8.8

[Cumulative feedback pulses (Obj. 2B01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Cumulative feedback pulses (Obj. 2B01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Servo motor speed (Obj. 2B02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Servo motor speed (Obj. 2B02h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

[Droop pulses (Obj. 2B03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Droop pulses (Obj. 2B03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Cumulative command pulses (Obj. 2B04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Cumulative command pulses (Obj. 2B04h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Command pulse frequency (Obj. 2B05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Command pulse frequency (Obj. 2B05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

[Regenerative load ratio (Obj. 2B08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Regenerative load ratio (Obj. 2B08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Effective load ratio (Obj. 2B09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Effective load ratio (Obj. 2B09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Peak load ratio (Obj. 2B0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

[Peak load ratio (Obj. 2B0Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

8.9

[Instantaneous torque (Obj. 2B0Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Instantaneous torque (Obj. 2B0Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

8.10

[Within one-revolution position (Obj. 2B0Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

[Within one-revolution position (Obj. 2B0Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

8.11

[ABS counter (Obj. 2B0Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

[ABS counter (Obj. 2B0Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

7

8

8.12

[Load inertia moment ratio (Obj. 2B0Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

[Load inertia moment ratio (Obj. 2B0Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

8.13

[Bus voltage (Obj. 2B0Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Bus voltage (Obj. 2B0Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

8.14

[Load-side cumulative feedback pulses (Obj. 2B10h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Load-side cumulative feedback pulses (Obj. 2B10h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

8.15

[Load-side droop pulses (Obj. 2B11h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

[Load-side droop pulses (Obj. 2B11h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

8.16

[Load-side encoder information 1 Z-phase counter (Obj. 2B12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Load-side encoder information 1 Z-phase counter (Obj. 2B12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

8.17

[Load-side encoder information 2 (Obj. 2B13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

[Load-side encoder information 2 (Obj. 2B13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

8.18

[Cumulative encoder out pulses (Obj. 2B16h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Cumulative encoder out pulses (Obj. 2B16h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

8.19

[Temperature of motor thermistor (Obj. 2B17h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Temperature of motor thermistor (Obj. 2B17h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

8.20

[Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

[Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

8.21

[Electrical angle (Obj. 2B19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[Electrical angle (Obj. 2B19h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.22

[Motor-side/load-side position deviation (Obj. 2B23h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[Motor-side/load-side position deviation (Obj. 2B23h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.23

[Motor-side/load-side speed deviation (Obj. 2B24h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

[Motor-side/load-side speed deviation (Obj. 2B24h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.24

[Internal temperature of encoder (Obj. 2B25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Internal temperature of encoder (Obj. 2B25h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

8.25

[Settling time (Obj. 2B26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Settling time (Obj. 2B26h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

8.26

[Oscillation detection frequency (Obj. 2B27h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

[Oscillation detection frequency (Obj. 2B27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

8.27

[Number of tough drive operations (Obj. 2B28h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Number of tough drive operations (Obj. 2B28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

8.28

[Internal temperature of amplifier (Obj. 2B2Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Internal temperature of amplifier (Obj. 2B2Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

8.29

[Unit power consumption (Obj. 2B2Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

[Unit power consumption (Obj. 2B2Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

8.30

[Unit total power consumption (Obj. 2B2Eh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Unit total power consumption (Obj. 2B2Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

8.31

[Current position (Obj. 2B2Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Current position (Obj. 2B2Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

8.32

[Command position (Obj. 2B30h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

[Command position (Obj. 2B30h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

8.33

[Remaining command distance (Obj. 2B31h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

[Remaining command distance (Obj. 2B31h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

8.34

[Command No. (Obj. 2B32h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

[Command No. (Obj. 2B32h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

8.35

[Error excessive alarm margin (Obj. 2B3Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

[Error excessive alarm margin (Obj. 2B3Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

8.36

[Overload alarm margin (Obj. 2B40h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Overload alarm margin (Obj. 2B40h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

8.37

[Overshoot amount (Obj. 2B41h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Overshoot amount (Obj. 2B41h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

8.38

[Torque/thrust equivalent to disturbance (Obj. 2B42h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

[Torque/thrust equivalent to disturbance (Obj. 2B42h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

8.39

[Unit power consumption 2 (Obj. 2B43h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

[Unit power consumption 2 (Obj. 2B43h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

8.40

[Converter regenerative load ratio (Obj. 2B49h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

[Converter regenerative load ratio (Obj. 2B49h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

8.41

[Converter effective load ratio (Obj. 2B4Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

[Converter effective load ratio (Obj. 2B4Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

CHAPTER 9 Manufacturer Specific Control Object 99

9.1

9.2

9.3

9.4

[Drive recorder status (Obj. 2C02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

[Drive recorder status (Obj. 2C02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

[Clear drive recorder history (Obj. 2C03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

[Clear drive recorder history (Obj. 2C03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

[External output pin display (Obj. 2C11h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

[External output pin display (Obj. 2C11h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

[External output pin display1 (Obj. 2C11h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

[Power ON cumulative time (Obj. 2C18h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

9.5

9.6

9.7

[Power ON cumulative time (Obj. 2C18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

[Number of inrush relay on/off times (Obj. 2C19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

[Number of inrush relay on/off times (Obj. 2C19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

[Dynamic relay ON/OFF number (Obj. 2C1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

[Dynamic relay ON/OFF number (Obj. 2C1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

[Machine diagnostic status (Obj. 2C20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

[Machine diagnostic status (Obj. 2C20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

[Static friction torque at forward rotation (Obj. 2C21h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 9.8

9.9

[Static friction torque at forward rotation (Obj. 2C21h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

[Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h)] . . . . . . . . . . . . . . . . . . . . . . . 105

[Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . 105

9.10

[Static friction torque at reverse rotation (Obj. 2C23h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

[Static friction torque at reverse rotation (Obj. 2C23h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

9.11

[Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h)] . . . . . . . . . . . . . . . . . . . . . . . 106

[Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . 106

9.12

[Oscillation frequency during motor stop (Obj. 2C25h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

[Oscillation frequency during motor stop (Obj. 2C25h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

9.13

[Vibration level during motor stop (Obj. 2C26h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

[Vibration level during motor stop (Obj. 2C26h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

9.14

[Oscillation frequency during motor operating (Obj. 2C27h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

[Oscillation frequency during motor operating (Obj. 2C27h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

9.15

[Vibration level during motor operating (Obj. 2C28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

[Vibration level during motor operating (Obj. 2C28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

9.16

[Fault prediction status (Obj. 2C29h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

[Fault prediction status (Obj. 2C29h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

9.17

[Friction based fault prediction upper threshold (Obj. 2C2Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

[Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

9.18

[Friction based fault prediction lower threshold (Obj. 2C2Bh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

[Friction based fault prediction lower threshold (Obj. 2C2Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

9.19

[Friction based fault prediction prepare status (Obj. 2C2Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

[Friction based fault prediction prepare status (Obj. 2C2Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

9

10

9.20

[Vibration based fault prediction threshold (Obj. 2C2Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

[Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

9.21

[Vibration based fault prediction prepare status (Obj. 2C2Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

[Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

9.22

[Machine total distance (Obj. 2C2Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

[Machine total distance (Obj. 2C2Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

9.23

[Friction estimate status (Obj. 2C31h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

[Friction estimate status (Obj. 2C31h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

9.24

[Backlash estimation value (Obj. 2C32h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

[Backlash estimation value (Obj. 2C32h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

9.25

[Static friction based fault prediction upper threshold (Obj. 2C33h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

[Static friction based fault prediction upper threshold (Obj. 2C33h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

9.26

[Static friction based fault prediction lower threshold (Obj. 2C34h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

[Static friction based fault prediction lower threshold (Obj. 2C34h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

9.27

[Static friction based fault prediction prepare status (Obj. 2C35h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

[Static friction based fault prediction prepare status (Obj. 2C35h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

9.28

[Tension estimation value (Obj. 2C36h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

[Tension estimation value (Obj. 2C36h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

9.29

[Phase current (Obj. 2C37h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

[Phase current (Obj. 2C37h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

[U phase current (Obj. 2C37h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

[V phase current (Obj. 2C37h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

[W phase current (Obj. 2C37h: 03h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

9.30

[Supported Control DI (Obj. 2D00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

[Supported Control DI (Obj. 2D00h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

[Supported Control DI 1 (Obj. 2D00h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

[Supported Control DI 2 (Obj. 2D00h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

[Supported Control DI 3 (Obj. 2D00h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

[Supported Control DI 4 (Obj. 2D00h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

[Supported Control DI 5 (Obj. 2D00h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

[Supported Control DI 6 (Obj. 2D00h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

[Supported Control DI 7 (Obj. 2D00h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

[Supported Control DI 8 (Obj. 2D00h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

[Supported Control DI 9 (Obj. 2D00h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

[Supported Control DI 10 (Obj. 2D00h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

9.31

[Control DI 1 (Obj. 2D01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

[Control DI 1 (Obj. 2D01h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

9.32

[Control DI 2 (Obj. 2D02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

[Control DI 2 (Obj. 2D02h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

9.33

[Control DI 3 (Obj. 2D03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

[Control DI 3 (Obj. 2D03h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

9.34

[Control DI 4 (Obj. 2D04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

[Control DI 4 (Obj. 2D04h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

9.35

[Control DI 5 (Obj. 2D05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

[Control DI 5 (Obj. 2D05h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

9.36

[Control DI 6 (Obj. 2D06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

[Control DI 6 (Obj. 2D06h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

9.37

[Control DI 7 (Obj. 2D07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

[Control DI 7 (Obj. 2D07h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

9.38

[Control DI 8 (Obj. 2D08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

[Control DI 8 (Obj. 2D08h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

9.39

[Control DI 9 (Obj. 2D09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

[Control DI 9 (Obj. 2D09h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

9.40

[Control DI 10 (Obj. 2D0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

[Control DI 10 (Obj. 2D0Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

9.41

[Supported Status DO (Obj. 2D10h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

[Supported Status DO (Obj. 2D10h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

[Supported Status DO 1 (Obj. 2D10h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

[Supported Status DO 2 (Obj. 2D10h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

[Supported Status DO 3 (Obj. 2D10h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

[Supported Status DO 4 (Obj. 2D10h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

[Supported Status DO 5 (Obj. 2D10h: 05h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

[Supported Status DO 6 (Obj. 2D10h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

[Supported Status DO 7 (Obj. 2D10h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

[Supported Status DO 8 (Obj. 2D10h: 08h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

[Supported Status DO 9 (Obj. 2D10h: 09h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

[Supported Status DO 10 (Obj. 2D10h: 0Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

9.42

[Status DO 1 (Obj. 2D11h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

[Status DO 1 (Obj. 2D11h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

9.43

[Status DO 2 (Obj. 2D12h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

[Status DO 2 (Obj. 2D12h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

9.44

[Status DO 3 (Obj. 2D13h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

[Status DO 3 (Obj. 2D13h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

9.45

[Status DO 4 (Obj. 2D14h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

[Status DO 4 (Obj. 2D14h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

9.46

[Status DO 5 (Obj. 2D15h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

[Status DO 5 (Obj. 2D15h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

9.47

[Status DO 6 (Obj. 2D16h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

[Status DO 6 (Obj. 2D16h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

9.48

[Status DO 7 (Obj. 2D17h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

[Status DO 7 (Obj. 2D17h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

9.49

[Status DO 8 (Obj. 2D18h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

[Status DO 8 (Obj. 2D18h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

9.50

[Status DO 9 (Obj. 2D19h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

[Status DO 9 (Obj. 2D19h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

9.51

[Status DO 10 (Obj. 2D1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

[Status DO 10 (Obj. 2D1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

9.52

[Velocity limit value (Obj. 2D20h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

[Velocity limit value (Obj. 2D20h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

9.53

[Motor rated speed (Obj. 2D28h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

[Motor rated speed (Obj. 2D28h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

9.54

[Manufacturer Device Name 2 (Obj. 2D30h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

[Manufacturer Device Name 2 (Obj. 2D30h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

9.55

[Serial Number 2 (Obj. 2D33h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

[Serial Number 2 (Obj. 2D33h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

9.56

[Encoder status (Obj. 2D35h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

[Encoder status (Obj. 2D35h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

[Encoder status 1 (Obj. 2D35h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

[Encoder status 2 (Obj. 2D35h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

9.57

[Scale cycle counter (Obj. 2D36h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

[Scale cycle counter (Obj. 2D36h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

9.58

[Scale ABS counter (Obj. 2D37h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

11

12

[Scale ABS counter (Obj. 2D37h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

9.59

[Scale measurement encoder resolution (Obj. 2D38h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

[Scale measurement encoder resolution (Obj. 2D38h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

9.60

[Scale measurement encoder reception status (Obj. 2D3Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

[Scale measurement encoder reception status (Obj. 2D3Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

9.61

[Servo motor serial number (Obj. 2D46h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

[Servo motor serial number (Obj. 2D46h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

9.62

[Motor data 2 (Obj. 2D48h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

[Motor data 2 (Obj. 2D48h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

[Motor ID 1 (Obj. 2D48h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

[Motor ID 2 (Obj. 2D48h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

[Encoder ID 1 (Obj. 2D48h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

[Encoder ID 2 (Obj. 2D48h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

9.63

[One-touch tuning mode (Obj. 2D50h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

[One-touch tuning mode (Obj. 2D50h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

9.64

[One-touch tuning status (Obj. 2D51h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

[One-touch tuning status (Obj. 2D51h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

9.65

[One-touch tuning Stop (Obj. 2D52h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

[One-touch tuning Stop (Obj. 2D52h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

9.66

[One-touch tuning Clear (Obj. 2D53h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

[One-touch tuning Clear (Obj. 2D53h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

9.67

[One-touch tuning Error Code (Obj. 2D54h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

[One-touch tuning Error Code (Obj. 2D54h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

9.68

[Software reset (Obj. 2D5Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

[Software reset (Obj. 2D5Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

CHAPTER 10 PDS Control Objects 140

10.1

[Error code (Obj. 603Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

[Error code (Obj. 603Fh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

10.2

[Controlword (Obj. 6040h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

[Controlword (Obj. 6040h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

10.3

[Statusword (Obj. 6041h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

[Statusword (Obj. 6041h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

10.4

[Quick stop option code (Obj. 605Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

[Quick stop option code (Obj. 605Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

10.5

[Halt option code (Obj. 605Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

[Halt option code (Obj. 605Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

10.6

[Modes of operation (Obj. 6060h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

[Modes of operation (Obj. 6060h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

10.7

[Modes of operation display (Obj. 6061h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

[Modes of operation display (Obj. 6061h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

10.8

[Supported drive modes (Obj. 6502h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

[Supported drive modes (Obj. 6502h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

CHAPTER 11 Position Control Function Objects 153

11.1

[Position demand value (Obj. 6062h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

[Position demand value (Obj. 6062h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

11.2

[Position actual internal value (Obj. 6063h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

[Position actual internal value (Obj. 6063h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

11.3

[Position actual value (Obj. 6064h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

[Position actual value (Obj. 6064h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

11.4

[Following error window (Obj. 6065h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

[Following error window (Obj. 6065h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

11.5

[Following error time out (Obj. 6066h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

[Following error time out (Obj. 6066h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

11.6

[Position window (Obj. 6067h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

[Position window (Obj. 6067h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

11.7

[Position window time (Obj. 6068h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

[Position window time (Obj. 6068h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

11.8

[Positioning option code (Obj. 60F2h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

[Positioning option code (Obj. 60F2h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

11.9

[Following error actual value (Obj. 60F4h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

[Following error actual value (Obj. 60F4h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

11.10 [Control effort (Obj. 60FAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

[Control effort (Obj. 60FAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

CHAPTER 12 Profile Velocity Mode Objects 158

12.1

[Velocity demand value (Obj. 606Bh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

[Velocity demand value (Obj. 606Bh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

12.2

[Velocity actual value (Obj. 606Ch)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

[Velocity actual value (Obj. 606Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

12.3

[Velocity window (Obj. 606Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

[Velocity window (Obj. 606Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

12.4

[Velocity window time (Obj. 606Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

[Velocity window time (Obj. 606Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

12.5

[Velocity threshold (Obj. 606Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

[Velocity threshold (Obj. 606Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

12.6

[Velocity threshold time (Obj. 6070h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

[Velocity threshold time (Obj. 6070h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

12.7

[Target velocity (Obj. 60FFh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

[Target velocity (Obj. 60FFh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

CHAPTER 13 Profile Torque Mode Objects 162

13.1

[Positive/Negative torque limit 2 (Obj. 2D6Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

[Positive/Negative torque limit 2 setting (Obj. 2D6Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

[Positive/Negative torque limit 2 select (Obj. 2D6Dh: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

[Positive torque limit value 2 (Obj. 2D6Dh: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

[Negative torque limit value 2 (Obj. 2D6Dh: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

13.2

[Target torque (Obj. 6071h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

[Target torque (Obj. 6071h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13.3

[Max torque (Obj. 6072h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

[Max torque (Obj. 6072h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13.4

[Max current (Obj. 6073h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

[Max current (Obj. 6073h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13.5

[Torque demand value (Obj. 6074h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

[Torque demand value (Obj. 6074h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

13.6

[Motor rated torque (Obj. 6076h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

[Motor rated torque (Obj. 6076h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

13.7

[Torque actual value (Obj. 6077h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

[Torque actual value (Obj. 6077h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

13

14

13.8

[Current actual value (Obj. 6078h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

[Current actual value (Obj. 6078h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

13.9

[Torque slope (Obj. 6087h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

[Torque slope (Obj. 6087h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

13.10 [Torque profile type (Obj. 6088h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

[Torque profile type (Obj. 6088h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

13.11 [Positive torque limit value (Obj. 60E0h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

[Positive torque limit value (Obj. 60E0h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

13.12 [Negative torque limit value (Obj. 60E1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

[Negative torque limit value (Obj. 60E1h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

CHAPTER 14 Profile Position Mode Objects 168

14.1

[Target position (Obj. 607Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

[Target position (Obj. 607Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

14.2

[Position range limit (Obj. 607Bh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

[Position range limit (Obj. 607Bh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

[Min position range limit (Obj. 607Bh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

[Max position range limit (Obj. 607Bh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

14.3

[Software position limit (Obj. 607Dh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

[Software position limit (Obj. 607Dh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

[Min position limit (Obj. 607Dh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

[Max position limit (Obj. 607Dh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

14.4

[Max profile velocity (Obj. 607Fh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

[Max profile velocity (Obj. 607Fh: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

14.5

[Max motor speed (Obj. 6080h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

[Max motor speed (Obj. 6080h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

14.6

[Profile velocity (Obj. 6081h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

[Profile velocity (Obj. 6081h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

14.7

[Profile acceleration (Obj. 6083h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

[Profile acceleration (Obj. 6083h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

14.8

[Profile deceleration (Obj. 6084h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

[Profile deceleration (Obj. 6084h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

14.9

[Quick stop deceleration (Obj. 6085h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

[Quick stop deceleration (Obj. 6085h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

14.10 [Motion profile type (Obj. 6086h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

[Motion profile type (Obj. 6086h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

14.11 [Max acceleration (Obj. 60C5h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

[Max acceleration (Obj. 60C5h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

14.12 [Max deceleration (Obj. 60C6h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

[Max deceleration (Obj. 60C6h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

CHAPTER 15 Homing Mode Objects 179

15.1

[Home offset (Obj. 607Ch)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

[Home offset (Obj. 607Ch: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

15.2

[Homing method (Obj. 6098h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

[Homing method (Obj. 6098h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

15.3

[Homing speeds (Obj. 6099h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

[Homing speeds (Obj. 6099h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

[Speed during search for switch (Obj. 6099h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

[Speed during search for zero (Obj. 6099h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

15.4

[Homing acceleration (Obj. 609Ah)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

[Homing acceleration (Obj. 609Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

15.5

[Supported homing method (Obj. 60E3h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

[Supported homing method (Obj. 60E3h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

[1st supported homing method (Obj. 60E3h: 01h)] - [47th supported homing method (Obj. 60E3h: 2Fh)] . . . . 182

CHAPTER 16 Point table Mode Objects 184

16.1

[Point table 001 (Obj. 2801h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

[Point table 001 (Obj. 2801h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

[Point data (Obj. 2801h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

[Speed (Obj. 2801h: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

[Acceleration (Obj. 2801h: 03h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

[Deceleration (Obj. 2801h: 04h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

[Dwell (Obj. 2801h: 05h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

[Auxiliary (Obj. 2801h: 06h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

[M code (Obj. 2801h: 07h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

16.2

[Point table 002 (Obj. 2802h)] - Point table 255 (Obj. 28FFh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

16.3

[Target point table (Obj. 2D60h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

[Target point table (Obj. 2D60h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

16.4

[Point demand value (Obj. 2D68h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

[Point demand value (Obj. 2D68h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

16.5

[Point actual value (Obj. 2D69h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

[Point actual value (Obj. 2D69h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

16.6

[M code actual value (Obj. 2D6Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

[M code actual value (Obj. 2D6Ah: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

CHAPTER 17 Factor Group Objects 190

17.1

[Polarity (Obj. 607Eh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

[Polarity (Obj. 607Eh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

17.2

[Position encoder resolution (Obj. 608Fh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

[Position encoder resolution (Obj. 608Fh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

[Encoder increments (Obj. 608Fh: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

[Motor revolutions (Obj. 608Fh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

17.3

[Gear ratio (Obj. 6091h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

[Gear ratio (Obj. 6091h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

[Motor revolutions (Obj. 6091h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

[Shaft revolutions (Obj. 6091h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

17.4

[Feed constant (Obj. 6092h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

[Feed constant (Obj. 6092h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

[Feed (Obj. 6092h: 01h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

[Shaft revolutions (Obj. 6092h: 02h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

17.5

[SI unit position (Obj. 60A8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

[SI unit position (Obj. 60A8h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

17.6

[SI unit velocity (Obj. 60A9h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

[SI unit velocity (Obj. 60A9h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

17.7

[SI unit acceleration (Obj. 60AAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

[SI unit acceleration (Obj. 60AAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

CHAPTER 18 Touch Probe Function Objects 196

18.1

[Touch probe function 2 (Obj. 2DE8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

15

16

[Touch probe function 2 (Obj. 2DE8h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

18.2

[Touch probe status 2 (Obj. 2DE9h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

[Touch probe status 2 (Obj. 2DE9h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

18.3

[Touch probe 3 positive edge (Obj. 2DEAh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

[Touch probe 3 positive edge (Obj. 2DEAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

18.4

[Touch probe 3 negative edge (Obj. 2DEBh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

[Touch probe 3 negative edge (Obj. 2DEBh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

18.5

[Touch probe time stamp 3 positive value (Obj. 2DF8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

[Touch probe time stamp 3 positive value (Obj. 2DF8h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

18.6

[Touch probe time stamp 3 negative value (Obj. 2DF9h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

[Touch probe time stamp 3 negative value (Obj. 2DF9h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

18.7

[Touch probe function (Obj. 60B8h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

[Touch probe function (Obj. 60B8h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

18.8

[Touch probe status (Obj. 60B9h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

[Touch probe status (Obj. 60B9h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

18.9

[Touch probe 1 positive edge (Obj. 60BAh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

[Touch probe 1 positive edge (Obj. 60BAh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

18.10 [Touch probe 1 negative edge (Obj. 60BBh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

[Touch probe 1 negative edge (Obj. 60BBh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

18.11 [Touch probe 2 positive edge (Obj. 60BCh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

[Touch probe 2 positive edge (Obj. 60BCh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

18.12 [Touch probe 2 negative edge (Obj. 60BDh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

[Touch probe 2 negative edge (Obj. 60BDh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

18.13 [Touch probe time stamp 1 positive value (Obj. 60D1h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

[Touch probe time stamp 1 positive value (Obj. 60D1h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

18.14 [Touch probe time stamp 1 negative value (Obj. 60D2h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

[Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

18.15 [Touch probe time stamp 2 positive value (Obj. 60D3h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

[Touch probe time stamp 2 positive value (Obj. 60D3h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

18.16 [Touch probe time stamp 2 negative value (Obj. 60D4h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

[Touch probe time stamp 2 negative value (Obj. 60D4h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

CHAPTER 19 Optional application FE Objects 206

19.1

[Digital inputs (Obj. 60FDh)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

[Digital inputs (Obj. 60FDh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

19.2

[Digital outputs (Obj. 60FEh)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

[Digital outputs (Obj. 60FEh: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

[Physical outputs (Obj. 60FEh: 01h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

[Bitmask (Obj. 60FEh: 02h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

CHAPTER 20 Cyclic Synchronous Position Mode Objects 214

20.1

[Position offset (Obj. 60B0h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

[Position offset (Obj. 60B0h: 00h)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

20.2

[Velocity offset (Obj. 60B1h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

[Velocity offset (Obj. 60B1h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

20.3

[Torque offset (Obj. 60B2h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

[Torque offset (Obj. 60B2h: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218

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

Data Type

Access

Mapping

Default

Range

Units

Save

Parameter

Description

ECT

Explanation

Indicates the object size.

