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Mitsubishi Electric AC Servo System
MR-J5-G/MR-J5W-G
User's Manual
(Object Dictionary)
-MR-J5-_G_
-MR-J5W_-_G_
-MR-J5D_-_G_
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
CHAPTER 1 SUMMARY OF OBJECT DICTIONARY
CHAPTER 2 OBJECT DICTIONARY LIST 20
CHAPTER 4 PDO Mapping Objects 41
5
6
CHAPTER 5 Sync Manager Communication Objects
CHAPTER 6 Parameter Objects 92
7
8
CHAPTER 9 Manufacturer Specific Control Object
9
10
[Number of dynamic brake stop times (Obj. 2C1Ah)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
[Number of dynamic brake stop times (Obj. 2C1Ah: 00h)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
11
12
CHAPTER 10 PDS Control Objects 163
CHAPTER 11 Position Control Function Objects 177
CHAPTER 12 Profile Velocity Mode Objects 181
13
14
CHAPTER 13 Profile Torque Mode Objects 185
CHAPTER 14 Profile Position Mode Objects 190
CHAPTER 15 Homing Mode Objects 199
CHAPTER 16 Point table Mode Objects 204
15
16
CHAPTER 17 Factor Group Objects 210
CHAPTER 18 Touch Probe Function Objects 216
CHAPTER 19 Optional application FE Objects 226
CHAPTER 20 Cyclic Synchronous Position Mode Objects 233
17
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 device/remote 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 CC-Link IE TSN.
1.1
Structure
The following shows the detailed structure of the object dictionary.
Item
Data Type
Access
Mapping
Default
Range
Units
Save
Parameter
Description
TSN
CIB
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.
For CC-Link IE TSN, this indicates whether the object can be mapped for the device station or for the slave axis for drive 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 (error code CCD4h) occurs.
Indicates the object unit.
Indicates whether data can be stored in the non-volatile memory for objects that can be used for model replacement.
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 CC-Link IE TSN.
Indicates CC-Link IE Field Network Basic.
18 1 SUMMARY OF OBJECT DICTIONARY
1.1 Structure
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
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
1
1 SUMMARY OF OBJECT DICTIONARY
1.1 Structure
19
2
OBJECT DICTIONARY LIST
Index
1000h
1001h
1008h
1009h
100Ah
1010h
2.1
Section definition of object dictionary
The following shows the structure of an object dictionary. Each axis (Axes A, B, and C) of 1-axis servo amplifier and multi-axis servo amplifier has the same object dictionary configuration.
Index
1000h to 1FFFh
2000h to 27FFh
2800h to 29FFh
2A00h to 2A7Fh
2B00h to 2BFFh
2C00h to 2C7Fh
2D00h to 2DFFh
2E00h to 5FFFh
6000h to 9FFFh
Description
Communication profile
Servo parameter
Point table
Alarm
Monitor
Diagnostics
Manufacturer defined control
Objects group defined by Mitsubishi
Electric
CiA 402 drive profile
Reference
Page 90 Sync Manager Communication Objects
Page 204 Point table Mode Objects
Page 121 Manufacturer Specific Control Object
Page 121 Manufacturer Specific Control Object
Page 204 Point table Mode Objects
Page 216 Touch Probe Function Objects
Page 163 PDS Control Objects
Page 177 Position Control Function Objects
Page 181 Profile Velocity Mode Objects
Page 185 Profile Torque Mode Objects
Page 190 Profile Position Mode Objects
Page 199 Homing Mode Objects
Page 210 Factor Group Objects
Page 216 Touch Probe Function Objects
Page 226 Optional application FE Objects
Page 233 Cyclic Synchronous Position Mode Objects
2.2
General Objects
1011h
1018h
1D00h
67FEh
Object name (Index)
Device Type
Error Register
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Store parameters
Restore default parameters
Identity Object
CAN Profile Version
Version number
Sub Index
00h
00h