I8: 8-bit signed integer (range: -128 (80h) to 127 (7Fh))

I16: 16-bit signed integer (range: -32768 (8000h) to 32767 (7FFFh))

I32: 32-bit signed integer (range: -2147483648 (80000000h) to 2147483647 (7FFFFFFFh))

U8: 8-bit unsigned integer (range: 0 (0h) to 255 (FFh))

U16: 16-bit unsigned integer (range: 0 (0h) to 65535 (FFFFh))

U32: 32-bit unsigned integer (range: 0 (0h) to 4294967295 (FFFFFFFFh))

VISIBLE STRING: Character string

Indicates whether the object can be read or written.

RO: Only reading is available

RW: Reading and writing are available

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.

Indicates the initial value of the object.

Indicates the object setting range. If a value outside the range is written, a parameter out of range error occurs.

Indicates the object unit.

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

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".

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

Describes the object.

Indicates EtherCAT.

1

1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

17

Object units

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

The degree unit is available on servo amplifiers with firmware version B6 or later.

The mm unit and inch unit are available on servo amplifiers with firmware version B8 or later in the positioning mode (point table method).

pos units

The standard unit can be changed using [Pr. PT01.2 Unit for position data] as shown in the following table.

Setting value

0

1

2

3

Standard unit mm inch degree pulse vel units

The speed unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table. The command unit can be changed to "0.001 mm", "0.0001 inch", "0.001 degree", or "pulse" using [Pr. PT01.2].

Setting value

0

1

Unit

0.01 r/min, 0.01 mm/s

*1

Command unit/s

*1 "0.01 mm/s" is used in the linear servo motor control mode.

acc units

The acceleration unit can be changed using [Pr. PT01.1] as shown in the following table. The command unit can be changed to "0.001 mm", "0.0001 inch", "0.001 degree", or "pulse" using [Pr. PT01.2].

Setting value

0

1

Unit ms

Command unit/s

2

18 1 SUMMARY OF OBJECT DICTIONARY

1.1 Structure

1.2

Using appropriate object numbers

This manual describes the object numbers of 1-axis servo amplifiers and A-axis of multi-axis servo amplifiers. When setting objects for B-axis and C-axis of multi-axis servo amplifiers, refer to the following figures to use appropriate object numbers.

• 1-axis servo amplifier

Communication Objects

(1000h to 1FFFh)

RxPDOs 1600h to 1603h

TxPDOs

Manufacturer-specific Objects

CiA 402 Drive Objects

EtherCAT Interface

1A00h to 1A03h

2000h to 2FFFh

6000h to 67FFh

• Multi-axis servo amplifier

Communication Objects

(1000h to 1FFFh)

RxPDOs 1600h to 1603h

1A00h to 1A03h TxPDOs

Manufacturer-specific Objects 2000h to 2FFFh

CiA 402 Drive Objects

EtherCAT Interface

6000h to 67FFh

A-axis

*1 This is for the MR-J5W3-_G-N1 servo amplifier.

1610h to 1613h

1A10h to 1A13h

3000h to 3FFFh

6800h to 6FFFh

B-axis

1620h to 1623h

1A20h to 1A23h

4000h to 4FFFh

7000h to 77FFh

C-axis *1

1

1 SUMMARY OF OBJECT DICTIONARY

1.2 Using appropriate object numbers

19

2

OBJECT DICTIONARY LIST

2.1

Section definition of object dictionary

The following shows the structure of an object dictionary.

Index

1000h to 1FFFh

Description

Communication profile

2000h to 27FFh

2800h to 29FFh

2A00h to 2A7Fh

2B00h to 2BFFh

2C00h to 2C7Fh

2D00h to 2DFFh

2E00h to 5FFFh

6000h to 9FFFh

Servo parameter

Point table

Alarm

Monitor

Diagnostics

Manufacturer defined control

Objects group defined by Mitsubishi

Electric

CiA 402 drive profile

Reference

 Page 36 General Objects

 Page 44 PDO Mapping Objects

 Page 55 Sync Manager Communication Objects

 Page 70 Parameter Objects

 Page 184 Point table Mode Objects

 Page 72 Alarm Objects

 Page 83 Monitor Objects

 Page 99 Manufacturer Specific Control Object

 Page 99 Manufacturer Specific Control Object

 Page 184 Point table Mode Objects

 Page 196 Touch Probe Function Objects



 Page 36 General Objects

 Page 140 PDS Control Objects

 Page 153 Position Control Function Objects

 Page 158 Profile Velocity Mode Objects

 Page 162 Profile Torque Mode Objects

 Page 168 Profile Position Mode Objects

 Page 179 Homing Mode Objects

 Page 190 Factor Group Objects

 Page 196 Touch Probe Function Objects

 Page 206 Optional application FE Objects

 Page 214 Cyclic Synchronous Position Mode Objects

20 2 OBJECT DICTIONARY LIST

2.1 Section definition of object dictionary

2.2

General Objects

Index

1000h

1001h

1008h

1009h

100Ah

1010h

Object name (Index)

Device Type

Error Register

Manufacturer Device Name

Manufacturer Hardware Version

Manufacturer Software Version

Store parameters

1011h

1018h

10F1h

67FEh

Restore default parameters

Identity Object

Error Settings

Version number

Sub Index

00h

00h

00h

01h

02h

00h

01h

02h

03h

04h

01h

00h

01h

00h

00h

00h

00h

00h

Object name (Sub Index)

Device Type

Error Register

Manufacturer Device Name

Manufacturer Hardware Version

Manufacturer Software Version

Store parameters

Save all parameters

Restore default parameters

Restore all default parameters

Identity Object

Vendor ID

Product Code

Revision Number

Serial Number

Error Settings

Local Error Reaction

Sync Error Counter Limit

Version number

2

2 OBJECT DICTIONARY LIST

2.2 General Objects

21

2.3

PDO Mapping Objects

Index

1600h

Object name (Index)

1st Receive PDO Mapping

1601h

1602h

1603h

1A00h

1A01h

1A02h

1A03h

2nd Receive PDO Mapping

3rd Receive PDO Mapping

4th Receive PDO Mapping

1st Transmit PDO Mapping

2nd Transmit PDO Mapping

3rd Transmit PDO Mapping

4th Transmit PDO Mapping

Sub Index

00h

20h

00h

01h



01h



20h

00h

01h



20h

00h

00h

01h



20h

00h

00h

20h

00h

01h



Object name (Sub Index)

1st Receive PDO Mapping

Mapped Object 001



Mapped Object 032

2nd Receive PDO Mapping

Mapped Object 001



Mapped Object 032

3rd Receive PDO Mapping

Mapped Object 001



Mapped Object 032

4th Receive PDO Mapping

1st Transmit PDO Mapping

Mapped Object 001



Mapped Object 032

2nd Transmit PDO Mapping

Mapped Object 001



Mapped Object 032

3rd Transmit PDO Mapping

4th Transmit PDO Mapping

22 2 OBJECT DICTIONARY LIST

2.3 PDO Mapping Objects

2.4

Sync Manager Communication Objects

Index

1C00h

1C12h

1C13h

1C32h

1C33h

Object name (Index) Sub Index

Sync Manager Communication Type 00h

Sync Manager RxPDO assign

Sync Manager TxPDO assign

SM output parameter

SM input parameter

02h

03h

04h

00h

03h

04h

00h

01h

01h

02h

04h

05h

06h

04h

00h

01h

02h

01h

02h

03h

02h

04h

05h

06h

09h

0Ch

00h

01h

09h

0Ch

Object name (Sub Index)

Sync Manager Communication Type

Sync Manager 0

Sync Manager 1

Sync Manager 2

Sync Manager 3

Sync Manager RxPDO assign

Assigned PDO 001

Assigned PDO 002

Assigned PDO 003

Assigned PDO 004

Sync Manager TxPDO assign

Assigned PDO 001

Assigned PDO 002

Assigned PDO 003

Assigned PDO 004

SM output parameter

Synchronization Type

Cycle Time

Synchronization Types supported

Minimum Cycle Time

Calc and Copy Time

Delay Time

Cycle Time Too Small

SM input parameter

Synchronization Type

Cycle Time

Synchronization Types supported

Minimum Cycle Time

Calc and Copy Time

Delay Time

Cycle Time Too Small

2

2 OBJECT DICTIONARY LIST

2.4 Sync Manager Communication Objects

23

2.5

Parameter Objects

Index

2001h



202Ch

2081h



20DCh

2101h



215Ah

2181h



21C8h

2201h



2258h

2281h



22E3h

2401h



2448h

2481h



24DAh

2581h



25A0h

2691h

Object name (Index)

PC01



PC90

PD01



PD72

PE01



PE88

PF01



PF99

PA01



PA44

PB01



PB92

PL01



PL72

PT01



PT90

PN01



PN32

PV group parameters

Sub Index













00h

01h



28h







Object name (Sub Index)



















PV group parameters

PV01



PV40

24 2 OBJECT DICTIONARY LIST

2.5 Parameter Objects

2.6

Alarm Objects

Index

2A00h

2A01h



2A0Fh

2A40h

2A41h

2A43h

2A44h

2A45h

2A46h

2A70h

2A71h



2A7Fh

Object name (Index)

Alarm history newest

Alarm history _1



Alarm history _15

Clear alarm history

Current alarm

Point table error

Parameter error number

Parameter error list

Reset alarm

Drive recorder history newest

Drive recorder history 1



Drive recorder history 15

06h

07h



03h

04h

05h

FEh

00h

00h

01h

02h

00h

00h

00h

01h

02h

00h

00h

01h



Sub Index

00h

01h

02h

03h

04h

05h

06h

07h



Object name (Sub Index)

Alarm history newest

Alarm No.

Alarm time (Hour)

Alarm2 No.

Alarm time (second)

Alarm time (nanosecond)

Alarm time (time zone)

Alarm time (summer time)



Clear alarm history

Current alarm

Point table error

Point table error No.

Point table error factor

Parameter error number

Parameter error list

Parameter error list 1



Parameter error list 254

Reset alarm

Drive recorder history newest

Drive recorder history index

Drive recorder history alarm number

Drive recorder history power on time

Drive recorder history time (second)

Drive recorder history time

(nanosecond)

Drive recorder history (time zone)

Drive recorder history (summer time)



2

2 OBJECT DICTIONARY LIST

2.6 Alarm Objects

25

26

2B2Dh

2B2Eh

2B2Fh

2B30h

2B31h

2B32h

2B3Fh

2B24h

2B25h

2B26h

2B27h

2B28h

2B2Ah

2B40h

2B41h

2B42h

2.7

Monitor Objects

Index

2B01h

2B0Bh

2B0Ch

2B0Dh

2B0Eh

2B0Fh

2B10h

2B02h

2B03h

2B04h

2B05h

2B08h

2B09h

2B0Ah

2B11h

2B12h

2B13h

2B16h

2B17h

2B18h

2B19h

2B23h

2B43h

Object name (Index)

Cumulative feedback pulses

Sub Index

00h

Servo motor speed

Droop pulses

Cumulative command pulses

Command pulse frequency

Regenerative load ratio

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position

ABS counter

Load inertia moment ratio

Bus voltage

Load-side cumulative feedback pulses

Load-side droop pulses

Load-side encoder information 1 Zphase counter

Load-side encoder information 2

Cumulative encoder out pulses

00h

00h

00h

00h

00h

00h

Temperature of motor thermistor

Motor-side cumu. feedback pulses

(before gear)

Electrical angle

00h

00h

00h

Motor-side/load-side position deviation

00h

Motor-side/load-side speed deviation 00h

Internal temperature of encoder 00h

00h

00h

00h

00h

Settling time

Oscillation detection frequency

Number of tough drive operations

Internal temperature of amplifier

Unit power consumption

Unit total power consumption

Current position

Command position

Remaining command distance

Command No.

Error excessive alarm margin

Overload alarm margin

Overshoot amount

Torque/thrust equivalent to disturbance

Unit power consumption 2

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

2 OBJECT DICTIONARY LIST

2.7 Monitor Objects

Object name (Sub Index)

Cumulative feedback pulses

Servo motor speed

Droop pulses

Cumulative command pulses

Command pulse frequency

Regenerative load ratio

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position

ABS counter

Load inertia moment ratio

Bus voltage

Load-side cumulative feedback pulses

Load-side droop pulses

Load-side encoder information 1 Zphase counter

Load-side encoder information 2

Cumulative encoder out pulses

Temperature of motor thermistor

Motor-side cumu. feedback pulses

(before gear)

Electrical angle

Motor-side/load-side position deviation

Motor-side/load-side speed deviation

Internal temperature of encoder

Settling time

Oscillation detection frequency

Number of tough drive operations

Internal temperature of amplifier

Unit power consumption

Unit total power consumption

Current position

Command position

Remaining command distance

Command No.

Error excessive alarm margin

Overload alarm margin

Overshoot amount

Torque/thrust equivalent to disturbance

Unit power consumption 2

Index

2B49h

2B4Ah

Object name (Index)

Converter regenerative load ratio

Converter effective load ratio

Sub Index

00h

00h

Object name (Sub Index)

Converter regenerative load ratio

Converter effective load ratio

2

2 OBJECT DICTIONARY LIST

2.7 Monitor Objects

27

2.8

Manufacturer Specific Control Object

Index

2C02h

2C03h

2C11h

2C18h

2C19h

2C1Ah

2C20h

2C21h

2C22h

2C23h

2C24h

2C25h

2C26h

2C27h

2C28h

2C29h

2C2Ah

2C2Bh

2C2Ch

2C2Dh

2C2Eh

2C2Fh

2C31h

2C32h

2C33h

2C34h

2C35h

2C36h

2C37h

Object name (Index)

Drive recorder status

Sub Index

00h

Clear drive recorder history

External output pin display

Power ON cumulative time

Number of inrush relay on/off times

Dynamic relay ON/OFF number

Machine diagnostic status

Static friction torque at forward rotation

Dynamic friction torque at forward rotation (at rated speed)

Static friction torque at reverse rotation

Dynamic friction torque at reverse rotation (at rated speed)

Oscillation frequency during motor stop

Vibration level during motor stop

Fault prediction status

00h

00h

00h

00h

00h

00h

Oscillation frequency during motor operating

00h

Vibration level during motor operating 00h

00h

00h Friction based fault prediction upper threshold

Friction based fault prediction lower threshold

Friction based fault prediction prepare status

Vibration based fault prediction threshold

Vibration based fault prediction prepare status

Machine total distance

Friction estimate status

Backlash estimation value

00h

00h

00h

00h

00h

00h

00h

00h Static friction based fault prediction upper threshold

Static friction based fault prediction lower threshold

Static friction based fault prediction prepare status

Tension estimation value

Phase current

00h

00h

00h

00h

01h

02h

03h

00h

00h

00h

00h

00h

00h

01h

Object name (Sub Index)

Drive recorder status

Clear drive recorder history

External output pin display

External output pin display1

Power ON cumulative time

Number of inrush relay on/off times

Dynamic relay ON/OFF number

Machine diagnostic status

Static friction torque at forward rotation

Dynamic friction torque at forward rotation (at rated speed)

Static friction torque at reverse rotation

Dynamic friction torque at reverse rotation (at rated speed)

Oscillation frequency during motor stop

Vibration level during motor stop

Oscillation frequency during motor operating

Vibration level during motor operating

Fault prediction status

Friction based fault prediction upper threshold

Friction based fault prediction lower threshold

Friction based fault prediction prepare status

Vibration based fault prediction threshold

Vibration based fault prediction prepare status

Machine total distance

Friction estimate status

Backlash estimation value

Static friction based fault prediction upper threshold

Static friction based fault prediction lower threshold

Static friction based fault prediction prepare status

Tension estimation value

Phase current

U phase current

V phase current

W phase current

28 2 OBJECT DICTIONARY LIST

2.8 Manufacturer Specific Control Object

Index

2D00h

2D01h

2D02h

2D03h

2D04h

2D05h

2D06h

2D07h

2D08h

2D09h

2D0Ah

2D10h

2D16h

2D17h

2D18h

2D19h

2D1Ah

2D20h

2D11h

2D12h

2D13h

2D14h

2D15h

Object name (Index)

Supported Control DI

Control DI 1

Control DI 2

Control DI 3

Control DI 4

Control DI 5

Control DI 6

Control DI 7

Control DI 8

Control DI 9

Control DI 10

Supported Status DO

Status DO 1

Status DO 2

Status DO 3

Status DO 4

Status DO 5

Status DO 6

Status DO 7

Status DO 8

Status DO 9

Status DO 10

Velocity limit value

Sub Index

00h

0Ah

00h

00h

00h

06h

07h

08h

09h

02h

03h

04h

05h

00h

00h

00h

01h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

07h

08h

09h

0Ah

01h

02h

03h

04h

05h

06h

Object name (Sub Index)

Supported Control DI

Control DI 9

Control DI 10

Supported Status DO

Supported Status DO 1

Supported Status DO 2

Supported Status DO 3

Supported Status DO 4

Supported Status DO 5

Supported Status DO 6

Supported Status DO 7

Supported Status DO 8

Supported Status DO 9

Supported Status DO 10

Status DO 1

Status DO 2

Status DO 3

Supported Control DI 1

Supported Control DI 2

Supported Control DI 3

Supported Control DI 4

Supported Control DI 5

Supported Control DI 6

Supported Control DI 7

Supported Control DI 8

Supported Control DI 9

Supported Control DI 10

Control DI 1

Control DI 2

Control DI 3

Control DI 4

Control DI 5

Control DI 6

Control DI 7

Control DI 8

Status DO 4

Status DO 5

Status DO 6

Status DO 7

Status DO 8

Status DO 9

Status DO 10

Velocity limit value

2 OBJECT DICTIONARY LIST

2.8 Manufacturer Specific Control Object

29

2

Index

603Fh

6040h

6041h

605Ah

605Dh

6060h

6061h

6502h

Index

2D28h

2D30h

2D33h

2D35h

2D46h

2D48h

Object name (Index)

Motor rated speed

Manufacturer Device Name 2

Serial Number 2

Encoder status

Servo motor serial number

Motor data 2

2D50h

2D51h

2D52h

2D53h

2D54h

One-touch tuning mode

One-touch tuning status

One-touch tuning Stop

One-touch tuning Clear

One-touch tuning Error Code

Software reset 2D5Fh

2.9

PDS Control Objects

Sub Index

00h

00h

00h

00h

04h

00h

00h

00h

00h

01h

02h

03h

00h

00h

00h

01h

02h

00h

Object name (Index)

Error code

Controlword

Statusword

Quick stop option code

Halt option code

Modes of operation

Modes of operation display

Supported drive modes

Sub Index

00h

00h

00h

00h

00h

00h

00h

00h

Object name (Sub Index)

Motor rated speed

Manufacturer Device Name 2

Serial Number 2

Encoder status

Encoder status 1

Encoder status 2

Servo motor serial number

Motor data 2

Motor ID 1

Motor ID 2

Encoder ID 1

Encoder ID 2

One-touch tuning mode

One-touch tuning status

One-touch tuning Stop

One-touch tuning Clear

One-touch tuning Error Code

Software reset

Object name (Sub Index)

Error code

Controlword

Statusword

Quick stop option code

Halt option code

Modes of operation

Modes of operation display

Supported drive modes

30 2 OBJECT DICTIONARY LIST

2.9 PDS Control Objects

Index

606Bh

606Ch

606Dh

606Eh

606Fh

6070h

60FFh

2.10

Position Control Function Objects

Index

6062h

6063h

6064h

6065h

6066h

6067h

6068h

60F2h

60F4h

60FAh

Object name (Index)

Position demand value

Position actual internal value

Position actual value

Following error window

Following error time out

Position window

Position window time

Positioning option code

Following error actual value

Control effort

Sub Index

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

2.11

Profile Velocity Mode Objects

Object name (Index)

Velocity demand value

Velocity actual value

Velocity window

Velocity window time

Velocity threshold

Velocity threshold time

Target velocity

00h

00h

00h

00h

00h

Sub Index

00h

00h

Object name (Sub Index)

Position demand value

Position actual internal value

Position actual value

Following error window

Following error time out

Position window

Position window time

Positioning option code

Following error actual value

Control effort

Object name (Sub Index)

Velocity demand value

Velocity actual value

Velocity window

Velocity window time

Velocity threshold

Velocity threshold time

Target velocity

2

2 OBJECT DICTIONARY LIST

2.10 Position Control Function Objects

31

2.12

Profile Torque Mode Objects

Index

2D6Dh

Object name (Index)

Positive/Negative torque limit 2

Sub Index

00h

Index

607Ah

607Bh

607Dh

607Fh

6080h

6081h

6083h

6084h

6085h

6086h

60C5h

60C6h

6078h

6087h

6088h

60E0h

60E1h

6071h

6072h

6073h

6074h

6076h

6077h

Target torque

Max torque

Max current

Torque demand value

Motor rated torque

Torque actual value

Current actual value

Torque slope

Torque profile type

Positive torque limit value

Negative torque limit value

01h

02h

03h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

00h

2.13

Profile Position Mode Objects

Object name (Index)

Target position

Position range limit

Software position limit

Max profile velocity

Max motor speed

Profile velocity

Profile acceleration

Profile deceleration

Quick stop deceleration

Motion profile type

Max acceleration

Max deceleration

Sub Index

00h

00h

00h

00h

00h

00h

01h

02h

00h

01h

02h

00h

00h

00h

00h

00h

Object name (Sub Index)

Positive/Negative torque limit 2 setting

Positive/Negative torque limit 2 select

Positive torque limit value 2

Negative torque limit value 2

Target torque

Max torque

Max current

Torque demand value

Motor rated torque

Torque actual value

Current actual value

Torque slope

Torque profile type

Positive torque limit value

Negative torque limit value

Object name (Sub Index)

Target position

Position range limit

Min position range limit

Max position range limit

Software position limit

Min position limit

Max position limit

Max profile velocity

Max motor speed

Profile velocity

Profile acceleration

Profile deceleration

Quick stop deceleration

Motion profile type

Max acceleration

Max deceleration

32 2 OBJECT DICTIONARY LIST

2.12 Profile Torque Mode Objects

2802h



28FFh

2D60h

2D68h

2D69h

2D6Ah

2.14

Homing Mode Objects

Index

607Ch

6098h

6099h

609Ah

60E3h

Object name (Index)

Home offset

Homing method

Homing speeds

Homing acceleration

Supported homing method

Sub Index

00h

02h

00h

00h

01h

00h

00h

01h



2Fh

2.15

Point table Mode Objects

Index

2801h

Object name (Index)

Point table 001

02h

03h

04h

05h

06h

07h



Sub Index

00h

01h

Point table 002



Point table 255

Target point table

Point demand value

Point actual value

M code actual value

00h

00h

00h

00h

Object name (Sub Index)

Home offset

Homing method

Homing speeds

Speed during search for switch

Speed during search for zero

Homing acceleration

Supported homing method

1st supported homing method



47th supported homing method

2

Object name (Sub Index)

Point table 001

Point data

Speed

Acceleration

Deceleration

Dwell

Auxiliary

M code



Target point table

Point demand value

Point actual value

M code actual value

2 OBJECT DICTIONARY LIST

2.14 Homing Mode Objects

33

2.16

Factor Group Objects

2DF9h

60B8h

60B9h

60BAh

60BBh

60BCh

60BDh

60D1h

Index

2DE8h

2DE9h

2DEAh

2DEBh

2DF8h

Index

607Eh

608Fh

6091h

6092h

60A8h

60A9h

60AAh

Object name (Index)

Polarity

Position encoder resolution

Gear ratio

Feed constant

SI unit position

SI unit velocity

SI unit acceleration

Sub Index

00h

00h

01h

02h

00h

00h

01h

02h

01h

02h

00h

00h

00h

2.17

Touch Probe Function Objects

60D2h

60D3h

60D4h

Object name (Index)

Touch probe function 2

Touch probe status 2

Touch probe 3 positive edge

Touch probe 3 negative edge

Touch probe time stamp 3 positive value

Touch probe time stamp 3 negative value

Touch probe function

Touch probe status

Touch probe 1 positive edge

Touch probe 1 negative edge

Touch probe 2 positive edge

Touch probe 2 negative edge

Touch probe time stamp 1 positive value

Touch probe time stamp 1 negative value

Touch probe time stamp 2 positive value

Touch probe time stamp 2 negative value

00h

00h

00h

00h

00h

00h

00h

Sub Index

00h

00h

00h

00h

00h

00h

00h

00h

00h

Object name (Sub Index)

Polarity

Position encoder resolution

Encoder increments

Motor revolutions

Gear ratio

Motor revolutions

Shaft revolutions

Feed constant

Feed

Shaft revolutions

SI unit position

SI unit velocity

SI unit acceleration

Object name (Sub Index)

Touch probe function 2

Touch probe status 2

Touch probe 3 positive edge

Touch probe 3 negative edge

Touch probe time stamp 3 positive value

Touch probe time stamp 3 negative value

Touch probe function

Touch probe status

Touch probe 1 positive edge

Touch probe 1 negative edge

Touch probe 2 positive edge

Touch probe 2 negative edge

Touch probe time stamp 1 positive value

Touch probe time stamp 1 negative value

Touch probe time stamp 2 positive value

Touch probe time stamp 2 negative value

34 2 OBJECT DICTIONARY LIST

2.16 Factor Group Objects

2.18

Optional application FE Objects

Index

60FDh

60FEh

Object name (Index)

Digital inputs

Digital outputs

Sub Index

00h

00h

01h

02h

Object name (Sub Index)

Digital inputs

Digital outputs

Physical outputs

Bitmask

2.19

Cyclic Synchronous Position Mode Objects

Index

60B0h

60B1h

60B2h

Object name (Index)

Position offset

Velocity offset

Torque offset

Sub Index

00h

00h

00h

Object name (Sub Index)

Position offset

Velocity offset

Torque offset

2

2 OBJECT DICTIONARY LIST

2.18 Optional application FE Objects

35

3

General Objects

3.1

[Device Type (Obj. 1000h)]

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00020192h

Range

00020192h

(fixed)

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Parameter







Description

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

Bit

0 to 7

8 to 15

Symbol





Description

0192h (CiA 402)

0002h (Servo drive)

3.2

[Error Register (Obj. 1001h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 01h





Units







Save

Impossible





Parameter







Description

Whether an alarm has occurred is returned. When a multi-axis servo amplifier is used, the alarm occurrence in all axes is indicated. When an alarm occurs in any of the axes, the bit 0 turns on. When alarms are deactivated in all axes, the bit 0 turns off.

Bit

0

1 to 7

Symbol





Description

Always on while an alarm is occurring.



36 3 General Objects

3.1 [Device Type (Obj. 1000h)]

3.3

[Manufacturer Device Name (Obj. 1008h)]

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

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The model name of the servo amplifier is returned.

Ex.

If MR-J5-10G-N1 is used, the model name is returned as shown below.

"MR-J5-G-N1 " (Empty spaces after the model name are filled with blank spaces to make the name 32 characters long.)

3.4

[Manufacturer Hardware Version (Obj. 1009h)]

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

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The hardware version of the servo amplifier is returned.

3.5

[Manufacturer Software Version (Obj. 100Ah)]

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

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The firmware version of the servo amplifier is returned.

3

3 General Objects

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

37

3.6

[Store parameters (Obj. 1010h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible

Parameter











Description

The total number of Sub Indexes is returned.

Default

01h

Range

01h (fixed)

Description

Sub Index 1 is supported.

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

Data Type

U32

Access

RW

Mapping

Impossible

Default

00000001h

Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Parameter







Description

Writing "save" (= 65766173h) saves all parameters (servo parameters, network parameters, and point table data) that can be stored in the non-volatile memory.

The descriptions of the read values are as follows.

Bit

0

1

2 to 7

Symbol







Description

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.)

0: The parameters are not automatically saved.



38 3 General Objects

3.6 [Store parameters (Obj. 1010h)]

3.7

[Restore default parameters (Obj. 1011h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The total number of Sub Indexes is returned.

Default

01h

Range

01h (fixed)

Description

Sub Index 1 is supported.

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

Data Type

U32

Access

RW

Mapping

Impossible

Default

00000001h

Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

All parameters (servo parameters, network parameters, and point table data) 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.

When a multi-axis servo amplifier is used, the servo parameters of all axes are initialized.

The read value is always "00000001h" (initializing values).

3

3 General Objects

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

39

3.8

[Identity Object (Obj. 1018h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

04h





Range

04h (fixed)





Units







Save

Impossible

Parameter











Description

The total number of Sub Indexes is returned.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000A1Eh

(fixed)

Units



Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The vendor ID of the servo amplifier is returned.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units







Save

Impossible

Parameter











Description

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

• MR-J5-_G_-N1: 00000301h

• MR-J5-_G_-RJN1: 00000304h

• MR-J5W2_-_G-N1: 00000302h

• MR-J5W3_-_G-N1: 00000303h

• MR-J5D1-_G_-_N1: 00000307h

• MR-J5D2-_G_-_N1: 00000308h

• MR-J5D3-_G_-_N1: 00000309h

40 3 General Objects

3.8 [Identity Object (Obj. 1018h)]

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units







Description

The revision number of the selected servo amplifier is returned.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Save

Impossible





Description

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

Parameter







Parameter







3

3 General Objects

3.8 [Identity Object (Obj. 1018h)]

41

3.9

[Error Settings (Obj. 10F1h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

02h





Range

02h (fixed)





Units







Description

The total number of Sub Indexes is returned.

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

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h

(fixed)

Supported firmware version

ECT 

A5 













Units







Description

Reserved

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

9





Range

0 to 32767





Units







Save

Impossible





Save

Impossible





Save

Impossible

Parameter







Parameter







Parameter

[Pr. PN18]









Description

Set the threshold until [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

Internal Error Counter

(Setting value = 9)

1

0

0

3

1

2

0

5

1

4

0

7

1

6

0

9

(error)

1

9

0

9

1

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. Be careful when changing the set value as there is a danger of collision.

42 3 General Objects

3.9 [Error Settings (Obj. 10F1h)]

3.10

[Version number (Obj. 67FEh)]

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00040100h

Range

00040100h

(fixed)

Supported firmware version

ECT 

A5 













Units







Description

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

Bit

0 to 7

8 to 15

16 to 23

24 to 31

Symbol









Description

Sub version No. (0)

Minor version No. (1)

Major version No. (4)

Reserved (0)

Save

Impossible

Parameter











3

3 General Objects

3.10 [Version number (Obj. 67FEh)]

43

4

PDO Mapping Objects

4.1

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

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

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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, use the following procedure.

1.

Write "00h" in the object.

2.

Write values in objects of Sub Index 1 or later.

3.

Write the total number of objects in which values have been written in step 2 in this object.

44 4 PDO Mapping Objects

4.1 [1st Receive PDO Mapping (Obj. 1600h)]

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

1600h: 20h)]

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter

PDO mapping

Supported firmware version

ECT 

A5 

























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

1600h

Sub

1Ah

1Bh

1Ch

1Dh

16h

17h

18h

19h

12h

13h

14h

15h

0Eh

0Fh

10h

11h

1Eh

1Fh

20h

0Ah

0Bh

0Ch

0Dh

06h

07h

08h

09h

00h

01h

02h

03h

04h

05h

Name

1st Receive PDO Mapping

Mapped Object 001

Mapped Object 002

Mapped Object 003

Mapped Object 004

Mapped Object 005

Mapped Object 006

Mapped Object 007

Mapped Object 008

Mapped Object 009

Mapped Object 010

Mapped Object 011

Mapped Object 012

Mapped Object 013

Mapped Object 014

Mapped Object 015

Mapped Object 016

Mapped Object 017

Mapped Object 018

Mapped Object 019

Mapped Object 020

Mapped Object 021

Mapped Object 022

Mapped Object 023

Mapped Object 024

Mapped Object 025

Mapped Object 026

Mapped Object 027

Mapped Object 028

Mapped Object 029

Mapped Object 030

Mapped Object 031

Mapped Object 032

Default

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000010h

00000000h

00000000h

00000000h

00000000h

00000010h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

0Ah

60600008h

00000008h

60400010h

2D010010h

2D020010h

2D030010h

607A0020h

60FF0020h

2D200020h

60710010h

00000000h

00000000h

00000000h

4

4 PDO Mapping Objects

4.1 [1st Receive PDO Mapping (Obj. 1600h)]

45

4.2

[2nd Receive PDO Mapping (Obj. 1601h)]

[2nd Receive PDO Mapping (Obj. 1601h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

46 4 PDO Mapping Objects

4.2 [2nd Receive PDO Mapping (Obj. 1601h)]

[Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj.

1601h: 20h)]

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter

PDO mapping

Supported firmware version

ECT 

A5 

























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

1601h

Sub

1Ah

1Bh

1Ch

1Dh

16h

17h

18h

19h

12h

13h

14h

15h

0Eh

0Fh

10h

11h

1Eh

1Fh

20h

0Ah

0Bh

0Ch

0Dh

06h

07h

08h

09h

00h

01h

02h

03h

04h

05h

Name

2nd Receive PDO Mapping

Mapped Object 001

Mapped Object 002

Mapped Object 003

Mapped Object 004

Mapped Object 005

Mapped Object 006

Mapped Object 007

Mapped Object 008

Mapped Object 009

Mapped Object 010

Mapped Object 011

Mapped Object 012

Mapped Object 013

Mapped Object 014

Mapped Object 015

Mapped Object 016

Mapped Object 017

Mapped Object 018

Mapped Object 019

Mapped Object 020

Mapped Object 021

Mapped Object 022

Mapped Object 023

Mapped Object 024

Mapped Object 025

Mapped Object 026

Mapped Object 027

Mapped Object 028

Mapped Object 029

Mapped Object 030

Mapped Object 031

Mapped Object 032

Default

60870020h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

0Eh

60600008h

00000008h

60400010h

2D010010h

2D020010h

2D030010h

607A0020h

60FF0020h

2D200020h

60710010h

60810020h

60830020h

60840020h

4

4 PDO Mapping Objects

4.2 [2nd Receive PDO Mapping (Obj. 1601h)]

47

4.3

[3rd Receive PDO Mapping (Obj. 1602h)]

[3rd Receive PDO Mapping (Obj. 1602h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

48 4 PDO Mapping Objects

4.3 [3rd Receive PDO Mapping (Obj. 1602h)]

[Mapped Object 001 (Obj. 1602h: 01h)] - [Mapped Object 032 (Obj.

1602h: 20h)]

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter

PDO mapping

Supported firmware version

ECT 

A5 

























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

1602h

Sub

1Ah

1Bh

1Ch

1Dh

16h

17h

18h

19h

12h

13h

14h

15h

0Eh

0Fh

10h

11h

1Eh

1Fh

20h

0Ah

0Bh

0Ch

0Dh

06h

07h

08h

09h

00h

01h

02h

03h

04h

05h

Name

3rd Receive PDO Mapping

Mapped Object 001

Mapped Object 002

Mapped Object 003

Mapped Object 004

Mapped Object 005

Mapped Object 006

Mapped Object 007

Mapped Object 008

Mapped Object 009

Mapped Object 010

Mapped Object 011

Mapped Object 012

Mapped Object 013

Mapped Object 014

Mapped Object 015

Mapped Object 016

Mapped Object 017

Mapped Object 018

Mapped Object 019

Mapped Object 020

Mapped Object 021

Mapped Object 022

Mapped Object 023

Mapped Object 024

Mapped Object 025

Mapped Object 026

Mapped Object 027

Mapped Object 028

Mapped Object 029

Mapped Object 030

Mapped Object 031

Mapped Object 032

Default

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

0Ah

60600008h

00000008h

60400010h

2D010010h

2D020010h

2D030010h

2D600010h

60810020h

60830020h

60840020h

00000000h

00000000h

00000000h

4

4 PDO Mapping Objects

4.3 [3rd Receive PDO Mapping (Obj. 1602h)]

49

4.4

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

[4th Receive PDO Mapping (Obj. 1603h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

4.5

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

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

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

50 4 PDO Mapping Objects

4.4 [4th Receive PDO Mapping (Obj. 1603h)]

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

1A00h: 20h)]

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter

PDO mapping

Supported firmware version

ECT 

A5 

























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

1A00h

Sub

1Ah

1Bh

1Ch

1Dh

16h

17h

18h

19h

12h

13h

14h

15h

0Eh

0Fh

10h

11h

1Eh

1Fh

20h

0Ah

0Bh

0Ch

0Dh

06h

07h

08h

09h

00h

01h

02h

03h

04h

05h

Name

1st Transmit PDO Mapping

Mapped Object 001

Mapped Object 002

Mapped Object 003

Mapped Object 004

Mapped Object 005

Mapped Object 006

Mapped Object 007

Mapped Object 008

Mapped Object 009

Mapped Object 010

Mapped Object 011

Mapped Object 012

Mapped Object 013

Mapped Object 014

Mapped Object 015

Mapped Object 016

Mapped Object 017

Mapped Object 018

Mapped Object 019

Mapped Object 020

Mapped Object 021

Mapped Object 022

Mapped Object 023

Mapped Object 024

Mapped Object 025

Mapped Object 026

Mapped Object 027

Mapped Object 028

Mapped Object 029

Mapped Object 030

Mapped Object 031

Mapped Object 032

Default

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

0Ah

60610008h

00000008h

60410010h

2D110010h

2D120010h

2D130010h

60640020h

606C0020h

60F40020h

60770010h

00000000h

00000000h

00000000h

4

4 PDO Mapping Objects

4.5 [1st Transmit PDO Mapping (Obj. 1A00h)]

51

4.6

[2nd Transmit PDO Mapping (Obj. 1A01h)]

[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

52 4 PDO Mapping Objects

4.6 [2nd Transmit PDO Mapping (Obj. 1A01h)]

[Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj.

1A01h: 20h)]

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter

PDO mapping

Supported firmware version

ECT 

A5 

























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

1A01h

Sub

1Ah

1Bh

1Ch

1Dh

16h

17h

18h

19h

12h

13h

14h

15h

0Eh

0Fh

10h

11h

1Eh

1Fh

20h

0Ah

0Bh

0Ch

0Dh

06h

07h

08h

09h

00h

01h

02h

03h

04h

05h

Name

2nd Transmit PDO Mapping

Mapped Object 001

Mapped Object 002

Mapped Object 003

Mapped Object 004

Mapped Object 005

Mapped Object 006

Mapped Object 007

Mapped Object 008

Mapped Object 009

Mapped Object 010

Mapped Object 011

Mapped Object 012

Mapped Object 013

Mapped Object 014

Mapped Object 015

Mapped Object 016

Mapped Object 017

Mapped Object 018

Mapped Object 019

Mapped Object 020

Mapped Object 021

Mapped Object 022

Mapped Object 023

Mapped Object 024

Mapped Object 025

Mapped Object 026

Mapped Object 027

Mapped Object 028

Mapped Object 029

Mapped Object 030

Mapped Object 031

Mapped Object 032

Default

00000008h

2D680010h

2D690010h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

00000000h

10h

60610008h

00000008h

60410010h

2D110010h

2D120010h

2D130010h

2D150010h

2D170010h

60640020h

606C0020h

60F40020h

60770010h

2D6A0008h

4

4 PDO Mapping Objects

4.6 [2nd Transmit PDO Mapping (Obj. 1A01h)]

53

4.7

[3rd Transmit PDO Mapping (Obj. 1A02h)]

[3rd Transmit PDO Mapping (Obj. 1A02h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

4.8

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

[4th Transmit PDO Mapping (Obj. 1A03h: 00h)]

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

00h to 20h





Units







Save

Impossible





Parameter

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.

54 4 PDO Mapping Objects

4.7 [3rd Transmit PDO Mapping (Obj. 1A02h)]

5

Sync Manager Communication Objects

5.1

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

04h





Range

04h (fixed)





Units







Save

Impossible





Parameter







Description

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

01h





Range

01h (fixed)





Description

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

02h





Range

02h (fixed)





Description

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

Units







Units







Save

Impossible





Save

Impossible





Parameter







Parameter







5

5 Sync Manager Communication Objects

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

55

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

03h





Range

03h (fixed)





Units







Description

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

04h





Range

04h (fixed)





Units







Description

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

Save

Impossible





Parameter







Save

Impossible





Parameter







56 5 Sync Manager Communication Objects

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

5.2

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

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

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

01h





Range

00h to 04h





Units







Save

Impossible





Parameter







Description

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

1600h





Range

1600h to 1623h





Units







Save

Impossible





Parameter







Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following table for the mapping tables selectable on multi-axis servo amplifiers.

Axis

A-axis

B-axis

C-axis

Selectable mapping tables

[1st Receive PDO Mapping (Obj. 1600h)] to [4th Receive PDO Mapping (Obj. 1603h)]

[1st Receive PDO Mapping (Obj. 1610h)] to [4th Receive PDO Mapping (Obj. 1613h)]

[1st Receive PDO Mapping (Obj. 1620h)] to [4th Receive PDO Mapping (Obj. 1623h)]

5

5 Sync Manager Communication Objects

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

57

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1600h to 1623h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details.



Page 57 [Assigned PDO 001 (Obj. 1C12h: 01h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1600h to 1623h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details.



Page 57 [Assigned PDO 001 (Obj. 1C12h: 01h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1600h to 1623h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 2 (RxPDO). Refer to the following for details.



Page 57 [Assigned PDO 001 (Obj. 1C12h: 01h)]

Parameter







Parameter







Parameter







58 5 Sync Manager Communication Objects

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

5.3

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

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

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

01h





Range

00h to 04h





Units







Save

Impossible





Parameter







Description

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

1A00h





Range

1A00h to 1A23h





Units







Save

Impossible





Parameter







Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following table for the mapping tables selectable on multi-axis servo amplifiers.

Axis

A-axis

B-axis

C-axis

Selectable mapping tables

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

[1st Transmit PDO Mapping (Obj. 1A10h)] to [4th Transmit PDO Mapping (Obj. 1A13h)]

[1st Transmit PDO Mapping (Obj. 1A20h)] to [4th Transmit PDO Mapping (Obj. 1A23h)]

5

5 Sync Manager Communication Objects

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

59

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1A00h to 1A23h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details.



Page 59 [Assigned PDO 001 (Obj. 1C13h: 01h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1A00h to 1A23h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details.



Page 59 [Assigned PDO 001 (Obj. 1C13h: 01h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

1A00h to 1A23h





Units







Save

Impossible





Description

Set which mapping table to be assigned to Sync Manager 3 (TxPDO). Refer to the following for details.



Page 59 [Assigned PDO 001 (Obj. 1C13h: 01h)]

Parameter







Parameter







Parameter







60 5 Sync Manager Communication Objects

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

5.4

[SM output parameter (Obj. 1C32h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0Ch





Range

0Ch (fixed)





Units







Save

Impossible





Parameter







Description

The total number of Sub Indexes is returned.

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h or 0002h





Units







Save

Impossible





Parameter







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. 1C32h: 01h].

5

5 Sync Manager Communication Objects

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

61

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

Data Type

U32

Access

RW

Mapping

Impossible

Default

250000

Range

Refer to the following.

Units ns

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























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.

The communication cycles are limited depending on the servo amplifiers and the functions to be used. For details, refer to

"Restrictions on the MR-J5_-_G_" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction)

62 5 Sync Manager Communication Objects

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0005h





Range

0005h (fixed)





Units







Save

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

Bit 10: Delay Time should be measured (not supported)

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

Bit 12 to Bit 13: Reserved

Bit 14: Dynamic Cycle Times (not supported)

Bit 15: Reserved

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units ns





Description

The minimum communication cycle is returned.

Servo amplifier

MR-J5-_G-_N1

MR-J5D1-_G_-_N1

MR-J5W_-_G-N1

MR-J5D2-_G_-_N1

MR-J5D3-_G_-_N1

Minimum communication cycle

125000

250000

Save

Impossible





Parameter







Parameter







5

5 Sync Manager Communication Objects

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

63

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units ns





Save

Impossible





Parameter







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.

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 (fixed)





Units ns





Save

Impossible





Parameter







Description

"0" is returned.

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 (fixed)





Units ns





Description

"0" is returned.

Save

Impossible





Parameter







64 5 Sync Manager Communication Objects

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

5.5

[SM input parameter (Obj. 1C33h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0Ch





Range

0Ch (fixed)





Units







Save

Impossible

Parameter











Description

The total number of Sub Indexes is returned.

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h or 0002h





Units







Save

Impossible





Parameter







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

5

5 Sync Manager Communication Objects

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

65

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

Data Type

U32

Access

RW

Mapping

Impossible

Default

250000

Range

Refer to the following.

Units ns

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























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.

If the setting value of [Obj. 1C32h: 02h] is changed, this object also changes to the same value as [Obj. 1C32h: 01h].

The communication cycles are limited depending on the servo amplifiers and the functions to be used. For details, refer to

"Restrictions on the MR-J5_-_G_" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction)

66 5 Sync Manager Communication Objects

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0005h





Range

0005h (fixed)





Units







Save

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

Bit 10: Delay Time should be measured (not supported)

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

Bit 12 to Bit 13: Reserved

Bit 14: Dynamic Cycle Times (not supported)

Bit 15: Reserved

Parameter







5

5 Sync Manager Communication Objects

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

67

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units ns





Description

The minimum communication cycle is returned.

Servo amplifier

MR-J5-_G-_N1

MR-J5D1-_G_-_N1

MR-J5W_-_G-N1

MR-J5D2-_G_-_N1

MR-J5D3-_G_-_N1

Minimum communication cycle

125000

250000

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units ns





Save

Impossible





Save

Impossible





Parameter







Parameter







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.

68 5 Sync Manager Communication Objects

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

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 (fixed)





Units ns





Save

Impossible





Parameter







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

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 (fixed)





Units ns





Save

Impossible





Parameter







Description

"0" is returned.

5

5 Sync Manager Communication Objects

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

69

6

Parameter Objects

The objects of Parameter Objects are structured as follows. Access servo parameters other than [PV group parameters] with

Sub Index set to 00h.

Data Type

I32

Access

RW

Mapping

Impossible

Default



Range



Units



Save

Possible

Parameter

*1

Supported firmware version

ECT 

A0 

























*1 Corresponds to servo parameters [Pr. PA _ _ ] to [Pr. PN _ _ ].

6.1

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

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

6.2

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

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

6.3

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

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

6.4

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

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

6.5

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

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

6.6

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

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

6.7

[PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)]

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

6.8

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

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

6.9

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

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

70 6 Parameter Objects

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

6.10

[PV group parameters (Obj. 2691h)]

The values of the positioning extension setting servo parameters ([Pr. PV _ _ ]) can be obtained and set. 01h to 28h of Sub

Indexes correspond to [Pr. PV01] to [Pr. PV40].

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

40





Range

40 (fixed)





Units







Save

Impossible





Parameter







Description

The total number of Sub Indexes (= 40) is returned.

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

Data Type

I32

Access

RW

Mapping

Impossible

Default



Range



Units



Save

Possible

Parameter

[Pr. PV01] - [Pr.

PV32]

Supported firmware version

ECT 

A5 





















Description

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

[PV33 (Obj. 2691h: 21h)] - [PV40 (Obj. 2691h: 28h)]

Data Type

I32

Access

RW

Mapping

Impossible

Default



Range



Units



Save

Possible





Parameter

[Pr. PV33] - [Pr.

PV40]

Supported firmware version

ECT 

D0 

























Description

The values of [Pr. PV33] to [Pr. PV40] can be obtained and set.

6

6 Parameter Objects

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

71

7

Alarm Objects

7.1

[Alarm history newest (Obj. 2A00h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

7





Range

7 (fixed)





Units







Save

Possible





Parameter

Alarm history





Description

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

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Save

Possible

Parameter

Alarm history

Supported firmware version

ECT 

A5 

















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.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units hour

Supported firmware version

ECT 

A5 





















Save

Possible









Parameter

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.

72 7 Alarm Objects

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh

Units











Description

The value "0000h" is returned.

Bit 0 to Bit 7: Alarm detail number

Bit 8 to Bit 15: Alarm number

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units second





Save

Possible





Save

Possible





Parameter

Alarm history





Parameter

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

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units nanosecond

Save

Possible

Parameter

Alarm history

Supported firmware version

ECT 

A5 

























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.

7

7 Alarm Objects

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

73

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

Data Type

I32

Access

RO

Mapping

Impossible

Default

00000000h

Range

80000000h to

7FFFFFFFh

Units minute

Supported firmware version

ECT 

A5 

















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

I32

Access

RO

Mapping

Impossible

Default

00000000h

Range

80000000h to

7FFFFFFFh

Units minute

Supported firmware version

ECT 

A5 

















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.

Save

Possible





Save

Possible





Parameter

Alarm history





Parameter

Alarm history





74 7 Alarm Objects

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

7.2

[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)].



Page 72 [Alarm history newest (Obj. 2A00h)]

7.3

[Clear alarm history (Obj. 2A40h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

Writing "1EA5h" clears the alarm history.

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

7.4

[Current alarm (Obj. 2A41h)]

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

Data Type

U32

Access

RO

Mapping

TxPDO

Default

00000000h

Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

A5 













Units







Save

Impossible

Parameter











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.

7

7 Alarm Objects

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

75

7.5

[Point table error (Obj. 2A43h)]

[Point table error (Obj. 2A43h: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Description

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

[Point table error No. (Obj. 2A43h: 01h)]

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Supported firmware version

ECT 

B2 













Units







Description

The point table error number is returned.