04h
00h
00h
00h
01h
02h
03h
00h
01h
00h
01h
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
CAN Profile Version
Version number
20 2 OBJECT DICTIONARY LIST
2.1 Section definition of object dictionary
2.3
PDO Mapping Objects
Index
1600h
Object name (Index)
1st Receive PDO Mapping
1601h
1602h
1603h
1680h
1700h
1A00h
1A01h
1A02h
1A03h
2nd Receive PDO Mapping
3rd Receive PDO Mapping
4th Receive PDO Mapping
129th Receive PDO Mapping
257th Receive PDO Mapping
1st Transmit PDO Mapping
2nd Transmit PDO Mapping
3rd Transmit PDO Mapping
4th Transmit PDO Mapping
20h
00h
01h
20h
00h
01h
08h
00h
01h
08h
00h
01h
20h
00h
01h
20h
Sub Index
00h
20h
00h
01h
20h
00h
01h
20h
00h
01h
01h
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
Mapped Object 001
Mapped Object 032
129th Receive PDO Mapping
Mapped Object 001
Mapped Object 008
257th Receive PDO Mapping
Mapped Object 001
Mapped Object 008
1st Transmit PDO Mapping
Mapped Object 001
Mapped Object 032
2nd Transmit PDO Mapping
Mapped Object 001
Mapped Object 032
3rd Transmit PDO Mapping
Mapped Object 001
Mapped Object 032
4th Transmit PDO Mapping
Mapped Object 001
Mapped Object 032
2 OBJECT DICTIONARY LIST
2.3 PDO Mapping Objects
21
2
Index
1A80h
1B00h
1C00h
1C01h
1C10h
1C20h
1C30h
1C31h
1C37h
22 2 OBJECT DICTIONARY LIST
2.3 PDO Mapping Objects
Object name (Index)
129th Transmit PDO Mapping
257th Transmit PDO Mapping
1st PDO Config
2nd PDO Config
17th PDO Config
33th PDO Config
49th PDO Config
Sub Index
00h
05h
00h
01h
02h
01h
02h
03h
04h
03h
04h
05h
03h
04h
05h
00h
05h
00h
01h
02h
01h
02h
03h
04h
03h
04h
05h
00h
08h
00h
01h
02h
01h
08h
00h
01h
50th PDO Config
56th PDO Config
Object name (Sub Index)
129th Transmit PDO Mapping
Communication Address
17th PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Communication Address
33th PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Communication Address
49th PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Communication Address
Mapped Object 001
Mapped Object 008
257th Transmit PDO Mapping
Mapped Object 001
Mapped Object 008
1st PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Communication Address
2nd PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Index
1C40h
Object name (Index)
65th PDO Config
Sub Index
00h
01h
02h
03h
04h
Object name (Sub Index)
65th PDO Config
PDO Assignment
PDO Enable
Error Handling
Memory Address
Communication Address 05h
2.4
Sync Manager Communication Objects
Index
1D01h
1D02h
Object name (Index)
Watchdog counter DL
Watchdog counter UL
Sub Index
00h
01h
02h
00h
01h
02h
Object name (Sub Index)
Watchdog counter DL
Watchdog counter DL 1
Watchdog counter DL 2
Watchdog counter UL
Watchdog counter UL 1
Watchdog counter UL 2
2.5
Parameter Objects
Index
2181h
21C8h
2201h
2258h
2281h
22E3h
2401h
2448h
2481h
24DAh
2581h
25A2h
2691h
2001h
202Ch
2081h
20DCh
2101h
215Ah
Object name (Index)
PD01
PD72
PE01
PE88
PF01
PF99
PL01
PL72
PA01
PA44
PB01
PB92
PC01
PC90
PT01
PT90
PN01
PN34
PV group parameters
Sub Index
Object name (Sub Index)
00h
01h
28h
PV group parameters
PV01
PV40
2
2 OBJECT DICTIONARY LIST
2.4 Sync Manager Communication Objects
23
2A01h
2A0Fh
2A40h
2A41h
2A42h
2A43h
2.6
Alarm Objects
Index
2A00h
2A44h
2A45h
2A46h
2A47h
2A70h
2A71h
2A7Fh
Object name (Index)
Alarm history newest
Alarm history 1
Alarm history 15
Clear alarm history
Current alarm
Current alarm2
Point table error
Parameter error number
Parameter error list
Reset alarm
Converter Alarm No.
Drive recorder history newest
Drive recorder history 1
Drive recorder history 15
06h
07h
03h
04h
05h
FEh
00h
00h
00h
01h
02h
00h
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
Current alarm 2
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
Converter Alarm No.