[Point table error factor (Obj. 2A43h: 02h)]

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Supported firmware version

ECT 

B2 

















Description

The point table error element is returned.

b0: Target position b1:  b2: Speed b3: Acceleration time constant/acceleration b4: Deceleration time constant/deceleration b5: Dwell time b6: Auxiliary function b7: M code

Save

Impossible





Parameter

Point table





Save

Impossible

Parameter

Point table









Save

Impossible

Parameter

Point table









76 7 Alarm Objects

7.5 [Point table error (Obj. 2A43h)]

7.6

[Parameter error number (Obj. 2A44h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible





Parameter







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

7

7 Alarm Objects

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

77

7.7

[Parameter error list (Obj. 2A45h)]

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

Data Type

U8

Access

RO

Mapping

Impossible

Default

254

Range

254 (fixed)

Units



Save

Impossible

Parameter

Parameter error list

Supported firmware version

ECT 

A5 

























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

U16

Access

RO

Mapping

Impossible

Default

0000h

Range

0000h to FFFFh

Units



Save

Impossible

Parameter

Parameter error list

Supported firmware version

ECT 

A5 

























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

0 to 7

8 to 15

Description

Servo parameter number

Servo parameter group number

00h: [Pr. PA _ _ ]

01h: [Pr. PB _ _ ]

02h: [Pr. PC _ _ ]

03h: [Pr. PD _ _ ]

04h: [Pr. PE _ _ ]

05h: [Pr. PF _ _ ]

0Bh: [Pr. PL _ _ ]

0Ch: [Pr. PT _ _ ]

0Eh: [Pr. PN _ _ ]

11h: [Pr. PV _ _ ]

78 7 Alarm Objects

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

7.8

[Reset alarm (Obj. 2A46h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh

Units











Save

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.

7.9

[Converter Alarm No. (Obj. 2A47h)]

[Converter Alarm No. (Obj. 2A47h: 00h)]

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

000000FFh

Supported firmware version

ECT 

C0 













Units







Save

Impossible





Parameter







Parameter







Description

The number of the alarm that has occurred on the converter unit side is returned.

If no alarm has occurred on the converter unit side, or if serial communication with the converter unit is not performed,

"00000000h" is returned.

7

7 Alarm Objects

7.8 [Reset alarm (Obj. 2A46h)]

79

7.10

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

7





Range

7 (fixed)





Units







Save

Impossible





Parameter







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

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 to 9999





Units







Save

Impossible





Parameter







Description

The save Index of the drive recorder is returned.

[Drive recorder history index] displays drive record data using consecutive numbers from 0 to 9999. 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

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The alarm number that occurred when data was recorded using the drive recorder 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.

80 7 Alarm Objects

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

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

Returns the power-on cumulative time when data was recorded using the drive recorder. When there is no history,

"00000000h" is returned.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







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

U32

Access

RO

Mapping

Impossible

Default

00000000h

Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

Returns the digits after the ones indicating seconds in the recording time of the drive recorder 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.

7

7 Alarm Objects

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

81

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

Data Type

I32

Access

RO

Mapping

Impossible

Default

00000000h

Range

80000000h to

7FFFFFFFh

Units minute

Save

Possible

Supported firmware version

ECT 

A5 





















Parameter







Description

Returns the time zone when data was recorded using the drive recorder.

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

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

Data Type

I32

Access

RO

Mapping

Impossible

Default

00000000h

Range

80000000h to

7FFFFFFFh

Units minute

Save

Possible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

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

7.11

[Drive recorder history 1 (Obj. 2A71h)] - [Drive recorder history 15 (Obj. 2A7Fh)]

The second (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)].



Page 80 [Drive recorder history newest (Obj. 2A70h)]

82 7 Alarm Objects

7.11 [Drive recorder history 1 (Obj. 2A71h)] - [Drive recorder history 15 (Obj. 2A7Fh)]

8

Monitor Objects

For the contents of the monitor signals, refer to "Monitor signal (analog) and analog monitor [G]" in the following manual.

 MR-J5 User's Manual (Function)

8.1

[Cumulative feedback pulses (Obj. 2B01h)]

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

Data Type

I32

Access

RW

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The cumulative feedback pulses are returned.

The returned value is limited within the range from C4653601h (-999999999) to 3B9AC9FFh (999999999). If the value exceeds the upper or lower limit value, it changes to "00000000h". The cumulative feedback pulses can be cleared by writing

"00001EA5h".

8.2

[Servo motor speed (Obj. 2B02h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units r/min mm/s





Save

Impossible





Parameter







Description

The servo motor speed is returned.

8

8 Monitor Objects

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

83

8.3

[Droop pulses (Obj. 2B03h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units pulse





Save

Impossible





Parameter







Description

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

8.4

[Cumulative command pulses (Obj. 2B04h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

The returned value is limited within the range from C4653601h (-999999999) to 3B9AC9FFh (999999999). If the value exceeds the upper or lower limit value, it changes to "00000000h".

8.5

[Command pulse frequency (Obj. 2B05h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units kpulse/s

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The command pulse frequency is returned.

84 8 Monitor Objects

8.3 [Droop pulses (Obj. 2B03h)]

8.6

[Regenerative load ratio (Obj. 2B08h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh





Units

%





Save

Impossible





Description

The regenerative load ratio is returned.

8.7

[Effective load ratio (Obj. 2B09h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh





Units

%





Save

Impossible





Description

The effective load ratio is returned.

8.8

[Peak load ratio (Obj. 2B0Ah)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh





Units

%





Description

The peak load ratio is returned.

Save

Impossible





Parameter







Parameter







Parameter







8

8 Monitor Objects

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

85

8.9

[Instantaneous torque (Obj. 2B0Bh)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

%





Save

Impossible





Parameter



Description

The instantaneous torque is returned.

8.10

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

The returned value range differs depending on the encoder resolution.

For the HK series rotary servo motor, the range is from 00000000h (0) to 03FFFFFFh (67108863).

For the encoder resolution of the servo motor, refer to the user's manual of each servo motor.





86 8 Monitor Objects

8.9 [Instantaneous torque (Obj. 2B0Bh)]

8.11

[ABS counter (Obj. 2B0Dh)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units rev





Save

Impossible

Parameter











Description

The ABS counter is returned.

The ABS counter returns the travel distance from the home position as a multi-revolution counter value of the absolution position encoder in the absolution position detection system.

For the linear servo motor control mode, the value for manufacturer setting is returned.

For the fully closed loop control mode, the ABS counter is returned in the servo motor encoder unit.

For the HK series rotary servo motor, the maximum rotation range of a multi-revolution counter is FFFF8000h (-32768 rev) to

00007FFFh (32767 rev) from the home position.

For details, refer to "Absolute position detection system" in the following manual.

 MR-J5 User's Manual (Hardware)

 MR-J5D User's Manual (Hardware)

8.12

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh





Units

0.01 times





Save

Impossible





Parameter







Description

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

For example, if the value of this object is 1000 in decimal, the load to motor inertia ratio/load to motor mass ratio will be 10.00 times as the unit is "0.01 times".

8

8 Monitor Objects

8.11 [ABS counter (Obj. 2B0Dh)]

87

8.13

[Bus voltage (Obj. 2B0Fh)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh

Units

V









Save

Impossible

Parameter











Description

The bus voltage is returned.

8.14

[Load-side cumulative feedback pulses (Obj.

2B10h)]

[Load-side cumulative feedback pulses (Obj. 2B10h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The cumulative feedback pulses from the load-side encoder are returned.

The returned value is limited within the range from C4653601h (-999999999) to 3B9AC9FFh (999999999). If the value exceeds the upper or lower limit value, it changes to "00000000h".

8.15

[Load-side droop pulses (Obj. 2B11h)]

[Load-side droop pulses (Obj. 2B11h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The load-side droop pulses (load-side encoder pulse unit) are returned.

88 8 Monitor Objects

8.13 [Bus voltage (Obj. 2B0Fh)]

8.16

[Load-side encoder information 1 Z-phase counter

(Obj. 2B12h)]

[Load-side encoder information 1 Z-phase counter (Obj. 2B12h:

00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The load-side encoder information 1 is returned.

The information to be returned varies as follows in accordance with the encoder being connected on the load side.

For a rotary servo motor, the position within one-revolution is returned.

For an absolute position linear encoder, the absolute position data is returned.

For an incremental linear encoder, the Z-phase counter (the distance from the linear encoder home position (reference mark)) is returned in 32-bit data after the Z-phase is passed. The value before the Z-phase is passed is undefined.

For an A/B/Z-phase differential output linear encoder, the Z-phase counter (the distance from the linear encoder home position (Z-phase)) is returned in 16-bit data (FFFF8000h (-32768) to 00007FFFh (32767)) after the Z-phase is passed.

Before the Z-phase is passed, this object returns the value of the free-run counter, which changes to "00000000h" when the power is cycled.

For an A/B/Z-phase differential output rotary encoder, the position within one-revolution is returned.

8.17

[Load-side encoder information 2 (Obj. 2B13h)]

[Load-side encoder information 2 (Obj. 2B13h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units rev

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The load-side encoder information 2 is returned.

The information to be returned varies as follows in accordance with the encoder being connected on the load side.

For a rotary servo motor, this object returns the value of the multi-revolution ABS counter, which maintains the counter value even when the power is cycled. Note that, when using an HK-MT_VW, this object returns the value of the multi-revolution counter, which changes to "00000000h" when the power is cycled.

For an absolute position linear encoder, "00000000h" is returned.

For an incremental linear encoder, "00000000h" is returned.

For an A/B/Z-phase differential output linear encoder, "00000000h" is returned.

For an A/B/Z-phase differential output rotary encoder, "00000000h" is returned.

8

8 Monitor Objects

8.16 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)]

89

8.18

[Cumulative encoder out pulses (Obj. 2B16h)]

[Cumulative encoder out pulses (Obj. 2B16h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The A/B-phase pulse output feedback total value is returned.

The returned value is limited within the range from C4653601h (-999999999) to 3B9AC9FFh (999999999). If the value exceeds the upper or lower limit value, it changes to "00000000h".

8.19

[Temperature of motor thermistor (Obj. 2B17h)]

[Temperature of motor thermistor (Obj. 2B17h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

°C





Save

Impossible





Parameter







Description

The temperature of the servo motor thermistor is returned.

8.20

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

(Obj. 2B18h)]

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

00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

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

The returned value is limited within the range from C4653601h (-999999999) to 3B9AC9FFh (999999999). If the value exceeds the upper or lower limit value, it changes to "00000000h".

90 8 Monitor Objects

8.18 [Cumulative encoder out pulses (Obj. 2B16h)]

8.21

[Electrical angle (Obj. 2B19h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units pulse





Save

Impossible

Parameter











Description

The electrical angle is returned.

8.22

[Motor-side/load-side position deviation (Obj.

2B23h)]

[Motor-side/load-side position deviation (Obj. 2B23h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The motor/load-side position deviation (load-side encoder pulse unit) is returned.

8.23

[Motor-side/load-side speed deviation (Obj.

2B24h)]

[Motor-side/load-side speed deviation (Obj. 2B24h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units r/min

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The motor/load-side speed deviation is returned.

8

8 Monitor Objects

8.21 [Electrical angle (Obj. 2B19h)]

91

8.24

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

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

°C





Save

Impossible





Parameter







Description

The internal temperature of the encoder is returned.

8.25

[Settling time (Obj. 2B26h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units ms





Save

Impossible





Parameter







Description

The settling time is returned.

8.26

[Oscillation detection frequency (Obj. 2B27h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

Hz





Save

Impossible





Parameter







Description

The oscillation detection frequency is returned.

92 8 Monitor Objects

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

8.27

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh





Units number of times





Save

Impossible





Parameter







Description

The number of tough drive operations is returned.

8.28

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

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

°C





Save

Impossible





Parameter







Description

The internal temperature of the servo amplifier is returned.

8.29

[Unit power consumption (Obj. 2B2Dh)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

W





Save

Impossible





Parameter







Description

For the MR-J5-_G_/MR-J5W_-_G_, the unit power consumption is returned.

For the MR-J5D_, the power consumption of the converter unit connected with a protection coordination cable is returned. If multiple MR-J5D_ are connected to the converter unit, "0000h" is returned for the second and subsequent MR-J5D_.

8

8 Monitor Objects

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

93

8.30

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units

Wh

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

For the MR-J5-_G_/MR-J5W_-_G_, the unit total power consumption is returned.

For the MR-J5D_, the total power consumption of the converter unit connected with a protection coordination cable is returned. If multiple MR-J5D_ are connected to the converter unit, "00000000h" is returned for the second and subsequent

MR-J5D_.

8.31

[Current position (Obj. 2B2Fh)]

[Current position (Obj. 2B2Fh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units pos units





Save

Impossible





Parameter







Description

The current position is returned.

This object is only available in the profile position mode and positioning mode (point table method).

8.32

[Command position (Obj. 2B30h)]

[Command position (Obj. 2B30h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units pos units





Save

Impossible





Description

The command position is returned.

This object is only available in the profile position mode and positioning mode (point table method).

Parameter







94 8 Monitor Objects

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

8.33

[Remaining command distance (Obj. 2B31h)]

[Remaining command distance (Obj. 2B31h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pos units

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The command remaining distance is returned.

This object is only available in the profile position mode and positioning mode (point table method).

8.34

[Command No. (Obj. 2B32h)]

[Command No. (Obj. 2B32h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B2 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units







Save

Impossible





Parameter







Description

The point table number is returned.

8.35

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units pulse

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

8

8 Monitor Objects

8.33 [Remaining command distance (Obj. 2B31h)]

95

8.36

[Overload alarm margin (Obj. 2B40h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

0.1 %





Save

Impossible





Parameter







Description

The overload alarm margin is returned.

For example, if the value of this object is 100 in decimal, 10.0 % will be indicated as the unit of the overload alarm margin is

0.1 %.

8.37

[Overshoot amount (Obj. 2B41h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

8FFFFFFFh

Supported firmware version

ECT 

A5 













Units pulse





Save

Impossible





Parameter







Description

The overshoot amount (encoder pulse unit) is returned.

8.38

[Torque/thrust equivalent to disturbance (Obj.

2B42h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

0.1 %





Save

Impossible





Parameter







Description

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

For example, if the value of this object is 100 in decimal, 10.0 % will be indicated as the unit of the torque/thrust equivalent to disturbance is 0.1 %.

96 8 Monitor Objects

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

8.39

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

80000000h to

7FFFFFFFh

Units

W

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter



Description

For the MR-J5-_G_/MR-J5W_-_G_, the unit power consumption is returned.

For the MR-J5D_, the power consumption of the converter unit connected with a protection coordination cable is returned. If multiple MR-J5D_ are connected to the converter unit, "00000000h" is returned for the second and subsequent MR-J5D_.

8.40

[Converter regenerative load ratio (Obj. 2B49h)]

[Converter regenerative load ratio (Obj. 2B49h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

C0 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

%





Save

Impossible





Parameter







Description

The continuous effective load output of the converter unit is returned.

The effective value in relation to the rated output (= 100 %) is returned.

For the MR-J5-_G_/MR-J5W_-_G_, "0000h" is returned.





8

8 Monitor Objects

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

97

8.41

[Converter effective load ratio (Obj. 2B4Ah)]

[Converter effective load ratio (Obj. 2B4Ah: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

C0 

Mapping

TxPDO





Default







Range

8000h to 7FFFh





Units

%





Save

Impossible





Parameter







Description

The ratio of regenerative power to rated output of the converter unit is returned as a percentage.

For the MR-J5-_G_/MR-J5W_-_G_, "0000h" is returned.

98 8 Monitor Objects

8.41 [Converter effective load ratio (Obj. 2B4Ah)]

9

Manufacturer Specific Control Object

9.1

[Drive recorder status (Obj. 2C02h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0





Range

0 to 1





Units







Save

Impossible





Parameter







Description

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

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

(disabled status).

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

0: Disabled status

1: Enabled status

9.2

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible





Parameter







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.

9

9 Manufacturer Specific Control Object

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

99

9.3

[External output pin display (Obj. 2C11h)]

[External output pin display (Obj. 2C11h: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B6 

Mapping

Impossible





Default

1





Range

00h to FFh





Units







Save

Impossible





Description

The number of entries in external output pin status is returned.

Parameter







100 9 Manufacturer Specific Control Object

9.3 [External output pin display (Obj. 2C11h)]

[External output pin display1 (Obj. 2C11h: 01h)]

Data Type

U32

Access

RO

Mapping

TxPDO

Default



Range

00000000h to

FFFFFFFFh

Units



Supported firmware version

ECT 

B6 

















Save

Impossible





Description

The external output pin status 1 is returned.

MR-J5-_G_-_N1

Bit

4

5

2

3

0

1

6

7







13

15

9

8

*1



CN3 connector pin Bit

8

9

10

11

12

13

14

15















CN3 connector pin Bit

 16

17

18

19

20

21

22

23

*1 Available only on the MR-J5-_G_-RJN1.

MR-J5W2-_G_-_N1

Bit

5

6

3

4

0

1

2

7

25









12

11

24

CN3 connector pin Bit

11

12

13

14

8

9

10

15

MR-J5W3-_G_-_N1

Bit

6

7

4

5

2

3

0

1

13







12

11

24

25

CN3 connector pin Bit

12

13

14

15

8

9

10

11









CN3 connector pin Bit





16

17

18





19

20

21

22

23

CN3 connector pin Bit

















20

21

22

23

16

17

18

19















CN3 connector pin Bit

 24

25

26

27

28

29

30

31









CN3 connector pin Bit





24

25

26





27

28

29

30

31

CN3 connector pin Bit

















28

29

30

31

24

25

26

27

Parameter







CN3 connector pin





























CN3 connector pin





CN3 connector pin

















9

9 Manufacturer Specific Control Object

9.3 [External output pin display (Obj. 2C11h)]

101

Bit

0

3

4

1

2

5

6

7

MR-J5D1-_G_-_N1

CN3 connector pin Bit

32







16

15

21

*1



8

9

10

11

12

13

14

15

*1 Supported only for the MR-J5D1-G-RJ

MR-J5D2-_G_-_N1

Bit

6

7

4

5

2

3

0

1

32

16

15

31









CN3 connector pin Bit

12

13

14

15

8

9

10

11

Bit

0

3

4

1

2

5

6

7

MR-J5D_-_G_-_N1

CN3 connector pin Bit

32

16

15

31

30







8

9

10

11

12

13

14

15

CN3 connector pin Bit

















16

17

18

19

20

21

22

23







CN3 connector pin Bit







16

17

18

19





20

21

22

23

CN3 connector pin Bit

















16

17

18

19

20

21

22

23

CN3 connector pin Bit

















24

25

26

27

28

29

30

31

CN3 connector pin























CN3 connector pin Bit







24

25

26

27





28

29

30

31

CN3 connector pin Bit

















24

25

26

27

28

29

30

31











CN3 connector pin







CN3 connector pin

















102 9 Manufacturer Specific Control Object

9.3 [External output pin display (Obj. 2C11h)]

9.4

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

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units hour

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The cumulative energization time of the servo amplifier is returned.

9.5

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

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units number of times

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

For the MR-J5D_-_G_-_N1, "00000000h" is returned.

9.6

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

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units number of times

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

9

9 Manufacturer Specific Control Object

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

103

9.7

[Machine diagnostic status (Obj. 2C20h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

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 has finished. (normal)

2: The motor may have rotated/traveled more frequently in one direction than the other. (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 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 has finished".

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

0: Estimation in progress. (normal)

1: Estimation has finished. (normal)

2: The motor may have rotated/traveled more frequently in one direction than the other. (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 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 has finished".

[Bit 8 to 11: Vibration estimation status]

0: Estimation in progress.

1: Estimation has finished.

[Bit 12 to 15: reserved]





Parameter



104 9 Manufacturer Specific Control Object

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

9.8

[Static friction torque at forward rotation (Obj.

2C21h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

The static friction at forward rotation torque is returned.

9.9

[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

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

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

9.10

[Static friction torque at reverse rotation (Obj.

2C23h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

The static friction at reverse rotation torque is returned.

9

9 Manufacturer Specific Control Object

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

105

9.11

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

[Dynamic friction torque at reverse rotation (at rated speed) (Obj.

2C24h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

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

9.12

[Oscillation frequency during motor stop (Obj.

2C25h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 Hz









Save

Impossible





Parameter







Description

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

9.13

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

[Vibration level during motor stop (Obj. 2C26h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

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

106 9 Manufacturer Specific Control Object

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

9.14

[Oscillation frequency during motor operating

(Obj. 2C27h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 Hz









Save

Impossible





Parameter







Description

The vibration frequency during operation is returned.

9.15

[Vibration level during motor operating (Obj.

2C28h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

The vibration level during operation is returned.

9

9 Manufacturer Specific Control Object

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

107

9.16

[Fault prediction status (Obj. 2C29h)]

[Fault prediction status (Obj. 2C29h: 00h)]

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units



Supported firmware version

ECT 

A5 

















Save

Impossible





Description

The friction failure prediction status is returned.

[Bit 0 to 3: Friction failure prediction status]

0: Friction failure prediction disabled

1: During preparation for friction failure prediction

2: During execution of friction failure prediction

3: During friction failure prediction warning

[Bit 4 to 7: Vibration failure prediction status]

0: Vibration failure prediction disabled

1: During preparation for vibration failure prediction

2: During execution of vibration failure prediction

3: During vibration failure prediction warning

[Bit 8 to 11: Total travel distance failure prediction status]

0: Motor total travel distance failure prediction disabled

1: Motor total travel distance failure prediction being executed

2: Motor total travel distance failure prediction at warning

[Bit 12 to 15: Motor total travel distance calculation status]

0: During stop of motor total travel distance calculation

1: During calculation of motor total travel distance

[Bit 16 to 19: reserved]

[Bit 20 to 23: Static friction failure prediction status]

0: Static friction failure prediction disabled

1: During preparation for static friction failure prediction

2: During execution of static friction failure prediction

3: During static friction failure prediction warning

[Bit 24 to 27: Belt tension deterioration prediction status]

0: Belt tension deterioration prediction disabled

1: Belt tension deterioration prediction in progress

2: During belt tension deterioration warning

[Bit 28 to 31: Belt tension estimation status]

0: Belt tension estimation in progress

1: Belt tension estimation has finished

7: Belt tension estimation is not set

Parameter







108 9 Manufacturer Specific Control Object

9.16 [Fault prediction status (Obj. 2C29h)]

9.17

[Friction based fault prediction upper threshold

(Obj. 2C2Ah)]

[Friction based fault prediction upper threshold (Obj. 2C2Ah:

00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 %

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The upper limit threshold for friction failure prediction is returned.

9.18

[Friction based fault prediction lower threshold

(Obj. 2C2Bh)]

[Friction based fault prediction lower threshold (Obj. 2C2Bh:

00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 %

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The lower limit threshold for friction failure prediction is returned.

9.19

[Friction based fault prediction prepare status

(Obj. 2C2Ch)]

[Friction based fault prediction prepare status (Obj. 2C2Ch: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 100





Units

%





Save

Impossible





Parameter







Description

The preparation progress for friction failure prediction is returned.

9

9 Manufacturer Specific Control Object

9.17 [Friction based fault prediction upper threshold (Obj. 2C2Ah)]

109

9.20

[Vibration based fault prediction threshold (Obj.

2C2Dh)]

[Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 %

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The threshold for vibration failure prediction is returned.

9.21

[Vibration based fault prediction prepare status

(Obj. 2C2Eh)]

[Vibration based fault prediction prepare status (Obj. 2C2Eh:

00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 100





Units

%





Save

Impossible





Parameter







Description

The preparation progress for vibration failure prediction is returned.

9.22

[Machine total distance (Obj. 2C2Fh)]

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

FFFFFFFFh

Units rev m

Supported firmware version

ECT 

A5 

















Save

Impossible





Description

The machine total travel distance is returned.

Parameter







110 9 Manufacturer Specific Control Object

9.20 [Vibration based fault prediction threshold (Obj. 2C2Dh)]

9.23

[Friction estimate status (Obj. 2C31h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 100





Units

%





Save

Impossible





Description

The progress of friction estimation is returned.

9.24

[Backlash estimation value (Obj. 2C32h)]

[Backlash estimation value (Obj. 2C32h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 3600000





Units

0.01 degree





Save

Impossible





Parameter







Parameter







Description

The result of backlash estimation is returned. When the backlash estimated gear ratio numerator or the backlash estimated gear ratio denominator is set to "0", the backlash estimation amount is returned as the rotation angle on the servo motor side.

When the backlash estimated gear ratio is set to a value other than "0", the backlash estimated amount is returned as a value that takes into account the backlash estimated gear ratio.

9.25

[Static friction based fault prediction upper threshold (Obj. 2C33h)]

[Static friction based fault prediction upper threshold (Obj.

2C33h: 00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 %

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The upper limit threshold used for static friction failure prediction is displayed in increments of 0.1 % in relation to the rated torque as 100 %.

9

9 Manufacturer Specific Control Object

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

111

9.26

[Static friction based fault prediction lower threshold (Obj. 2C34h)]

[Static friction based fault prediction lower threshold (Obj. 2C34h:

00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 %

Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The lower limit threshold used for static friction failure prediction is displayed in increments of 0.1 % in relation to the rated torque as 100 %.

9.27

[Static friction based fault prediction prepare status (Obj. 2C35h)]

[Static friction based fault prediction prepare status (Obj. 2C35h:

00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 100





Units

%





Save

Impossible





Parameter







Description

The creation progress of the thresholds used in static friction failure prediction is displayed as a percentage. Creation of friction failure prediction for the upper and lower limit threshold finishes at 100 %.

112 9 Manufacturer Specific Control Object

9.26 [Static friction based fault prediction lower threshold (Obj. 2C34h)]

9.28

[Tension estimation value (Obj. 2C36h)]

[Tension estimation value (Obj. 2C36h: 00h)]

Data Type

I32

Access

RO

Mapping

Impossible

Default



Range

-2147483648 to

2147483647

Units

0.1 N

Supported firmware version

ECT 

A5 

















Save

Impossible





Description

The estimated tension value used by the belt tension deterioration function is expressed in 0.1 N units.

Parameter







9

9 Manufacturer Specific Control Object

9.28 [Tension estimation value (Obj. 2C36h)]

113

9.29

[Phase current (Obj. 2C37h)]

[Phase current (Obj. 2C37h: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B0 

Mapping

Impossible





Default







Range

3 (fixed)





Units







Save

Impossible





Description

The total number of Sub Indexes (= 3) is returned.

[U phase current (Obj. 2C37h: 01h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B0 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Description

The U-phase current value is displayed in increments of 0.1 % in relation to the rated current as 100 %.

[V phase current (Obj. 2C37h: 02h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B0 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Description

The V-phase current value is displayed in increments of 0.1 % in relation to the rated current as 100 %.

[W phase current (Obj. 2C37h: 03h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B0 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Description

The W-phase current value is displayed in increments of 0.1 % in relation to the rated current as 100 %.

Parameter







Parameter







Parameter







Parameter







114 9 Manufacturer Specific Control Object

9.29 [Phase current (Obj. 2C37h)]

9.30

[Supported Control DI (Obj. 2D00h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

10





Range

10 (fixed)





Units







Save

Impossible





Parameter







Description

The number of supported Control DI is returned.

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9

9 Manufacturer Specific Control Object

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

115

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

116 9 Manufacturer Specific Control Object

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9

9 Manufacturer Specific Control Object

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

117

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported input device is returned. When the input device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

118 9 Manufacturer Specific Control Object

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

9.31

[Control DI 1 (Obj. 2D01h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.32

[Control DI 2 (Obj. 2D02h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.33

[Control DI 3 (Obj. 2D03h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







9

9 Manufacturer Specific Control Object

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

119

9.34

[Control DI 4 (Obj. 2D04h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.35

[Control DI 5 (Obj. 2D05h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.36

[Control DI 6 (Obj. 2D06h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







120 9 Manufacturer Specific Control Object

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

9.37

[Control DI 7 (Obj. 2D07h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.38

[Control DI 8 (Obj. 2D08h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.39

[Control DI 9 (Obj. 2D09h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







9

9 Manufacturer Specific Control Object

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

121

9.40

[Control DI 10 (Obj. 2D0Ah)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible





Description

The input device status is returned and set. Refer to "Bit definition of Control DI" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.41

[Supported Status DO (Obj. 2D10h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

10





Range

10 (fixed)





Units







Save

Impossible





Parameter







Parameter







Description

The number of supported Status DO is returned.

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

122 9 Manufacturer Specific Control Object

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9

9 Manufacturer Specific Control Object

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

123

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

124 9 Manufacturer Specific Control Object

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

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

The supported output device is returned. When the output device is supported, the corresponding bit becomes 1. For details on each bit, refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9

9 Manufacturer Specific Control Object

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

125

9.42

[Status DO 1 (Obj. 2D11h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.43

[Status DO 2 (Obj. 2D12h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.44

[Status DO 3 (Obj. 2D13h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







126 9 Manufacturer Specific Control Object

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

9.45

[Status DO 4 (Obj. 2D14h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.46

[Status DO 5 (Obj. 2D15h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.47

[Status DO 6 (Obj. 2D16h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







9

9 Manufacturer Specific Control Object

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

127

9.48

[Status DO 7 (Obj. 2D17h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.49

[Status DO 8 (Obj. 2D18h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.50

[Status DO 9 (Obj. 2D19h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Parameter







Parameter







Parameter







128 9 Manufacturer Specific Control Object

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

9.51

[Status DO 10 (Obj. 2D1Ah)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible

Parameter







Description

The output device status is returned. Refer to "Bit definition of Status DO" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

9.52

[Velocity limit value (Obj. 2D20h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range Units

0 to 4294967295 vel units

Supported firmware version

ECT 

A5 

















Save

Possible









Parameter

Refer to the following.





Description

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

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. PA28.4 Speed range limit selection].

The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter



2 (degree)

3 (pulse)

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



300000

2147483647

0.01 r/min

0.01 mm/s

0.001 degree/s pulse/s

[Pr. PT67]

[Pr. PV21]

9

9 Manufacturer Specific Control Object

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

129

9.53

[Motor rated speed (Obj. 2D28h)]

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range Units

0 to 4294967295 Refer to the following.

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The servo motor rated speed is returned. The unit of the returned data varies depending on the combination of the settings of

[Pr. PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Units r/min mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

9.54

[Manufacturer Device Name 2 (Obj. 2D30h)]

[Manufacturer Device Name 2 (Obj. 2D30h: 00h)]

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The model name including the capacity of the servo amplifier (Example: MR-J5-10G-N1) is returned.

9.55

[Serial Number 2 (Obj. 2D33h)]

[Serial Number 2 (Obj. 2D33h: 00h)]

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Description

The serial number of the selected servo amplifier is returned.

130 9 Manufacturer Specific Control Object

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

Parameter







9.56

[Encoder status (Obj. 2D35h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible

Parameter











Description

The number of entries of the encoder status is returned.

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

00000001h

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Parameter







Description

The encoder status is returned. In a fully closed loop system, the external encoder status is returned.

Bit

0

1 to 31

Description

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



9

9 Manufacturer Specific Control Object

9.56 [Encoder status (Obj. 2D35h)]

131

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

Data Type

U32

Access

RO

Mapping

Impossible

Default



Range

00000000h to

00000007h

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Parameter







Description

The status of the scale measurement encoder is returned.

When the scale measurement mode is disabled, "00000000h" is returned.

Bit

0

1

2

3 to 31

Description

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

The encoder status is returned by the servo amplifier and confirms whether the scale measurement function is enabled or disabled.

0: Disabled

1: Enabled

The encoder status is returned by the servo amplifier and confirms whether the currently connected scale measurement encoder is an absolute position type.

0: Incremental type

1: Absolute position type



132 9 Manufacturer Specific Control Object

9.56 [Encoder status (Obj. 2D35h)]

9.57

[Scale cycle counter (Obj. 2D36h)]

[Scale cycle counter (Obj. 2D36h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range Units

0 to 4294967295 pulse









Save

Impossible





Parameter







Description

The position within one-revolution of the scale measurement encoder is returned. The description varies depending on the scale measurement encoder type.

When the scale measurement encoder is disabled, "0" is returned.

Scale measurement encoder

Rotary encoder

Linear encoder absolute position type

Linear encoder incremental type

Linear encoder A/B/Z-phase differential output type

Incremental type

Rotary encoder A/B/Z-phase differential output type

Incremental type

Description

Cycle counter

ABS counter

Scale free-run counter

Scale free-run counter

Cycle counter

9.58

[Scale ABS counter (Obj. 2D37h)]

[Scale ABS counter (Obj. 2D37h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units rev





Save

Impossible





Parameter







Description

The ABS counter of the scale measurement encoder is returned. The description varies depending on the scale measurement encoder type.

When the scale measurement encoder is disabled, "0" is returned.

Scale measurement encoder

Rotary encoder

Linear encoder absolute position type

Linear encoder incremental type

Linear encoder A/B/Z-phase differential output type

Incremental type

Rotary encoder A/B/Z-phase differential output type

Incremental type

Description

Multi-revolution ABS counter

Fixed to 0

Fixed to 0

Fixed to 0

Fixed to 0

9

9 Manufacturer Specific Control Object

9.57 [Scale cycle counter (Obj. 2D36h)]

133

9.59

[Scale measurement encoder resolution (Obj.

2D38h)]

[Scale measurement encoder resolution (Obj. 2D38h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range Units

0 to 4294967295 inc/rev









Save

Impossible





Parameter







Description

The resolution of the scale measurement encoder is returned.

When the scale measurement encoder is disabled, "0" is returned.

Scale measurement encoder

Rotary encoder

Linear encoder absolute position type

Linear encoder incremental type

Linear encoder A/B/Z-phase differential output type

Incremental type

Rotary encoder A/B/Z-phase differential output type

Incremental type

Description

Encoder resolution

Fixed to 0

Fixed to 0

Fixed to 0

Encoder resolution

9.60

[Scale measurement encoder reception status

(Obj. 2D3Ch)]

[Scale measurement encoder reception status (Obj. 2D3Ch: 00h)]

Data Type

U32

Access

RO

Mapping

TxPDO

Default



Range

00000000h to

FFFFFFFFh

Units



Save

Impossible

Parameter



Supported firmware version

ECT 

A5 

























Description

The alarm data of the scale measurement encoder is returned.

When the scale measurement encoder is disabled, "00000000h" is returned.

0: Normal

Other than 0: Error

134 9 Manufacturer Specific Control Object

9.59 [Scale measurement encoder resolution (Obj. 2D38h)]

9.61

[Servo motor serial number (Obj. 2D46h)]

[Servo motor serial number (Obj. 2D46h: 00h)]

Data Type

VISIBLE

STRING

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Description

The serial number of the servo motor is returned.

When the serial number cannot be read, an empty value is returned.

9.62

[Motor data 2 (Obj. 2D48h)]

[Motor data 2 (Obj. 2D48h: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default

00h





Range

00h to 04h





Units







Save

Impossible





Parameter







Parameter







Description

The number of entries is returned.

[Motor ID 1 (Obj. 2D48h: 01h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The servo motor series ID is returned.

When an encoder is not connected, "00000000h" is returned.

For the correspondence between ID codes and servo motor models, refer to "Rotary servo motor ID codes" in the following manual.

 Rotary Servo Motor User's Manual (for MR-J5)

9

9 Manufacturer Specific Control Object

9.61 [Servo motor serial number (Obj. 2D46h)]

135

[Motor ID 2 (Obj. 2D48h: 02h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The servo motor type ID is returned.

When an encoder is not connected, "00000000h" is returned.

For the correspondence between ID codes and servo motor models, refer to "Rotary servo motor ID codes" in the following manual.

 Rotary Servo Motor User's Manual (for MR-J5)

[Encoder ID 1 (Obj. 2D48h: 03h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The encoder ID is returned.

When an encoder is not connected, "00000000h" is returned.

For the correspondence between ID codes and servo motor models, refer to "Rotary servo motor ID codes" in the following manual.

 Rotary Servo Motor User's Manual (for MR-J5)

[Encoder ID 2 (Obj. 2D48h: 04h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B2 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The value for manufacturer setting is returned.

136 9 Manufacturer Specific Control Object

9.62 [Motor data 2 (Obj. 2D48h)]

9.63

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

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

Data Type

U8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

00h





Range

00h to 03h





Units







Save

Impossible





Parameter







Description

One-touch tuning command is returned and set. After one-touch tuning, the setting value automatically changes to "00h".

00h: One-touch tuning stop in progress

01h: Basic mode

02h: High mode

03h: Low mode

9.64

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

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

Data Type

I8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range

0 to 100





Units

%





Save

Impossible





Parameter







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.

9

9 Manufacturer Specific Control Object

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

137

9.65

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h, 1EA5h





Units







Save

Impossible





Parameter







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

0

1 to 31

Description

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)



9.66

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to 0001h





Units







Save

Impossible





Parameter







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 from 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

0

1

2 to 31

Description

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)

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)



138 9 Manufacturer Specific Control Object

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

9.67

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

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

Data Type

U16

Access

RO

Mapping

Impossible

Default



Range

Refer to the following.

Units



Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

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

Refer to "One-touch tuning error" in the following manual.

 MR-J5 User's Manual (Adjustment)

0000h: Properly completed

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 inertia moment ratio misestimated

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

9.68

[Software reset (Obj. 2D5Fh)]

[Software reset (Obj. 2D5Fh: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

C4 

Mapping

Impossible





Default

0000h





Range

0000h to FFFFh





Units







Save

Impossible





Parameter







Description

Writing "1EA5h" performs the software reset. Writing a value other than "1EA5h" triggers a parameter out of range error.

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

9

9 Manufacturer Specific Control Object

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

139

10

PDS Control Objects

10.1

[Error code (Obj. 603Fh)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Description

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

Ex.

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

10.2

[Controlword (Obj. 6040h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h to FFFFh

Units











Save

Impossible





Parameter







Parameter







140 10 PDS Control Objects

10.1 [Error code (Obj. 603Fh)]

10

11

12

13

14

15

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

2

3

4

0

1

5

6

7

8

9

Name

SO

EV

QS

EO

OMS

OMS

OMS

FR

HALT

OMS



CPTL

CNTL



Description

Switch-on

Enable voltage

Quick stop

Enable operation

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



Page 141 [Bit 4: OMS]

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



Page 142 [Bit 5: OMS]

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



Page 142 [Bit 6: OMS]

Fault reset

0: Operation ready

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

Refer to the following for details.



Page 142 [Bit 8: OMS]

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



Page 143 [Bit 9: OMS]



Positive Torque Limit switching

Negative Torque Limit switching



■ [Bit 4: OMS]

Setting value

1 (pp)

3 (pv)

4 (tq)

6 (hm)

Symbol

New set-point



HOS

Description

Obtains a new positioning parameter at bit rising



Homing operation start

0: Do not start homing procedure

1: Start or continue homing procedure

 8 (csp)

9 (csv)

10 (cst)

-100 (jg) *1



-101 (pt)

*1

Rotation start

New set-point

0: Servo motor stop

1: Servo motor start

Starts operation from the point table specified with [Target point table (Obj. 2D60h)] at bit rising.

*1 Available on servo amplifiers with firmware version B8 or later.

11

10 PDS Control Objects

10.2 [Controlword (Obj. 6040h)]

141

■ [Bit 5: OMS]

Setting value

1 (pp)

Symbol

Change set immediately

 3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

Direction

Description

0: Set of set-points

1: Single set-point



0: Forward rotation (Address increasing)

1: Reverse rotation (Address decreasing)

 -101 (pt)

*1



*1 Available on servo amplifiers with firmware version B8 or later.

■ [Bit 6: OMS]

Setting value

1 (pp)

Symbol abs/rel



Description

0: Absolute position command

1: Relative position command

 3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

-101 (pt)

*1

*1 Available on servo amplifiers with firmware version B8 or later.

■ [Bit 8: OMS]

Setting value

1 (pp)

3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

-101 (pt)

*1

Symbol

HALT



HALT

Description

0: Drives the servo motor.

1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].



0: Drives the servo motor.

1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].

*1 Available on servo amplifiers with firmware version B8 or later.

142 10 PDS Control Objects

10.2 [Controlword (Obj. 6040h)]

■ [Bit 9: OMS]

Setting value

1 (pp)

Symbol

Change on set-point

Description

Enabled only in Set of set-points (when the bit 5 of [Obj. 6040h: 00h] is "0").

0: Shifts to the next positioning after completing the current positioning.

1: Shifts to the next positioning after performing positioning up to the current set-point with the setting of [profile velocity

(Obj. 6081h)].

 3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

-101 (pt)

*1



*1 Available on servo amplifiers with firmware version B8 or later.

11

10 PDS Control Objects

10.2 [Controlword (Obj. 6040h)]

143

10.3

[Statusword (Obj. 6041h)]

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

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to FFFFh

Units











Save

Impossible

Parameter











Description

The PDS status transition and other drive conditions are returned.

Bit

0

3

4

1

2

5

8

9

6

7

10

11

12

13

14

15

Symbol

RTSO

SO

OE

F

VE

QS

SOD

W



RM

OMS

ILA

OMS

OMS





Description

Ready-to-switch-on

Switch-on

Operation-enabled

Fault

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.

Quick stop

When [Pr. PF29.1 State selection with forced stop in progress] is set to "1" (Quick stop active), the value of this bit changes to "0" during a forced stop.

0: In a Quick stop

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

Switch on disabled

Warning

0: No warning has occurred.

1: A warning has occurred.



Remote

0: Not following the Controlword

1: In operation following the Controlword

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



Page 145 [Bit 10: OMS]

Internal limit active

0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have not been reached.

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

(Enabled in the csp, csv, pp, pv, and hm mode)

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



Page 146 [Bit 12: OMS]

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



Page 146 [Bit 13: OMS]





144 10 PDS Control Objects

10.3 [Statusword (Obj. 6041h)]

■ [Bit 10: OMS]

Setting value

1 (pp)

3 (pv)

4 (tq)

6 (hm)

Name

Target reached

Target reached (not supported)

Target reached

Description

0: Halt (Bit 8) = 0: Target position not reached.

0: Halt (Bit 8) = 1: Axis decelerates.

1: Halt (Bit 8) = 0: Target position reached.

1: Halt (Bit 8) = 1: Velocity of axis is 0.

Judgment condition of Target position reached:

When the time set in [Position window time (Obj. 6068h)] elapses in a state where the difference between the values in [Position actual value (Obj. 6064h)] and [Target position (Obj. 607Ah)] is equal to or below the value set in [Position window (Obj. 6067h)], the state becomes "Target position reached".

0: Halt (Bit 8) = 0: Target velocity not reached.

0: Halt (Bit 8) = 1: Axis decelerates.

1: Halt (Bit 8) = 0: Target velocity reached.

1: Halt (Bit 8) = 1: Velocity of axis is 0.

Judgment condition of Target velocity reached:

When the time set in [Velocity window time (Obj. 606Eh)] elapses in a state where the difference between the values in [Velocity actual value (Obj. 606Ch)] and [Target velocity (Obj. 60FFh)] is equal to or below the value set in [Velocity window (Obj. 606Dh)], the state becomes "Target velocity reached".

0: Halt (Bit 8) = 0: Target torque not reached.

0: Halt (Bit 8) = 1: Axis decelerates.

1: Halt (Bit 8) = 0: Target torque reached.

1: Halt (Bit 8) = 1: Velocity of axis is 0.

Judgment condition of Target torque reached:

When the time set in [Torque window time] elapses in a state where the difference between the values in [Torque actual value (Obj. 6077h)] and [Target torque (Obj. 6071h)] is equal to or below the value set in [Torque window], the state becomes "Target torque reached".

Bit 13 off/bit 12 off/bit 10 off: Homing procedure is in progress.

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: -

 8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1



-101 (pt)

*1

Target reached 0: Halt (Bit 8) = 0: Target position not reached.

0: Halt (Bit 8) = 1: Axis decelerates.

1: Halt (Bit 8) = 0: Target position reached.

1: Halt (Bit 8) = 1: Velocity of axis is 0.

Judgment condition of Target position reached:

When the time set in [Position window time (Obj. 6068h)] elapses in a state where the difference between the current position and the command position is equal to or below the value set in [Position window (Obj. 6067h)], the state becomes "Target position reached".

0: Halt (Bit 8) = 0: Target position not reached.

0: Halt (Bit 8) = 1: Axis decelerates.

1: Halt (Bit 8) = 0: Target position reached.

1: Halt (Bit 8) = 1: Velocity of axis is 0.

Judgment condition of Target position reached:

When the time set in [Position window time (Obj. 6068h)] elapses in a state where the difference between the current position and the point table command position is equal to or below the value set in [Position window (Obj.

6067h)], the state becomes "Target position reached".

*1 Available on servo amplifiers with firmware version B8 or later.

11

10 PDS Control Objects

10.3 [Statusword (Obj. 6041h)]

145

■ [Bit 12: OMS]

Setting value

1 (pp)

3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

-101 (pt)

*1

Name

Set-point acknowledge

Speed



Homing attained

Drive follows the command value



Set-point acknowledge

Description

0: Positioning completed (waiting for next command)

1: Positioning in progress (possible to overwrite a setpoint)

0: Speed is not equal 0

1: Speed is equal 0

Judgment condition of Speed is not equal 0:

When the time set in [Velocity threshold time (Obj. 6070h)] elapses in a state where the absolute value of

[Velocity actual value (Obj. 606Ch)] is equal to or above the setting value of [Velocity threshold (Obj. 606Fh)], the bit becomes "Speed is not equal 0".



Refer to the following.

 Page 145 [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.

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

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

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

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



0: Positioning completed (waiting for next command)

1: Positioning in progress

*1 Available on servo amplifiers with firmware version B8 or later.

■ [Bit 13: OMS]

Setting value

1 (pp)

3 (pv)

4 (tq)

6 (hm)

8 (csp)

9 (csv)

10 (cst)

-100 (jg)

*1

-101 (pt)

*1

Name

Following error

Max slippage error



Homing error

Following error



Following error

Description

0: No following error

1: Following error

0: Maximum slippage not reached

1: Maximum slippage reached (not supported)

Max slippage is the maximum slippage of the asynchronous servo motor.



Refer to the following.



Page 145 [Bit 10: OMS]

0: No following error

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".



0: No following error

1: Following error

*1 Available on servo amplifiers with firmware version B8 or later.

146 10 PDS Control Objects

10.3 [Statusword (Obj. 6041h)]

10.4

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

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

Data Type

I16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Possible





Parameter

[Pr. PT68.0]





Description

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

Forced stop deceleration by turning off EM2 (Forced stop 2) is the same as "2" (servo-off after deceleration to a stop with

[Quick stop deceleration (Obj. 6085h)]) regardless of the setting value of this object.

When [Pr. PA04.3 Forced stop deceleration function selection] is set to "0" (forced stop deceleration function disabled), the servo motor stops with the dynamic brake regardless of the setting value of this object.

Setting value Description

0 *1

Stop with dynamic brake

The state shifts immediately to "Switch On Disabled" (ready-off/servo-off), and the servo motor stops with the dynamic brake.

1

*1

Servo-off after deceleration to a stop at the deceleration time constant of any of the control modes

In the cyclic synchronous positioning/velocity mode (csp/csv), the servo motor decelerates to a stop with [Quick stop deceleration (Obj.

6085h)] and the state shifts to "Switch On Disabled" (ready-off/servo-off).

In the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous operation to torque control mode (ct), the state immediately shifts to "Switch On Disabled" (ready-off/servo-off) and the servo motor stops with the dynamic brake.

In the profile positioning/velocity mode (pp/pv) and JOG operation mode (jg), the servo motor decelerates to a stop with [Profile deceleration (Obj. 6084h)] and the state shifts to "Switch On Disabled" (ready-off/servo-off).

In the homing mode (hm), the servo motor decelerates to a stop with [Homing acceleration (Obj. 609Ah)] and the state shifts to "Switch On

Disabled" (ready-off/servo-off).

In the point table mode (pt), the servo motor decelerates to a stop at the deceleration time constant of the point table number during positioning operation, and the state shifts to "Switch On Disabled" (ready-off/servo-off).

2 Servo-off after deceleration to a stop with [Quick stop deceleration (Obj. 6085h)]

In the cyclic synchronous positioning/velocity mode (csp/csv), profile positioning/velocity mode (pp/pv), point table mode (pt), JOG operation mode (jg), 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" (ready-off/servo-off).

In the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous operation to torque control mode (ct), the state immediately shifts to "Switch On Disabled" (ready-off/servo-off) and the servo motor stops with the dynamic brake.

3 (not supported) 

4 (not supported)

5

*1 *2 *3

Maintain servo-on after deceleration to a stop at the deceleration time constant of any of the control modes

In the cyclic synchronous positioning/velocity mode (csp/csv), the servo motor decelerates to a stop with [Quick stop deceleration (Obj.

6085h)] and the state remains as "Quick Stop Active". (Servo-on is maintained.)

In the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous operation to torque control mode (ct), the state immediately shifts to "Switch On Disabled" (ready-off/servo-off) and the servo motor stops with the dynamic brake.

In the profile positioning/velocity mode (pp/pv) and JOG operation mode (jg), the servo motor decelerates to a stop with [Profile deceleration (Obj. 6084h)] and the state remains as "Quick Stop Active". (Servo-on is maintained.)

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

Stop Active". (Servo-on is maintained.)

In the point table mode (pt), the servo motor decelerates to a stop at the deceleration time constant of the point table number during positioning operation, and the state remains as "Quick Stop Active". (Servo-on is maintained.)

6 *1 *2 *3

Maintain servo-on after deceleration to a stop with [Quick stop deceleration (Obj. 6085h)]

In the cyclic synchronous positioning/velocity mode (csp/csv), profile positioning/velocity mode (pp/pv), point table mode (pt), JOG operation mode (jg), and homing mode (hm), the servo motor decelerates to a stop with [Quick stop deceleration (Obj. 6085h)] and the state remains as "Quick Stop Active". (Servo-on is maintained.)

In the cyclic synchronous torque mode (cst), the profile torque mode (tq), and the continuous operation to torque control mode (ct), the state immediately shifts to "Switch On Disabled" (ready-off/servo-off) and the servo motor stops with the dynamic brake.

7 (not supported) 

8 (not supported)

11

10 PDS Control Objects

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

147

*1 Available on servo amplifiers with firmware version D0 or later.

*2 When canceling Quick stop in the cyclic synchronous position mode (csp), cancel it after servo-off or perform position follow-up with the controller. If Quick stop is canceled without performing position follow-up, the servo motor may suddenly accelerate.

*3 When the controller being used cannot perform follow-up in the "Quick stop active" state (during servo-on), do not use this setting value in the cyclic synchronous position mode (csp). For information on whether the controller being used can perform follow-up in the "Quick stop active" state, refer to the manual for the controller.

148 10 PDS Control Objects

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

10.5

[Halt option code (Obj. 605Dh)]

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

Data Type

I16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

1





Range

1 (fixed)





Units







Save

Possible

Parameter

[Pr. PT68.2]









Description

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

Setting value

0

1

Description



The servo motor decelerates to a stop in accordance with [Profile deceleration (Obj. 6084h)] during the profile positioning/velocity mode

(pp/pv) and JOG operation mode (jg), in accordance with the point table deceleration time constant/point table deceleration during the point table mode (pt), and in accordance with [Homing acceleration (Obj. 609Ah)] during the homing mode (hm), and the servo motor remains "Operation Enabled".

During the profile torque mode (tq), [Torque demand value (Obj. 6074h)] becomes "0" stopping the servo motor in accordance with the amount of torque change set in [Torque slope (Obj. 6087h)], and the state remains "Operation Enabled".

 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"

Profile position mode

(pp)

Profile velocity mode

(pv)

Profile torque mode (tq)

Point table mode (pt)

The servo motor decelerates to a stop in accordance with [Profile deceleration (Obj.

6084h)].

The servo motor decelerates to a stop in accordance with [Profile deceleration (Obj.

6084h)].

[Torque demand value (Obj. 6074h)] becomes "0" stopping the servo motor in accordance with the amount of torque change set in [Torque slope (Obj. 6087h)].

The servo motor decelerates to a stop in accordance with the point table deceleration time constant/point table deceleration.

The operation resumes after decelerating to a stop.

The operation resumes after decelerating to a stop.

The operation resumes after [Torque demand value (Obj. 6074h)] changes to

"0".

The operation resumes after decelerating to a stop.

JOG operation mode (jg) The servo motor decelerates to a stop in accordance with [Profile deceleration (Obj.

6084h)].

Homing mode (hm)

The operation resumes after decelerating to a stop.

When Halt Bit is set to "1", the servo motor decelerates to a stop with [Homing acceleration (Obj. 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".

Reflective timing of deceleration time setting

Reflected when New set-point (bit 4 of

[Controlword (Obj. 6040h)]) is set to

"1".

Reflected constantly.

Reflected constantly.

Reflected when New set-point (bit 4 of

[Controlword (Obj. 6040h)]) is set to

"1".

In the continuous operation, reflected when it is switched to next point table.

Reflected when Rotation start (bit 4 of

[Controlword (Obj. 6040h)]) is set to

"1".

Reflected when "Homing Operation

Start" is set to "1".

11

10 PDS Control Objects

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

149

10.6

[Modes of operation (Obj. 6060h)]

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

Data Type

I8

Access

RW

Mapping

RxPDO

Default

0

Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units







Save

Impossible

Parameter











Description

Set a control mode.

The available control modes are limited depending on the setting values of [Pr. PA01.0 Control mode selection] and [Pr.

PT01.2 Unit for position data]. Refer to "Selecting control mode (Modes of operation)" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Setting value

0

3

4

1

2

7

8

5

6

9

10

-100 *1

-101 *1

Description

No mode change

Profile position mode (pp)



Profile velocity mode (pv)

Profile torque mode (tq)



Homing mode (hm)



Cyclic synchronous position mode (csp)

Cyclic synchronous velocity mode (csv)

Cyclic synchronous torque mode (cst)

Jog mode (jg)

Point table mode (pt)

*1 Available on servo amplifiers with firmware version B8 or later.

150 10 PDS Control Objects

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

10.7

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

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

Data Type

I8

Access

RO

Mapping

TxPDO

Default



Range

Refer to the following.

Units



Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The current control mode is returned.

Regarding the initial value, the value that is returned depends on the setting value of [Pr. PA01.0 Control mode selection] and

[Pr. PT01.2 Unit for position data]. Refer to "Selecting control mode (Modes of operation)" in the following manual.

 MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Communication Function)

Even if "0" is set for [Modes of operation (Obj. 6060h)], this object does not return "0".

Setting value

-1

-2

9

10

7

8

5

6

0

3

4

1

2

-4

-6

-9

-10

*1

-100

*1

-101

*1

Description

No mode change/No mode assigned

Profile position mode (pp)



Profile velocity mode (pv)

Profile torque mode (tq)



Homing mode (hm)



Cyclic synchronous position mode (csp)

Cyclic synchronous velocity mode (csv)

Cyclic synchronous torque mode (cst)

Test Operation mode: JOG Operation

Test Operation mode: Positioning Operation

Test Operation mode: DO forced output

Test Operation mode: Machine analyzer

Test Operation mode: Test Exit

Test Operation mode: Single-step feed

Jog mode (jg)

Point table mode (pt)

*1 Available on servo amplifiers with firmware version B8 or later.

11

10 PDS Control Objects

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

151

10.8

[Supported drive modes (Obj. 6502h)]

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

Data Type

U32

Access

RO

Supported firmware version

ECT 

B2 

Mapping

TxPDO





Default







Range











Units







Save

Impossible





Parameter



Description

"1" is returned to the supported control mode. The available control modes vary depending on the setting of [Pr. PA01.0

Control mode selection] and the network settings.

Bit

0

3

4

1

2

7

8

5

6

9

10

11 to 15

16

17

18 to 31

Description

Profile position mode (pp)

Velocity mode (vl)

Profile velocity mode (pv)

Profile torque mode (tq)

Reserved

Homing mode (hm)

Interpolated position mode (ip)

Cyclic synchronous position mode (csp)

Cyclic synchronous velocity mode (csv)

Cyclic synchronous torque mode (cst)

Cyclic synchronous torque mode with communication angle (cstca)

Reserved

Jog mode (jg)

*1

Point table mode (pt)

*1

Reserved

Defined value

1: Supported

0

1: Supported

*2

1: Supported *2

0

1: Supported

0

1: Supported

1: Supported

1: Supported

0

0

1: Supported

1: Supported

0

*1 Available on servo amplifiers with firmware version B8 or later.

*2 For the MR-J5W_-_G-N1, the defined value is "0".

152 10 PDS Control Objects

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

11

Position Control Function Objects

11.1

[Position demand value (Obj. 6062h)]

[Position demand value (Obj. 6062h: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Units pos units

Supported firmware version

ECT 

B6 

















Save

Impossible





Parameter







Description

The command position inside the servo amplifier is returned.

11.2

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Units inc

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The current position is returned.

11.3

[Position actual value (Obj. 6064h)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units pos units





Save

Impossible





Description

The current position of the command unit is returned.

Parameter







12

11 Position Control Function Objects

11.1 [Position demand value (Obj. 6062h)]

153

11.4

[Following error window (Obj. 6065h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

00C00000h

Range

00000000h to

FFFFFFFFh

Units pos units

Supported firmware version

ECT 

A5 

















Save

Possible





Parameter

[Pr. PC67]

Description

In the cyclic synchronous position mode (csp), profile position mode (pp), point table mode (pt), and JOG operation mode (jg), when the time set with [Following error time out (Obj. 6066h)] elapses 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.

11.5

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

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

10





Range

0 to 65535





Units ms





Save

Possible





Parameter

[Pr. PC69]





Description

Refer to the following object.



Page 154 [Following error window (Obj. 6065h)]





154 11 Position Control Function Objects

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

11.6

[Position window (Obj. 6067h)]

[Position window (Obj. 6067h: 00h)]

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

00000190h





Range







Units pos units





Save

Possible

Parameter

[Pr. PC70]

Description

The descriptions of this object is as follows.

Setting value

00000000h to FFFFFFFEh

FFFFFFFFh

Description

In the profile position mode (pp), point table mode (pt), and JOG operation mode (jg), when the time set with [Position window time (Obj. 6068h)] elapses with the number of droop pulses under the setting value of this object, bit 10 of

[Statusword (Obj. 6041h)] is turned on.

In the profile position mode (pp), point table mode (pt), and JOG operation mode (jg), bit 10 of [Statusword (Obj. 6041h)] is always turned on.

11.7

[Position window time (Obj. 6068h)]

[Position window time (Obj. 6068h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

10





Range

0 to 65535





Units ms





Save

Possible





Parameter

[Pr. PC71]





Description

Refer to the following object.



Page 155 [Position window (Obj. 6067h)]









12

11 Position Control Function Objects

11.6 [Position window (Obj. 6067h)]

155

11.8

[Positioning option code (Obj. 60F2h)]

[Positioning option code (Obj. 60F2h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0000h





Range

0000h (fixed)





Units







Save

Possible





Parameter

[Pr. PT03.2]





Description

Set the following conditions of the profile position mode (pp).

Bit

0 to 1

2 to 3

4 to 5

6 to 7 (not supported)

8 to 15

Description

00b: Operates at the relative position determined by the internal absolute target position.

01b: Operates at the relative position determined by [Position demand actual value (Obj. 60FCh)]. (not supported)

10b: Operates at the relative position determined by [Position actual value (Obj. 6064h)]. (not supported)

11b: reserved

00b: Immediately reflects new information including [Target position (Obj. 607Ah)], [Profile velocity (Obj. 6081h)], and

Acceleration.

01b: Continues positioning, and reflects new information including [Target position (Obj. 607Ah)], [Profile velocity

(Obj. 6081h)], and Acceleration when reaching the target position. (not supported)

10b: reserved

11b: reserved

Reserved

00b: Rotates to the target position in the direction specified with the sign of the position data.

01b: Rotates in the address decreasing direction regardless of the sign of the position data.

10b: Rotates in the address increasing direction regardless of the sign of the position data.

11b: Rotates in the direction with the shorter distance from the current position to the target position.

If the distance from the current position to the target position is the same in the CCW and CW directions, the servo motor rotates in the CCW direction.

Reserved

Defined value

00b

00b

0

00b

0

156 11 Position Control Function Objects

11.8 [Positioning option code (Obj. 60F2h)]

11.9

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

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Units pos units

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The droop pulses are returned.

11.10

[Control effort (Obj. 60FAh)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units vel units





Save

Impossible





Parameter







Description

The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.

PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

*1

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Units

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

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

12

11 Position Control Function Objects

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

157

12

Profile Velocity Mode Objects

12.1

[Velocity demand value (Obj. 606Bh)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Units vel units

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The speed command is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.

PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

*1

Connected servo motor

Rotary servo motor

Linear servo motor



Units

0.01 r/min

0.01 mm/s

0.001 degree/s pulse/s

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

12.2

[Velocity actual value (Obj. 606Ch)]

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

Data Type

I32

Access

RO

Mapping

TxPDO

Default



Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units vel units





Save

Impossible





Parameter







Description

The current speed is returned. The unit of the returned data varies depending on the combination of the settings of [Pr.

PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

*1

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Units

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

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

158 12 Profile Velocity Mode Objects

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

12.3

[Velocity window (Obj. 606Dh)]

[Velocity window (Obj. 606Dh: 00h)]

Data Type

U16

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

0 to 65535

Supported firmware version

ECT 

A5 













Units vel units





Save

Possible





Parameter

Refer to the following.





Description

In the profile velocity mode (pv), when the time set in [Velocity window time (Obj. 606Eh)] elapses in a state where the difference between the command velocity and the current velocity is equal to or below the setting value of this object, bit 10 of

[Statusword (Obj. 6041h)] turns on.

The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter



2 (degree)

3 (pulse)

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



2000

20000

0.01 r/min

0.01 mm/s

0.001 degree/s pulse/s

[Pr. PC72]

[Pr. PV19]

12.4

[Velocity window time (Obj. 606Eh)]

[Velocity window time (Obj. 606Eh: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

10





Range

0 to 65535





Units ms





Save

Possible





Parameter

[Pr. PC73]





12

Description

Refer to the following object.



Page 159 [Velocity window (Obj. 606Dh)]

12 Profile Velocity Mode Objects

12.3 [Velocity window (Obj. 606Dh)]

159

12.5

[Velocity threshold (Obj. 606Fh)]

[Velocity threshold (Obj. 606Fh: 00h)]

Data Type

U16

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

0 to 65535

Supported firmware version

ECT 

A5 













Units vel units





Save

Possible

Parameter

Refer to the following.

Description

In the profile velocity mode (pv), when the time set in [Velocity threshold time (Obj. 6070h)] elapses in a state where the current velocity is equal to or below the setting value of this object, bit 12 of [Statusword (Obj. 6041h)] turns on.

The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter



2 (degree)

3 (pulse)

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



5000

20

0.01 r/min

0.01 mm/s

0.001 degree/s pulse/s

[Pr. PC65]

[Pr. PV20]

12.6

[Velocity threshold time (Obj. 6070h)]

[Velocity threshold time (Obj. 6070h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

10





Range

0 to 65535





Units ms





Save

Possible





Parameter

[Pr. PC66]





Description

Refer to the following object.



Page 160 [Velocity threshold (Obj. 606Fh)]









160 12 Profile Velocity Mode Objects

12.5 [Velocity threshold (Obj. 606Fh)]

12.7

[Target velocity (Obj. 60FFh)]

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default

0

Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units vel units





Save

Impossible

Parameter











Description

Set the speed command used in the cyclic synchronous velocity mode (csv) and the profile velocity mode (pv). The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



Units

0.01 r/min

0.01 mm/s

0.001 degree/s pulse/s

12

12 Profile Velocity Mode Objects

12.7 [Target velocity (Obj. 60FFh)]

161

13

Profile Torque Mode Objects

13.1

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

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

03h





Range

03h (fixed)





Units







Save

Impossible





Parameter







Description

The total number of Sub Indexes is returned.

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

0000h





Range

0000h to 0001h





Units







Save

Possible





Parameter

[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

Forward rotation torque limit value

CPTL: 0 CPTL: 1

1h/0001h

[Pr. PA11]/

[Positive torque limit value

(Obj. 60E0h)]

[Pr. PA11]/

[Positive torque limit value

(Obj. 60E0h)]

[Pr. PA11]/

[Positive torque limit value

(Obj. 60E0h)]

[Pr. PC43]/

[Positive torque limit value2

(Obj. 2D6Dh: 02h)]

Reverse rotation torque limit value

CNTL: 0 CNTL: 1

[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)]

162 13 Profile Torque Mode Objects

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

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

Data Type

U16

Access

RW

Mapping

Impossible

Default

10000

Range

0 to 10000

Units

0.1 %

Save

Possible

Parameter

[Pr. PC43]/[Pr.

PC44]

Supported firmware version

ECT 

A5 

























Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CCW power running or CW regeneration, or the limit value of the thrust of the linear servo motor for positive direction power running or negative direction regeneration.

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

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.

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

Data Type

U16

Access

RW

Mapping

Impossible

Default

10000

Range

0 to 10000

Units

0.1 %

Save

Possible

Parameter

[Pr. PC43]/[Pr.

PC44]

Supported firmware version

ECT 

A5 

























13

Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CW power running or CCW regeneration, or the limit value of the thrust of the linear servo motor for negative direction power running or positive direction regeneration.

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

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.

13 Profile Torque Mode Objects

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

163

13.2

[Target torque (Obj. 6071h)]

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

Data Type

I16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

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

13.3

[Max torque (Obj. 6072h)]

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

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

TxPDO/RxPDO





Default







Range

0 to 10000





Units

0.1 %





Save

Possible





Parameter

[Pr. PE53]





Description

The maximum torque of the servo motor is returned.

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 values notified by this object are the maximum current and feedback values and may not match the maximum torque described in the user's manual for the servo motor being used.

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.

13.4

[Max current (Obj. 6073h)]

[Max current (Obj. 6073h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

C0 

Mapping

RxPDO





Default







Range

0 to 65535





Units

0.1 %





Save

Impossible





Parameter







Description

The maximum current of the servo motor is returned.

This object is automatically set by the servo motor being connected. Do not write a value to this object. Writing a value will result in a write error. In addition, the maximum current values notified by this object may not match the maximum current value described in the user's manual for the servo motor being used.

Unit: 0.1 % (with rated current being 100 %)

164 13 Profile Torque Mode Objects

13.2 [Target torque (Obj. 6071h)]

13.5

[Torque demand value (Obj. 6074h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Description

The torque command is returned.

13.6

[Motor rated torque (Obj. 6076h)]

[Motor rated torque (Obj. 6076h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

C0 

Mapping

Impossible





Default







Range Units

0 to 4294967295 mN•m, mN









Save

Impossible





Parameter







Parameter







Description

The rated torque of the motor is returned.

The unit is [mN•m] in control modes other than the linear servo motor control mode, and [mN] in the linear servo motor control mode. In addition, the maximum torque values notified by this object may not match the rated torque value described in the user's manual for the servo motor being used.

13.7

[Torque actual value (Obj. 6077h)]

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

Data Type

I16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Parameter







Description

The current torque is returned.

13

13 Profile Torque Mode Objects

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

165

13.8

[Current actual value (Obj. 6078h)]

[Current actual value (Obj. 6078h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default







Range Units

-32768 to 32767 0.1 %









Save

Impossible





Description

The actual current value is returned.

Unit: 0.1 % (with rated current being 100 %)

The value is equivalent to [Torque actual value (Obj. 6077h)].

13.9

[Torque slope (Obj. 6087h)]

[Torque slope (Obj. 6087h: 00h)]

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0





Range

0 to 10000000





Units

0.1 %/s





Save

Possible





Parameter







Parameter

[Pr. PT53]





Description

Set the amount of change in the torque command per second which is used in the profile torque mode. When "0" is set, the amount of change cannot be set. In this case, the torque command will be input by step input.

13.10

[Torque profile type (Obj. 6088h)]

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

Data Type

I16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

0





Range

0 (fixed)





Units







Save

Impossible





Parameter







Description

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

Setting value

0

1

Description

Linear ramp sin 2 ramp (not supported)

166 13 Profile Torque Mode Objects

13.8 [Current actual value (Obj. 6078h)]

13.11

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

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

Data Type

U16

Access

RW

Mapping

RxPDO

Default



Range

0 to 10000

Units

0.1 %

Save

Possible

Parameter

[Pr. PA11]/[Pr.

PA12]

Supported firmware version

ECT 

A5 

























Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CCW power running or CW regeneration, or the limit value of the thrust of the linear servo motor for positive direction power running or negative direction regeneration.

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

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.

13.12

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

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

Data Type

U16

Access

RW

Mapping

RxPDO

Default



Range

0 to 10000

Units

0.1 %

Save

Possible

Parameter

[Pr. PA11]/[Pr.

PA12]

Supported firmware version

ECT 

A5 

























13

Description

The torque generated by the servo motor or the thrust generated by the linear servo motor can be limited. Set the limit value of the torque of the servo motor for CW power running or CCW regeneration, or the limit value of the thrust of the linear servo motor for negative direction power running or positive direction regeneration.

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

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.

13 Profile Torque Mode Objects

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

167

14

Profile Position Mode Objects

14.1

[Target position (Obj. 607Ah)]

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default



Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units pos units





Save

Impossible





Parameter







Description

Set the position command used in the cyclic synchronous position mode (csp) and the profile position mode (pp). Check the setting value of [Gear ratio (Obj. 6091h)] before setting a value in this object.

The setting range varies depending on the value of [Pr. PT01.2 Unit for position data].

Control mode

Cyclic synchronous position mode (csp)

Profile position mode (pp)

[Pr. PT01.2]



2 (degree)

3 (pulse)

Range

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

FFFA81C0h to 00057E40h (-360000 to 360000)

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

168 14 Profile Position Mode Objects

14.1 [Target position (Obj. 607Ah)]

14.2

[Position range limit (Obj. 607Bh)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible

Parameter











Description

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

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default



Range

Refer to the following.

Units pos units

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

Set the range for limiting the command position. The setting range varies depending on the value of [Pr. PT01.2 Unit for position data].

[Position range limit] is automatically set in accordance with [Pr. PT01.2]. Do not write a value to [Position range limit]. Writing a value will result in a write error.

[Pr. PT01.2]

0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Range

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

00000000h to 00057E3Fh (0 to 359999)

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

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

Data Type

I32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range







Units pos units





Save

Impossible





Parameter







Description

Refer to the following object.



Page 169 [Min position range limit (Obj. 607Bh: 01h)]

14

14 Profile Position Mode Objects

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

169

14.3

[Software position limit (Obj. 607Dh)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible





Parameter







Description

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

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default

0

Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units pos units





Save

Possible





Parameter

[Pr. PT17]





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 [Max 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 (Obj. 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 the unit is set to "mm", "inch", or "pulse"

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

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

• When the unit is set to "degree"

Set [Min position limit] as the starting point and [Max position limit] as the ending point. For details, refer to "Software position limit [G]" in the following manual.

 MR-J5 User's Manual (Function)

170 14 Profile Position Mode Objects

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

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default

0

Range

-2147483648 to

2147483647

Supported firmware version

ECT 

A5 













Units pos units





Description

Refer to the following object.



Page 170 [Min position limit (Obj. 607Dh: 01h)]

Save

Possible





Parameter

[Pr. PT15]





14

14 Profile Position Mode Objects

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

171

14.4

[Max profile velocity (Obj. 607Fh)]

[Max profile velocity (Obj. 607Fh: 00h)]

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units vel units





Save

Possible





Parameter

Refer to the following.





Description

Set the speed limit value of the profile position mode (pp), profile velocity mode (pv), and JOG operation mode (jg). When a value exceeding the value in this object or in [Max motor speed (Obj. 6080h)] is set in [Target velocity (Obj. 60FFh)] or [Profile velocity (Obj. 6081h)], the servo motor operates limiting the speed. The speed limit with [Max motor speed (Obj. 6080h)] has the priority.

The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor Default

Rotary servo motor

Linear servo motor



2000000

2147483647

Range

0 to 2000000

0 to 4294967295

Units

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

Parameter

[Pr. PT66]

[Pr. PV03]

14.5

[Max motor speed (Obj. 6080h)]

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

Data Type

U32

Access

RW

Mapping

TxPDO

Default

10000

Range Units

0 to 4294967295 Refer to the following.

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

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

The data unit changes depending on the connected servo motor.

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

Connected servo motor

Rotary servo motor

Linear servo motor

Unit r/min mm/s

172 14 Profile Position Mode Objects

14.4 [Max profile velocity (Obj. 607Fh)]

14.6

[Profile velocity (Obj. 6081h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

0 to maximum speed

Supported firmware version

ECT 

A5 













Units vel units





Save

Possible

Parameter

Refer to the following.









Description

Set the speed command to be used in the profile position mode (pp) and JOG operation mode (jg). If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s). 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 settings of [Pr. PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter

 0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



10000

0

[Pr. PT65]

[Pr. PV01] 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

14

14 Profile Position Mode Objects

14.6 [Profile velocity (Obj. 6081h)]

173

14.7

[Profile acceleration (Obj. 6083h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units acc units





Save

Possible

Parameter

Refer to the following.









Description

Set the acceleration time constant or acceleration to be used in the profile position mode (pp), profile velocity mode (pv), and

JOG operation mode (jg). The description of the object varies as shown in the table below depending on the settings of [Pr.

PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection]. When [Pr. PT01.1] is set to "0", set the time required for the servo motor to reach the rated speed. The value that can be set varies for each control mode.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Default

0

0

Range pp: 0 to 20000 pv: 0 to 50000 jg: 0 to 20000

0 to 4294967295

*1

Units ms

Parameter

[Pr. PT49]

[Pr. PV05] 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

0.001 mm/s

2

0.0001 inch/s

2

0.001 degree/s 2 pulse/s 2

*1 When "0" is set, the servo motor accelerates in accordance with the setting value of [Pr. PT49].

174 14 Profile Position Mode Objects

14.7 [Profile acceleration (Obj. 6083h)]

14.8

[Profile deceleration (Obj. 6084h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units acc units





Save

Possible

Parameter

Refer to the following.









Description

Set the deceleration time constant or deceleration to be used in the profile position mode (pp), profile velocity mode (pv), and

JOG operation mode (jg). The description of the object varies as shown in the table below depending on the settings of [Pr.

PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection]. When [Pr. PT01.1] is set to "0", set the time required for the servo motor to reach the rated speed. The value that can be set varies for each control mode.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Default

0

0

Range pp: 0 to 20000 pv: 0 to 50000 jg: 0 to 20000

0 to 4294967295

*1

Units ms

Parameter

[Pr. PT50]

[Pr. PV07] 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

0.001 mm/s

2

0.0001 inch/s

2

0.001 degree/s 2 pulse/s 2

*1 When "0" is set, the servo motor decelerates in accordance with the setting value of [Pr. PT50].

14

14 Profile Position Mode Objects

14.8 [Profile deceleration (Obj. 6084h)]

175

14.9

[Quick stop deceleration (Obj. 6085h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

Refer to the following.

Units acc units

Supported firmware version

ECT 

A5 

















Save

Possible





Parameter

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 the settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Default

100

0

Range

0 to 20000

*1

0 to 4294967295

*2

Units ms

0.001 mm/s

2

0.0001 inch/s

2

0.001 degree/s 2 pulse/s 2

Parameter

[Pr. PC24]

[Pr. PV09]

*1 When the setting value of this object is "0", the deceleration time constant is 100 ms.

*2 When "0" is set, the servo motor decelerates in accordance with the setting value of [Pr. PC24].

176 14 Profile Position Mode Objects

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

14.10

[Motion profile type (Obj. 6086h)]

[Motion profile type (Obj. 6086h: 00h)]

Data Type

I16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

-1





Range

-1 (fixed)





Units







Save

Impossible





Parameter







Description

Set the acceleration/deceleration pattern applied in the profile position mode (pp). The description is as follows.

The value of this object always returns "-1". Only the value "-1" can be set.

Setting value

-1

2

3

0

1

Description

S-pattern

Linear ramp (not supported)

Sin

2

ramp (not supported)

Jerk-free ramp (not supported)

Jerk-limited ramp (not supported)

14.11

[Max acceleration (Obj. 60C5h)]

[Max acceleration (Obj. 60C5h: 00h)]

Data Type

U32

Access

RW

Supported firmware version

ECT 

C0 

Mapping

RxPDO





Default







Range Units

0 to 4294967295 acc units









Save

Impossible





Parameter

[Pr. PV29]





Description

Set the acceleration limit value of the profile position mode (pp), profile velocity mode (pv), homing mode (hm), and JOG operation mode (jg).

The unit can be changed to 0.001 mm/s

2

, 0.0001 inch/s

2

, 0.001 degree/s

2

, or pulse/s

2

with [Pr. PT01.2 Unit for position data].

When this object is set to "0", the acceleration limit is disabled.

This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1".

The servo motor accelerates by the setting value of this object when the following conditions are met:

• The setting value of [Profile acceleration (Obj. 6083h)] is "0" in pp, pv, or jg mode

• The setting value of [Homing acceleration (Obj. 609Ah)] is "0" in hm mode

14

14 Profile Position Mode Objects

14.10 [Motion profile type (Obj. 6086h)]

177

14.12

[Max deceleration (Obj. 60C6h)]

[Max deceleration (Obj. 60C6h: 00h)]

Data Type

U32

Access

RW

Supported firmware version

ECT 

C0 

Mapping

RxPDO





Default







Range Units

0 to 4294967295 acc units









Save

Impossible

Parameter

[Pr. PV31]









Description

Set the deceleration limit value of the profile position mode (pp), profile velocity mode (pv), homing mode (hm), and JOG operation mode (jg).

The unit can be changed to 0.001 mm/s

2

, 0.0001 inch/s

2

, 0.001 degree/s

2

, or pulse/s

2

with [Pr. PT01.2 Unit for position data].

When this object is set to "0", the deceleration limit is disabled.

This function is enabled when [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1".

The servo motor accelerates by the setting value of this object when the following conditions are met:

• The setting value of [Profile deceleration (Obj. 6084h)] is "0" in pp, pv, or jg mode

• The setting value of [Homing acceleration (Obj. 609Ah)] is "0" in hm mode

178 14 Profile Position Mode Objects

14.12 [Max deceleration (Obj. 60C6h)]

15

Homing Mode Objects

15.1

[Home offset (Obj. 607Ch)]

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

Data Type

I32

Access

RW

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Supported firmware version

ECT 

A5 

















Save

Possible





Description

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

15.2

[Homing method (Obj. 6098h)]

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

Data Type

I8

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

37





Range

-43 to 37





Units







Save

Possible





Description

Set a homing method.

For the contents of the homing methods, refer to "Homing method list" in the following manual.

 MR-J5 User's Manual (Function)

Parameter

[Pr. PT08]





Parameter

[Pr. PT45]





15

15 Homing Mode Objects

15.1 [Home offset (Obj. 607Ch)]

179

15.3

[Homing speeds (Obj. 6099h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible

Parameter







Description

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

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

0 to maximum speed

Units vel units

Save

Possible

Supported firmware version

ECT 

A5 

























Parameter

Refer to the following.





Description

Set the servo motor speed for homing. If [Pr. PT02.7 Internal position command - Process speed selection] is set to "0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s). 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 settings of [Pr. PT01.2 Unit for position data],

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

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter

 0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



10000

500000

[Pr. PT05]

[Pr. PV11] 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

180 15 Homing Mode Objects

15.3 [Homing speeds (Obj. 6099h)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

0 to maximum speed

Units vel units

Supported firmware version

ECT 

A5 

















Save

Possible





Parameter

Refer to the following.





Description

Set a creep speed after proximity dog at homing. If [Pr. PT02.7 Internal position command - Process speed selection] is set to

"0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or mm/s). 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 settings of [Pr. PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2] [Pr. PT01.1] Default Units Parameter

 0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor



1000

100000

[Pr. PT06]

[Pr. PV13] 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

15.4

[Homing acceleration (Obj. 609Ah)]

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

Data Type

U32

Access

RW

Mapping

RxPDO

Default

Refer to the following.

Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units acc units





Save

Possible





Parameter

Refer to the following.





15

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 settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Default

0

0

Range

0 to 20000

0 to 4294967295

*1

Units ms

0.001 mm/s 2

0.0001 inch/s 2

0.001 degree/s 2 pulse/s

2

Parameter

[Pr. PT56]

[Pr. PV15]

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

15 Homing Mode Objects

15.4 [Homing acceleration (Obj. 609Ah)]

181

15.5

[Supported homing method (Obj. 60E3h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







Description

The total number of Sub Indexes is returned. 47th

[1st supported homing method (Obj. 60E3h: 01h)] - [47th supported homing method (Obj. 60E3h: 2Fh)]

Data Type

I8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default







Range







Units







Save

Impossible





Parameter







182 15 Homing Mode Objects

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

Description

The supported homing type is returned. "Range" is fixed to the value in "Default".

For the contents of the homing methods, refer to "Homing method list" in the following manual.

 MR-J5 User's Manual (Function)

The following table lists the homing methods and "Default" values for firmware version C0.

Sub Index

1Bh

1Ch

1Dh

1Eh

17h

18h

19h

1Ah

13h

14h

15h

16h

0Fh

10h

11h

12h

0Bh

0Ch

0Dh

0Eh

07h

08h

09h

0Ah

01h

02h

03h

04h

05h

06h

2Bh

2Ch

2Dh

2Eh

27h

28h

29h

2Ah

2Fh

23h

24h

25h

26h

1Fh

20h

21h

22h

Name

1st supported homing method

2nd supported homing method

3rd supported homing method

4th supported homing method

5th supported homing method

6th supported homing method

7th supported homing method

8th supported homing method

9th supported homing method

10th supported homing method

11th supported homing method

12th supported homing method

13th supported homing method

14th supported homing method

15th supported homing method

16th supported homing method

17th supported homing method

18th supported homing method

19th supported homing method

20th supported homing method

21st supported homing method

22nd supported homing method

23rd supported homing method

24th supported homing method

25th supported homing method

26th supported homing method

27th supported homing method

28th supported homing method

29th supported homing method

30th supported homing method

31st supported homing method

32nd supported homing method

33rd supported homing method

34th supported homing method

35th supported homing method

36th supported homing method

37th supported homing method

38th supported homing method

39th supported homing method

40th supported homing method

41st supported homing method

42nd supported homing method

43rd supported homing method

44th supported homing method

45th supported homing method

46th supported homing method

47th supported homing method

Default

-1

-2

2

1

4

3

6

5

8

7

10

9

14

13

12

11

20

19

18

17

24

23

22

21

37

35

34

33

28

27

-39

-40

-41

-42

-33

-34

-36

-38

-43

-8

-9

-10

-11

-6

-7

-3

-4

15 Homing Mode Objects

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

183

15

16

Point table Mode Objects

16.1

[Point table 001 (Obj. 2801h)]

[Point table 001 (Obj. 2801h: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B8 

Mapping

Impossible





Default

7





Range

7 (fixed)





Units







Description

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

[Point data (Obj. 2801h: 01h)]

Data Type

I32

Access

RW

Mapping

Impossible

Default

0

Range

Refer to the following.

Units pos units

Supported firmware version

ECT 

B8 

















Description

Set the travel distance of the point table.

The setting range varies depending on the value of [Pr. PT01.2 Unit for position data].

[Pr. PT01.2]

0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Range

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

FFFA81C0h to 00057E40h (-360000 to 360000)

80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

Save

Impossible





Parameter







Save

Possible





Parameter

Point table





184 16 Point table Mode Objects

16.1 [Point table 001 (Obj. 2801h)]

[Speed (Obj. 2801h: 02h)]

Data Type

I32

Access

RW

Mapping

Impossible

Default

0

Range

0 to maximum speed

Units vel units

Save

Possible

Parameter

Point table

Supported firmware version

ECT 

B8 

























Description

Set the command speed of the servo motor while positioning is executed.

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 settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Units

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

[Acceleration (Obj. 2801h: 03h)]

Data Type

I32

Access

RW

Mapping

Impossible

Default

0

Range

Refer to the following.

Supported firmware version

ECT 

B8 













Units acc units





Save

Possible





Parameter

Point table





Description

Set a time required for the servo motor to reach the rated speed or the acceleration to reach the command speed.

The description of the object varies as shown in the table below depending on the settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Range

0 to 20000

0 to 2147483647

*1

Units ms

0.001 mm/s 2

0.0001 inch/s 2

0.001 degree/s

2 pulse/s 2

*1 When "0" is set, the servo motor accelerates in accordance with the setting value of [Pr. PT49].

16

16 Point table Mode Objects

16.1 [Point table 001 (Obj. 2801h)]

185

[Deceleration (Obj. 2801h: 04h)]

Data Type

I32

Access

RW

Mapping

Impossible

Default

0

Range

Refer to the following.

Supported firmware version

ECT 

B8 













Units acc units





Save

Possible





Parameter

Point table





Description

Set the time required for the servo motor to stop from the rated speed or the deceleration from the command speed to the stop.

The description of the object varies as shown in the table below depending on the settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Range

0 to 20000

0 to 2147483647

*1

Units ms

0.001 mm/s 2

0.0001 inch/s

2

0.001 degree/s

2 pulse/s 2

*1 When "0" is set, the servo motor decelerates in accordance with the setting value of [Pr. PT50].

[Dwell (Obj. 2801h: 05h)]

Data Type

I32

Access

RW

Supported firmware version

ECT 

B8 

Mapping

Impossible





Default

0





Range

0 to 20000





Units ms





Save

Possible





Parameter

Point table





Description

Set the dwell time of point table.

When the dwell is set, the position command of the selected point table is completed, and the position command for the next point table is started after the set dwell elapses.

When "0" or "2" is set for the auxiliary function, dwell is disabled.

When "1", "3", "8", "9", "10", or "11" is set for the auxiliary function and "0" is set in the dwell, continuous operation is executed.

186 16 Point table Mode Objects

16.1 [Point table 001 (Obj. 2801h)]

[Auxiliary (Obj. 2801h: 06h)]

Data Type

I32

Access

RW

Supported firmware version

ECT 

B8 

Mapping

Impossible





Default

0





Range

0 to 3, 8 to 11





Units







Save

Possible





Description

Set the auxiliary function of the point table.

Setting "1" or "3" for the last point table triggers an alarm.

• Absolute position command method

0: Execute the automatic operation of one selected point table.

1: Execute the automatic continuous operation without stopping the next point table.

8: Execute the automatic continuous operation without stopping the point table selected at startup.

9: Execute the automatic continuous operation without stopping the point table No.1.

• Relative position command method

2: Execute the automatic operation of one selected point table.

3: Execute the automatic continuous operation without stopping the next point table.

10: Execute the automatic continuous operation without stopping the point table selected at startup.

11: Execute the automatic continuous operation without stopping the point table No.1.

[M code (Obj. 2801h: 07h)]

Data Type

I32

Access

RW

Supported firmware version

ECT 

B8 

Mapping

Impossible





Default

0





Range

0 to 255





Units







Save

Possible





Description

Set the code to be outputted when the positioning operation is completed.

Parameter

Point table





Parameter

Point table





16

16 Point table Mode Objects

16.1 [Point table 001 (Obj. 2801h)]

187

16.2

[Point table 002 (Obj. 2802h)] - Point table 255 (Obj.

28FFh)]

Positioning data of the point table can be obtained and set.

The contents of each Sub Index are the same as [Point table 001].

16.3

[Target point table (Obj. 2D60h)]

[Target point table (Obj. 2D60h: 00h)]

Data Type

I16

Access

RW

Supported firmware version

ECT 

B8 

Mapping

RxPDO





Default

0





Range

-1 to 255





Units







Save

Impossible





Parameter







Description

The values of the specified point table number can be obtained and set.

Operation mode

Point table mode (pt)

Description

0: Does not operate.

1 to 255: Execute the specified point table.

-1: Positioning to the home

16.4

[Point demand value (Obj. 2D68h)]

[Point demand value (Obj. 2D68h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B8 

Mapping

TxPDO





Default







Range

-1 to 255





Units







Save

Impossible





Parameter







Description

The point table number which is currently being commanded is returned.

When the servo motor is stopped, the setting value of [Target point table] is returned.

Operation mode

Point table mode (pt)

Description

0: Not specified

1 to 255: The point table number which is currently being commanded

-1: Positioning to the home

188 16 Point table Mode Objects

16.2 [Point table 002 (Obj. 2802h)] - Point table 255 (Obj. 28FFh)]

16.5

[Point actual value (Obj. 2D69h)]

[Point actual value (Obj. 2D69h: 00h)]

Data Type

I16

Access

RO

Supported firmware version

ECT 

B8 

Mapping

TxPDO





Default







Range

0 to 255





Units







Save

Impossible

Parameter



Description

The point table number at which operation has completed most recently is returned.

Operation mode

Point table mode (pt)

Description

0: Homing completion

1 to 255: Point table number at which operation has completed most recently

16.6

[M code actual value (Obj. 2D6Ah)]

[M code actual value (Obj. 2D6Ah: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B8 

Mapping

TxPDO





Default







Range

0 to 255





Units







Save

Impossible





Parameter







Description

The M code of the point table at which execution has completed is returned.

When the mode is other than the point table mode (pt), "0" is returned.









16

16 Point table Mode Objects

16.5 [Point actual value (Obj. 2D69h)]

189

17

Factor Group Objects

17.1

[Polarity (Obj. 607Eh)]

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

Data Type

U8

Access

RW

Mapping

RxPDO

Default

00h

Range

00h to E0h

Supported firmware version

ECT 

A5 













Description

The rotation direction selection can be set.

Bit

2

3

0

1

4

5

6

7

Description reserved reserved reserved reserved reserved

0: Servo motor CCW rotation at positive torque

1: Servo motor CW rotation at positive torque

0: Servo motor CCW rotation at positive speed

1: Servo motor CW rotation at positive speed

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

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





Units



Save

Possible





Parameter

[Pr. PA14]

[Pr. PC29.3]





190 17 Factor Group Objects

17.1 [Polarity (Obj. 607Eh)]

17.2

[Position encoder resolution (Obj. 608Fh)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible





Parameter







Description

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

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range Units

0 to 4294967295 inc









Save

Impossible





Parameter







Description

The encoder resolution is returned. When the linear servo motor is connected, the virtual resolution per revolution is returned.

When the servo motor is used on a fully closed loop system configuration, the number of the load-side pulses of one revolution of the servo-motor side is returned.

Writing a value triggers an error.

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default

1





Range

1 (fixed)





Units rev





Save

Impossible





Parameter







17

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.

17 Factor Group Objects

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

191

17.3

[Gear ratio (Obj. 6091h)]

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Description

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

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

1





Range Units

1 to 2147483647 rev









Save

Impossible





Save

Possible





Parameter







Parameter

[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-J5-G/MR-J5W-G User's Manual (Parameters)

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default

1





Range Units

1 to 2147483647 rev









Save

Possible





Parameter

[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-J5-G/MR-J5W-G User's Manual (Parameters)

192 17 Factor Group Objects

17.3 [Gear ratio (Obj. 6091h)]

17.4

[Feed constant (Obj. 6092h)]

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

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

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

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

The following table shows the description returned by [Feed (Obj. 6092h: 01h)] and [Shaft revolutions (Obj. 6092h: 02h)].

[Pr. PT01.2]

0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Feed]

Connected servo motor encoder resolution

Connected servo motor encoder resolution

360000

Connected servo motor encoder resolution

[Shaft revolutions]

1

1

1

1

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

Data Type

U8

Access

RO

Supported firmware version

ECT 

A5 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Save

Impossible





Parameter







Description

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

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range







Units pos units





Save

Impossible





Parameter







Description

The travel distance per revolution of the output shaft is returned. [Feed] is automatically set in accordance with [Pr. PT01.2

Unit for position data]. Do not write a value to [Feed]. Writing a value triggers an error.

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

Data Type

U32

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range

1 to 1000





Units rev





Save

Possible





Parameter







Description

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

17

17 Factor Group Objects

17.4 [Feed constant (Obj. 6092h)]

193

17.5

[SI unit position (Obj. 60A8h)]

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

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Description

This object value is automatically set in accordance with [Pr. PT01.2 Unit for position data].

[Pr. PT01.2]

0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Range

FA010000h (0.001 mm)

FCC00000h (0.0001 inch)

FD410000h (0.001 degree)

00000000h (1 pulse)

17.6

[SI unit velocity (Obj. 60A9h)]

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

Data Type

U32

Access

RW

Mapping

Impossible

Default



Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units







Save

Impossible





Parameter







Parameter







Description

The SI unit velocity is returned.

The SI unit velocity is automatically set in accordance with the combination of the settings of [Pr. PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Range

FEB44700h (0.01 r/min)

FB010300h (0.01 mm/s)

FA010300h (0.001 mm/s)

FCC00300h (0.0001 inch/s)

FD410300h (0.001 degree/s)

00000300h (pulse/s)

194 17 Factor Group Objects

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

17.7

[SI unit acceleration (Obj. 60AAh)]

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

Data Type

I32

Access

RW

Mapping

Impossible

Default



Range

Refer to the following.

Supported firmware version

ECT 

A5 













Units







Save

Impossible

Parameter











Description

The SI unit acceleration is returned.

The SI unit acceleration is automatically set in accordance with the combination of the settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].

[Pr. PT01.2]



0 (mm)

1 (inch)

2 (degree)

3 (pulse)

[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Range

FD030000h (ms)

FA015700h (0.001 mm/s

2

)

FCC05700h (0.0001 inch/s

2

)

FD415700h (0.001 degree/s 2 )

00005700h (pulse/s 2 )

17

17 Factor Group Objects

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

195

18

Touch Probe Function Objects

18.1

[Touch probe function 2 (Obj. 2DE8h)]

[Touch probe function 2 (Obj. 2DE8h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range

0000h to 0037h





Units







Save

Impossible





Parameter







Description

Set the detail of the touch probe function.

By setting [Pr. PT26.4 Touch probe latch position selection], the reflecting patterns of [Pr. PA14 Travel direction selection] and

[Pr. PT08 Homing position data] to the latched position feedback can be changed.

When the touch probe function is not available for the servo amplifier being used, set "0000h".

Bit

0

1

2

3

4

5

Description

0: Touch probe 3 disabled

1: Touch probe 3 enabled

0: Single trigger mode

1: Continuous trigger mode

0: Triggered by inputting touch probe 3

1: Triggered at the zero point of the encoder

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

0: Stop sampling the rising edge of touch probe 3

1: Start sampling the rising edge of touch probe 3

If input of touch probe 3 is set as a trigger (bit 2 = 0), the position feedback latched at the rising edge of touch probe 3 is stored in [Touch probe 3 positive edge (Obj. 2DEAh)], and the time stamp in [Touch probe time stamp 3 positive value (Obj. 2DF8h)].

If the zero point of the encoder is set as a trigger (bit 2 = 1), the position feedback at passing the zero point of the encoder

*1

is stored in

[Touch probe 3 positive edge (Obj. 2DEAh)].

0: Stop sampling the falling edge of touch probe 3

1: Start sampling the falling edge of touch probe 3

If input of touch probe 3 is set as a trigger (bit 2 = 0), the position feedback latched at the falling edge of touch probe 3 is stored in [Touch probe 3 negative edge (Obj. 2DEBh)], and the time stamp in [Touch probe time stamp 3 negative value (Obj. 2DF9h)].

If the zero point of the encoder is set as a trigger (bit 2 = 1), the position feedback at passing the zero point of the encoder

*1 is stored in

[Touch probe 3 negative edge (Obj. 2DEBh)].

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

6

7

8 to 15

*1 For linear servo motors, the zero point of the encoder is a position between homing stop intervals [pulse] (changeable with [Pr. PL01.2

Homing stop interval setting]) based on the linear encoder home position.

196 18 Touch Probe Function Objects

18.1 [Touch probe function 2 (Obj. 2DE8h)]

18.2

[Touch probe status 2 (Obj. 2DE9h)]

[Touch probe status 2 (Obj. 2DE9h: 00h)]

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to 00FFh





Units







Save

Impossible





Parameter



Description

The status of the touch probe function is returned.

Bit

0

1

2

3 to 5

6

7

8 to 15

Description

0: Touch probe 3 disabled

1: Touch probe 3 enabled

0: The position at the rising edge of touch probe 3 has not been stored.

1: The position at the rising edge of touch probe 3 has been stored.

When the position feedback is stored in [Touch probe 3 positive edge (Obj. 2DEAh)] and the time stamp is stored in [Touch probe time stamp 3 positive value (Obj. 2DF8h)], "1" is set.

This bit is cleared to "0" when bit 4 of [Touch probe function 2 (Obj. 2DE8h)] is set to "0".

0: The position at the falling edge of touch probe 3 has not been stored.

1: The position at the falling edge of touch probe 3 has been stored.

When the position feedback is stored in [Touch probe 3 negative edge (Obj. 2DEBh)] and the time stamp is stored in [Touch probe time stamp 3 negative value (Obj. 2DF9h)], "1" is set.

This bit is cleared to "0" when bit 5 of [Touch probe function 2 (Obj. 2DE8h)] is set to "0".

(reserved) The value at reading is undefined.

Toggle status for latch completion at the rising edge of touch probe 3

0 or 1: When bit 1 of [Touch probe function 2 (Obj. 2DE8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and

"1" every time the position feedback is stored in [Touch probe 3 positive edge (Obj. 2DEAh)] and the time stamp is stored in [Touch probe time stamp 3 positive value (Obj. 2DF8h)].

Toggle status for latch completion at the falling edge of touch probe 3

0 or 1: When bit 1 of [Touch probe function 2 (Obj. 2DE8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and

"1" every time the position feedback is stored in [Touch probe 3 negative edge (Obj. 2DEBh)] and the time stamp is stored in [Touch probe time stamp 3 negative value (Obj. 2DF9h)].

(reserved) The value at reading is undefined.

18.3

[Touch probe 3 positive edge (Obj. 2DEAh)]

[Touch probe 3 positive edge (Obj. 2DEAh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The position latched at the rising edge of touch probe 3 is returned.





18

18 Touch Probe Function Objects

18.2 [Touch probe status 2 (Obj. 2DE9h)]

197

18.4

[Touch probe 3 negative edge (Obj. 2DEBh)]

[Touch probe 3 negative edge (Obj. 2DEBh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The position latched at the falling edge of touch probe 3 is returned.

18.5

[Touch probe time stamp 3 positive value (Obj.

2DF8h)]

[Touch probe time stamp 3 positive value (Obj. 2DF8h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the rising edge of touch probe 3 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 2 of [Touch probe function 2 (Obj. 2DE8h: 00h)] is set to "0".

198 18 Touch Probe Function Objects

18.4 [Touch probe 3 negative edge (Obj. 2DEBh)]

18.6

[Touch probe time stamp 3 negative value (Obj.

2DF9h)]

[Touch probe time stamp 3 negative value (Obj. 2DF9h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the falling edge of touch probe 3 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 2 of [Touch probe function 2 (Obj. 2DE8h: 00h)] is set to "0".

18.7

[Touch probe function (Obj. 60B8h)]

[Touch probe function (Obj. 60B8h: 00h)]

Data Type

U16

Access

RW

Supported firmware version

ECT 

A5 

Mapping

RxPDO





Default







Range

0000h to FFFFh





Units







Save

Impossible





Parameter







18

18 Touch Probe Function Objects

18.6 [Touch probe time stamp 3 negative value (Obj. 2DF9h)]

199

6

7

8

Description

Set the detail of the touch probe function.

By setting [Pr. PT26.4 Touch probe latch position selection], the reflecting patterns of [Pr. PA14 Travel direction selection] and

[Pr. PT08 Homing position data] to the latched position feedback can be changed.

When the touch probe function is not available for the servo amplifier being used, set "0000h".

Bit

0

1

2

3

4

5

Description

0: Touch probe 1 disabled

1: Touch probe 1 enabled

0: Single trigger mode

1: Continuous trigger mode

0: Triggered by inputting touch probe 1

1: Triggered at the zero point of the encoder

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

0: Stop sampling the rising edge of touch probe 1

1: Start sampling the rising edge of touch probe 1

If input of touch probe 1 is set as a trigger (bit 2 = 0), the position feedback latched at the rising edge of touch probe 1 is stored in [Touch probe 1 positive edge (Obj. 60BAh)], and the time stamp in [Touch probe time stamp 1 positive value (Obj. 60D1h)].

If the zero point of the encoder is set as a trigger (bit 2 = 1), the position feedback at passing the zero point of the encoder

*1 is stored in

[Touch probe 1 positive edge (Obj. 60BAh)].

0: Stop sampling the falling edge of touch probe 1

1: Start sampling the falling edge of touch probe 1

If input of touch probe 1 is set as a trigger (bit 2 = 0), the position feedback latched at the falling edge of touch probe 1 is stored in [Touch probe 1 negative edge (Obj. 60BBh)], and the time stamp in [Touch probe time stamp 1 negative value (Obj. 60D2h)].

If the zero point of the encoder is set as a trigger (bit 2 = 1), the position feedback at passing the zero point of the encoder

*1 is stored in

[Touch probe 1 negative edge (Obj. 60BBh)].

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

9

10

11

12

13

14

15

0: Touch probe 2 disabled

1: Touch probe 2 enabled

0: Single trigger mode

1: Continuous trigger mode

0: Triggered by inputting touch probe 2

1: Triggered at the zero point of the encoder

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

0: Stop sampling the rising edge of touch probe 2

1: Start sampling the rising edge of touch probe 2

If input of touch probe 2 is set as a trigger (bit 10 = 0), the position feedback latched at the rising edge of touch probe 2 is stored in

[Touch probe 2 positive edge (Obj. 60BCh)], and the time stamp in [Touch probe time stamp 2 positive value (Obj. 60D3h)].

If the zero point of the encoder is set as a trigger (bit 10 = 1), the position feedback at passing the zero point of the encoder *1

is stored in [Touch probe 2 positive edge (Obj. 60BCh)].

0: Stop sampling the falling edge of touch probe 2

1: Start sampling the falling edge of touch probe 2

If input of touch probe 2 is set as a trigger (bit 10 = 0), the position feedback latched at the falling edge of touch probe 2 is stored in

[Touch probe 2 negative edge (Obj. 60BDh)], and the time stamp in [Touch probe time stamp 2 negative value (Obj. 60D4h)].

If the zero point of the encoder is set as a trigger (bit 10 = 1), the position feedback at passing the zero point of the encoder *1

is stored in [Touch probe 2 negative edge (Obj. 60BDh)].

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

*1 For linear servo motors, the zero point of the encoder is a position between homing stop intervals [pulse] (changeable with [Pr. PL01.2

Homing stop interval setting]) based on the linear encoder home position.

200 18 Touch Probe Function Objects

18.7 [Touch probe function (Obj. 60B8h)]

18.8

[Touch probe status (Obj. 60B9h)]

[Touch probe status (Obj. 60B9h: 00h)]

Data Type

U16

Access

RO

Supported firmware version

ECT 

A5 

Mapping

TxPDO





Default







Range

0000h to 0707h





Units







Save

Impossible

Parameter











Description

The status of the touch probe function is returned.

When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0000h" is returned.

Bit

0

1

2

3 to 5

6

7

8

9

10

11 to 13

14

15

Description

0: Touch probe 1 disabled

1: Touch probe 1 enabled

0: The data at the rising edge of touch probe 1 has not been stored.

1: The data at the rising edge of touch probe 1 has been stored.

When the position feedback is stored in [Touch probe 1 positive edge (Obj. 60BAh)] and the time stamp is stored in [Touch probe time stamp 1 positive value (Obj. 60D1h)], "1" is set.

This bit is cleared to "0" when bit 4 of [Touch probe function (Obj. 60B8h)] is set to "0".

0: The data at the falling edge of touch probe 1 has not been stored.

1: The data at the falling edge of touch probe 1 has been stored.

When the position feedback is stored in [Touch probe 1 negative edge (Obj. 60BBh)] and the time stamp is stored in [Touch probe time stamp 1 negative value (Obj. 60D2h)], "1" is set.

This bit is cleared to "0" when bit 5 of [Touch probe function (Obj. 60B8h)] is set to "0".

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

Toggle status for latch completion at the rising edge of touch probe 1

0 or 1: When bit 1 of [Touch probe function (Obj. 60B8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and "1" every time the position feedback is stored in [Touch probe 1 positive edge (Obj. 60BAh)] and the time stamp is stored in [Touch probe time stamp 1 positive value (Obj. 60D1h)].

Toggle status for latch completion at the falling edge of touch probe 1

0 or 1: When bit 1 of [Touch probe function (Obj. 60B8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and "1" every time the position feedback is stored in [Touch probe 1 negative edge (Obj. 60BBh)] and the time stamp is stored in [Touch probe time stamp 1 negative value (Obj. 60D2h)].

0: Touch probe 2 disabled

1: Touch probe 2 enabled

0: The data at the rising edge of touch probe 2 has not been stored.

1: The data at the rising edge of touch probe 2 has been stored.

When the position feedback is stored in [Touch probe 2 positive edge (Obj. 60BCh)] and the time stamp is stored in [Touch probe time stamp 2 positive value (Obj. 60D3h)], "1" is set.

This bit is cleared to "0" when bit 9 of [Touch probe function (Obj. 60B8h)] is set to "0".

0: The data at the falling edge of touch probe 2 has not been stored.

1: The data at the falling edge of touch probe 2 has been stored.

When the position feedback is stored in [Touch probe 2 negative edge (Obj. 60BDh)] and the time stamp is stored in [Touch probe time stamp 2 negative value (Obj. 60D4h)], "1" is set.

This bit is cleared to "0" when bit 10 of [Touch probe function (Obj. 60B8h)] is set to "0".

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

Toggle status for latch completion at the rising edge of touch probe 2

0 or 1: When bit 9 of [Touch probe function (Obj. 60B8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and "1" every time the position feedback is stored in [Touch probe 2 positive edge (Obj. 60BCh)] and the time stamp is stored in [Touch probe time stamp 2 positive value (Obj. 60D3h)].

Toggle status for latch completion at the falling edge of touch probe 2

0 or 1: When bit 9 of [Touch probe function (Obj. 60B8h)] is set to "1" (continuous trigger mode), the status toggles between "0" and "1" every time the position feedback is stored in [Touch probe 2 negative edge (Obj. 60BDh)] and the time stamp is stored in [Touch probe time stamp 2 negative value (Obj. 60D4h)].

18

18 Touch Probe Function Objects

18.8 [Touch probe status (Obj. 60B9h)]

201

18.9

[Touch probe 1 positive edge (Obj. 60BAh)]

[Touch probe 1 positive edge (Obj. 60BAh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The position latched at the rising edge of touch probe 1 is returned.

When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0" is returned.

18.10

[Touch probe 1 negative edge (Obj. 60BBh)]

[Touch probe 1 negative edge (Obj. 60BBh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The position latched at the falling edge of touch probe 1 is returned.

When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0" is returned.

18.11

[Touch probe 2 positive edge (Obj. 60BCh)]

[Touch probe 2 positive edge (Obj. 60BCh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Supported firmware version

ECT 

A5 

















Save

Impossible





Parameter







Description

The position latched at the rising edge of touch probe 2 is returned.

When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0" is returned.

202 18 Touch Probe Function Objects

18.9 [Touch probe 1 positive edge (Obj. 60BAh)]

18.12

[Touch probe 2 negative edge (Obj. 60BDh)]

[Touch probe 2 negative edge (Obj. 60BDh: 00h)]

Data Type

I32

Access

RO

Mapping

TxPDO

Default

0

Range

-2147483648 to

2147483647

Units pos units

Save

Impossible

Supported firmware version

ECT 

A5 





















Parameter







Description

The position latched at the falling edge of touch probe 2 is returned.

When the touch probe function is disabled or when the function is not available for the servo amplifier used, "0" is returned.

18.13

[Touch probe time stamp 1 positive value (Obj.

60D1h)]

[Touch probe time stamp 1 positive value (Obj. 60D1h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the rising edge of touch probe 1 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 2 of [Touch probe function (Obj. 60B8h: 00h)] is set to "0".

18

18 Touch Probe Function Objects

18.12 [Touch probe 2 negative edge (Obj. 60BDh)]

203

18.14

[Touch probe time stamp 1 negative value (Obj.

60D2h)]

[Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the falling edge of touch probe 1 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 2 of [Touch probe function (Obj. 60B8h: 00h)] is set to "0".

18.15

[Touch probe time stamp 2 positive value (Obj.

60D3h)]

[Touch probe time stamp 2 positive value (Obj. 60D3h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the rising edge of touch probe 2 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 10 of [Touch probe function (Obj. 60B8h: 00h)] is set to "0".

204 18 Touch Probe Function Objects

18.14 [Touch probe time stamp 1 negative value (Obj. 60D2h)]

18.16

[Touch probe time stamp 2 negative value (Obj.

60D4h)]

[Touch probe time stamp 2 negative value (Obj. 60D4h: 00h)]

Data Type

U32

Access

RO

Supported firmware version

ECT 

B6 

Mapping

TxPDO





Default

0





Range Units

0 to 4294967295 ns









Save

Impossible





Parameter







Description

The time stamp latched at the falling edge of touch probe 2 (the lower 32 bits of the network time (unit: ns)) is returned.

"0" is returned in the following cases.

• The touch probe function is disabled.

• The servo amplifier does not support the touch probe function.

• Bit 10 of [Touch probe function (Obj. 60B8h: 00h)] is set to "0".

18

18 Touch Probe Function Objects

18.16 [Touch probe time stamp 2 negative value (Obj. 60D4h)]

205

19

Optional application FE Objects

19.1

[Digital inputs (Obj. 60FDh)]

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

Data Type

U32

Access

RO

Mapping

TxPDO

Default



Range

00000000h to

037F0007h

Supported firmware version

ECT 

A5 













Units







Description

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

■ MR-J5-_G_-_N1/MR-J5W_-_G_-_N1

Bit Name DI pin

MR-J5-G-N1

17

18

19

20

21

22

DI1

DI2

DI3

DI4

DI5

EM2/EM1

CN3-2

CN3-12

CN3-19

CN3-10

*2

CN3-1

*2

CN3-20

MR-J5-G-RJ-N1 MR-J5W_-G-N1

A-axis

CN3-2

CN3-12

CN3-19

CN3-10

CN3-1

CN3-20

CN3-7

CN3-8

CN3-9





CN3-10

B-axis

CN3-20

CN3-21

CN3-22





CN3-10

20

21

22

17

18

19

*1 For the MR-J5W3-_G-_N1

*2 It is available on servo amplifiers with firmware version C0 or later manufactured in June 2021 or later.

■ MR-J5D_-_G_-_N1

Bit Name DI pin

MR-J5D1-_G_-_N1

DI1

DI2

DI3

DI4

DI5

EM2/EM1

CN3-12

CN3-28

CN3-29

CN3-11

CN3-27

CN3-13

MR-J5D2-_G_-_N1/MR-J5D3-_G_-_N1

A-axis B-axis

CN3-12

CN3-28

CN3-29





CN3-13

CN3-26

CN3-25

CN3-27





CN3-13

*1 For the MR-J5D3-_G_-_N1

Save

Impossible





C-axis

*1

CN3-10

CN3-9

CN3-11





CN3-13

Parameter







C-axis

*1

CN3-1

CN3-2

CN3-15





CN3-10

206 19 Optional application FE Objects

19.1 [Digital inputs (Obj. 60FDh)]

Bit

0

1

20

21

18

19

2

3 to 16

17

22

23

24

25

26 to 31

Description

Negative limit switch

The output can be reversed with the [Pr. PC76.3 Limit switch status read selection] setting.

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

Positive limit switch

The output can be reversed with the [Pr. PC76.3] setting.

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

Home switch

0: DOG (Proximity dog) off

1: DOG (Proximity dog) on

(reserved)

The value at reading is undefined.

DI1

Refer to the following for details.

 Page 208 DI1

DI2

Refer to the following for details.

 Page 208 DI2

DI3

Refer to the following for details.

 Page 209 DI3

DI4

Refer to the following for details.

 Page 209 DI4

DI5

Refer to the following for details.

 Page 210 DI5

EM2/EM1

Refer to the following for details.

 Page 210 EM2/EM1

(reserved)

The value at reading is undefined.

Safe torque off 1

0: STO1 off

1: STO1 on

Safe torque off 2

0: STO2 off

1: STO2 on

(reserved)

The value at reading is undefined.

19

19 Optional application FE Objects

19.1 [Digital inputs (Obj. 60FDh)]

207

■ DI1

[Pr. PC79.0]

Setting digit (BIN): _ _ x _ *1

0

1

[Pr. PD03.0-1]

*2*3

With assigned function

No assigned function



[Pr. PD60.0]

Setting digit (BIN): _ _ _ x

*4



0

1

0

1

Description of DI1

*5

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

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

0: Input 0 V to DI1 pin

1: Input 24 V to DI1 pin

0: Input 24 V to DI1 pin

1: Input 0 V to DI1 pin

0: Input 0 V to DI1 pin

1: Input 24 V to DI1 pin

0: 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. When LSP/LSN is assigned, the output can be reversed with the [Pr. PC76.3] setting.

*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-J5-G/MR-J5W-G User's Manual (Parameters)

■ DI2

[Pr. PD04.0-1]

*2*3

Description of DI2

*5

[Pr. PC79.0]

Setting digit (BIN): _ x _ _

*1

0 With assigned function

[Pr. PD60.0]

Setting digit (BIN): _ _ x _

*4



1

No assigned function



0

1

0

1

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

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

0: Input 0 V to DI2 pin

1: Input 24 V to DI2 pin

0: Input 24 V to DI2 pin

1: Input 0 V to DI2 pin

0: Input 0 V to DI2 pin

1: Input 24 V to DI2 pin

0: 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. When LSP/LSN is assigned, the output can be reversed with the [Pr. PC76.3] setting.

*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-J5-G/MR-J5W-G User's Manual (Parameters)

208 19 Optional application FE Objects

19.1 [Digital inputs (Obj. 60FDh)]

■ DI3

[Pr. PC79.0]

Setting digit (BIN): x _ _ _ *1

0

1

[Pr. PD05.0-1]

*2*3

With assigned function

No assigned function



[Pr. PD60.0]

Setting digit (BIN): _ x _ _

*4



0

1

0

1

Description of DI3

*5

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

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

0: Input 0 V to DI3 pin

1: Input 24 V to DI3 pin

0: Input 24 V to DI3 pin

1: Input 0 V to DI3 pin

0: Input 0 V to DI3 pin

1: Input 24 V to DI3 pin

0: 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. When LSP/LSN is assigned, the output can be reversed with the [Pr. PC76.3] setting.

*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-J5-G/MR-J5W-G User's Manual (Parameters)

■ DI4

[Pr. PD38.0-1] *2*3

Description of DI4

*5

[Pr. PC79.1]

Setting digit (BIN): _ _ _ x

*1

0 With assigned function

[Pr. PD60.0]

Setting digit (BIN): x _ _ _

*4



1

No assigned function



0

1

0

1

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

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

0: Input 0 V to DI4 pin

1: Input 24 V to DI4 pin

0: Input 24 V to DI4 pin

1: Input 0 V to DI4 pin

0: Input 0 V to DI4 pin

1: Input 24 V to DI4 pin

0: Input 24 V to DI4 pin

1: Input 0 V to DI4 pin

*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. When LSP/LSN is assigned, the output can be reversed with the [Pr. PC76.3] setting.

*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-J5-G/MR-J5W-G User's Manual (Parameters)

19

19 Optional application FE Objects

19.1 [Digital inputs (Obj. 60FDh)]

209

■ DI5

[Pr. PC79.1]

Setting digit (BIN): _ _ x _ *1

0

1

[Pr. PD39.0-1]

*2*3

With assigned function

No assigned function



[Pr. PD60.1]

Setting digit (BIN): _ _ _ x

*4



0

1

0

1

Description of DI5

*5

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

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

0: Input 0 V to DI5 pin

1: Input 24 V to DI5 pin

0: Input 24 V to DI5 pin

1: Input 0 V to DI5 pin

0: Input 0 V to DI5 pin

1: Input 24 V to DI5 pin

0: 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. When LSP/LSN is assigned, the output can be reversed with the [Pr. PC76.3] setting.

*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-J5-G/MR-J5W-G User's Manual (Parameters)

■ EM2/EM1

[Pr. PA04.3] Description of EM2/EM1

*2

[Pr. PC79.1]

Setting digit (BIN): _ x _ _

*1

0 2

1

0



0: EM2 (Forced stop 2) off

1: EM2 (Forced stop 2) on

0: EM1 (Forced stop 1) off

1: EM1 (Forced stop 1) on

0: Input 24 V to EM2/EM1 pin

1: Input 0 V to EM2/EM1 pin

*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 pins corresponding to EM2/EM1 are the CN3-20 pin for 1-axis servo amplifiers and the CN3-10 pin for multi-axis servo amplifiers.

210 19 Optional application FE Objects

19.1 [Digital inputs (Obj. 60FDh)]

19.2

[Digital outputs (Obj. 60FEh)]

[Digital outputs (Obj. 60FEh: 00h)]

Data Type

U8

Access

RO

Supported firmware version

ECT 

B6 

Mapping

Impossible





Default

2





Range

2 (fixed)





Units







Description

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

Save

Impossible





Parameter







19

19 Optional application FE Objects

19.2 [Digital outputs (Obj. 60FEh)]

211

[Physical outputs (Obj. 60FEh: 01h)]

Data Type

U32

Access

RW

Mapping

RxPDO

Default

00000000h

Range

00000000h to

000E0000h

Supported firmware version

ECT 

B6 













Units







Save

Impossible





Parameter







Description

Set the ON/OFF states of the output devices connected to the servo amplifier.

When DOA, DOB, and DOC are disabled with [Bitmask (Obj. 60FEh: 02h)], the values of bits 17, 18, and 19 in [Physical outputs (Obj. 60FEh: 01h)] are "0" regardless of the values.

Bit

0 to 16

17

18

19

20 to 31

Description

(reserved) The value at reading is undefined.

DO1

0: DOA (general-purpose output A) off

1: DOA (general-purpose output A) on

To turn on or off the general-purpose output with the settings of this object, use [Pr. PD07] to [Pr. PD09] to assign general-purpose output A (DOA) to any of the pins in the table below.

DO2

0: DOB (general-purpose output B) off

1: DOB (general-purpose output B) on

To turn on or off the general-purpose output with the settings of this object, use [Pr. PD07] to [Pr. PD09] to assign general-purpose output B (DOB) to any of the pins in the table below.

DO3

0: DOC (general-purpose output C) off

1: DOC (general-purpose output C) on

To turn on or off the general-purpose output with the settings of this object, use [Pr. PD07] to [Pr. PD09] to assign general-purpose output C (DOC) to any of the pins in the table below.

(reserved) The value at reading is undefined.

Servo amplifier

MR-J5-_G_-_N1

MR-J5W2-_G-N1

MR-J5W3-_G-N1

MR-J5D1-_G_-N1

MR-J5D2-_G_-N1

MR-J5D3-_G_-N1

Corresponding pin

CN3-9 pin, CN3-13 pin, CN3-15 pin

CN3-12 pin, CN3-25 pin, CN3-24 pin, CN3-11 pin

CN3-12 pin, CN3-25 pin, CN3-13 pin, CN3-24 pin, CN3-11 pin

CN3-15 pin, CN3-32 pin, CN3-16 pin

CN3-32 pin, CN3-31 pin, CN3-15 pin, CN3-16 pin

CN3-32 pin, CN3-31 pin, CN3-30 pin, CN3-15 pin, CN3-16 pin

For multi-axis servo amplifiers, the output condition changes according to the settings of [Pr. PD08.2 All-axis output condition selection] and [Pr. PD09.2 All-axis output condition selection].

 MR-J5-G/MR-J5W-G User's Manual (Parameters)

212 19 Optional application FE Objects

19.2 [Digital outputs (Obj. 60FEh)]

[Bitmask (Obj. 60FEh: 02h)]

Data Type

U32

Access

RW

Mapping

RxPDO

Default

00000000h

Range

00000000h to

000E0000h

Units



Save

Impossible

Parameter



Supported firmware version

ECT 

B6 

























Description

Set masks for the output devices connected to the servo amplifier.

When DOA, DOB, and DOC are disabled with [Bitmask (Obj. 60FEh: 02h)], the values of bits 17, 18, and 19 in [Physical outputs (Obj. 60FEh: 01h)] are "0" regardless of the values.

Bit

0 to 16

17

18

19

20 to 31

Description

(reserved) The value at reading is undefined.

DO1

0: DOA (general-purpose output A) disabled

1: DOA (general-purpose output A) enabled

DO2

0: DOB (general-purpose output B) disabled

1: DOB (general-purpose output B) enabled

DO3

0: DOC (general-purpose output C) disabled

1: DOC (general-purpose output C) enabled

(reserved) The value at reading is undefined.

19

19 Optional application FE Objects

19.2 [Digital outputs (Obj. 60FEh)]

213

20

Cyclic Synchronous Position Mode Objects

20.1

[Position offset (Obj. 60B0h)]

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default

0

Range

80000000h to

7FFFFFFFh

Supported firmware version

ECT 

A5 













Units pos units





Save

Impossible





Parameter







Description

Set the position offset.

20.2

[Velocity offset (Obj. 60B1h)]

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

Data Type

I32

Access

RW

Mapping

RxPDO

Default

0

Range

-2147483648 to

2147483647

Units vel units

Supported firmware version

ECT 

A5 

















Save

Impossible

Parameter











Description

Set the velocity offset.

The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr. PT01.2

Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.

[Pr. PT01.2]



[Pr. PT01.1]

0 (encoder unit)

1 (command unit)

Connected servo motor

Rotary servo motor

Linear servo motor

 0 (mm)

1 (inch)

2 (degree)

3 (pulse)

Units

0.01 r/min

0.01 mm/s

0.001 mm/s

0.0001 inch/s

0.001 degree/s pulse/s

214 20 Cyclic Synchronous Position Mode Objects

20.1 [Position offset (Obj. 60B0h)]

20.3

[Torque offset (Obj. 60B2h)]

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

Data Type

I16

Access

RW

Mapping

RxPDO

Default

0

Range Units

-32768 to 32767 0.1 % (with rated torque being 100

%)

Save

Impossible

Supported firmware version

ECT 

A5 





















Description

Set the torque offset.

Parameter







20

20 Cyclic Synchronous Position Mode Objects

20.3 [Torque offset (Obj. 60B2h)]

215

REVISIONS

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

Revision date

January 2020

July 2020

November 2020

March 2021

June 2021

July 2022

*Manual number

SH(NA)-030376ENG-A

SH(NA)-030376ENG-B

SH(NA)-030376ENG-C

SH(NA)-030376ENG-D

SH(NA)-030376ENG-E

SH(NA)-030376ENG-F

Description

First edition

■ Edited sections:

Section 8.28, Section 8.53, Section 8.54, Section 8.60, Section 8.61, Section 14.5, Section 17.1

■ Objects related to the following functions are modified:

Degree unit, touch probe

■ Objects related to the following functions are added:

Positioning mode (point table method)

■ Objects related to the following drive unit are added:

MR-J5D_-_G_

■ Object dictionary list is added.

■ The following objects are added and changed:

Software reset, Max current, Motor rated torque, Max acceleration, Max deceleration, Quick stop option code

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.

 2020 MITSUBISHI ELECTRIC CORPORATION

216

WARRANTY

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the

Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

For terms of warranty, please contact your original place of purchase.

[Limitations]

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

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

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

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

1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

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

3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

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

6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

8. any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

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

3. Service in overseas countries

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

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

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

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

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

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

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

5. Change of Product specifications

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

6. Application and use of the Product

(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

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

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used.

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

(3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

217

TRADEMARKS

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

EtherCAT



is a registered trademark and patented technology licensed by Beckhoff Automation GmbH, Germany.

All other product names and company names are trademarks or registered trademarks of their respective companies.

218

SH(NA)-030376ENG-F

SH(NA)-030376ENG-F(2207)MEE

MODEL:

MODEL CODE:

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

Specifications are subject to change without notice.

Compliance with the indicated global standards and regulations is current as of the release date of this manual.