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)
24 2 OBJECT DICTIONARY LIST
2.6 Alarm Objects
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
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
2 OBJECT DICTIONARY LIST
2.7 Monitor Objects
25
2
Index
2B49h
Object name (Index)
Converter regenerative load ratio
Sub Index
00h
Object name (Sub Index)
Converter regenerative load ratio
Converter effective load ratio 00h 2B4Ah
2.8
Manufacturer Specific Control Object
Converter effective load ratio
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
Object name (Index)
Drive recorder status
Sub Index
00h
Clear drive recorder history
External output pin display
00h
00h
Power ON cumulative time
Number of inrush relay on/off times
01h
00h
00h
Number of dynamic brake stop times 00h
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 00h
Oscillation frequency during motor operating
00h
Vibration level during motor operating 00h
Fault prediction status 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
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
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
00h
00h
00h
00h
00h
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
Number of dynamic brake stop times
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
26 2 OBJECT DICTIONARY LIST
2.8 Manufacturer Specific Control Object
2D11h
2D12h
2D13h
2D14h
2D15h
2D16h
2D17h
Index
2C37h
2D00h
2D01h
2D02h
2D03h
2D04h
2D05h
2D06h
2D07h
2D08h
2D09h
2D0Ah
2D10h
Object name (Index)
Phase current
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
Sub Index
00h
06h
07h
08h
09h
02h
03h
04h
05h
00h
00h
00h
01h
00h
00h
00h
00h
00h
00h
00h
0Ah
00h
00h
00h
00h
00h
00h
00h
00h
07h
08h
09h
0Ah
03h
04h
05h
06h
01h
02h
03h
00h
01h
02h
Object name (Sub Index)
Phase current
Control DI 5
Control DI 6
Control DI 7
Control DI 8
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
U phase current
V phase current
W phase current
Supported Control DI
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
Supported Status DO 10
Status DO 1
Status DO 2
Status DO 3
Status DO 4
Status DO 5
Status DO 6
Status DO 7
2 OBJECT DICTIONARY LIST
2.8 Manufacturer Specific Control Object
27
2
2D36h
2D37h
2D38h
2D3Ch
2D46h
2D48h
Index
2D18h
2D19h
2D1Ah
2D20h
2D28h
2D33h
2D35h
2D50h
2D51h
2D52h
2D53h
2D54h
2D5Fh
2DB0h
2E44h
2E45h
2E46h
Object name (Index)
Status DO 8
Status DO 9
Status DO 10
Velocity limit value
Motor rated speed
Serial Number 2
Encoder status
Scale cycle counter
Scale ABS counter
Scale measurement encoder resolution
Scale measurement encoder reception status
Servo motor serial number
Motor data 2
00h
One-touch tuning mode
One-touch tuning status
One-touch tuning Stop
One-touch tuning Clear
One-touch tuning Error Code
Software reset
Speed override
Master-slave torque coefficient
Master-slave velocity limit coefficient
Master-slave Lower limit of velocity limit value
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
01h
02h
03h
04h
Sub Index
00h
01h
02h
00h
00h
00h
00h
00h
00h
00h
00h
00h
Object name (Sub Index)
Status DO 8
Status DO 9
Status DO 10
Velocity limit value
Motor rated speed
Serial Number 2
Encoder status
Encoder status 1
Encoder status 2
Scale cycle counter
Scale ABS counter
Scale measurement encoder resolution
Scale measurement encoder reception status
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
Speed override
Master-slave torque coefficient
Master-slave velocity limit coefficient
Master-slave Lower limit of velocity limit value
28 2 OBJECT DICTIONARY LIST
2.8 Manufacturer Specific Control Object
2.9
PDS Control Objects
Index
603Fh
6040h
6041h
605Ah
605Dh
6060h
6061h
6502h
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
2.10
Position Control Function Objects
Index
606Bh
606Ch
606Dh
606Eh
606Fh
6070h
60FFh
Index
6063h
6064h
6065h
6066h
6067h
6068h
60F2h
60F4h
60FAh
Object name (Index)
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
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
Sub Index
00h
00h
00h
00h
00h
00h
00h
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
Object name (Sub Index)
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
2.9 PDS Control Objects
29
2.12
Profile Torque Mode Objects
Index
607Ah
607Bh
607Dh
607Fh
6080h
6081h
6083h
6084h
6085h
6086h
60C5h
60C6h
Index
6071h
6072h
6073h
6074h
6076h
6077h
6078h
6087h
6088h
60E0h
60E1h
Object name (Index)
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
Sub Index
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
00h
00h
01h
02h
00h
00h
00h
01h
02h
00h
Object name (Sub Index)
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
30 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 methods
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
Sub Index
00h
01h
02h
03h
04h
05h
06h
07h
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 methods
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
31
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
32 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
33
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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 each axis is indicated.
Bit
0
1 to 7
Symbol
Description
Always on while an alarm is occurring.
34 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
TSN CIB
A0 C0
Mapping
Impossible
Default
Range
Units
Save
Impossible
Parameter
Description
The model name of the servo amplifier is returned.
Ex.
If MR-J5-10G is used, the model name is returned as shown below.
"MR-J5-10G " (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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
35
3.6
[Store parameters (Obj. 1010h)]
[Store parameters (Obj. 1010h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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.
36 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
37
3.8
[Identity Object (Obj. 1018h)]
[Identity Object (Obj. 1018h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
00000002h
(fixed)
Units
Save
Impossible
Parameter
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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_: 00001005h
• MR-J5-_G_-RJ: 00001014h
• MR-J5W2_-_G: 00001006h
• MR-J5W3_-_G: 00001007h
• MR-J5D1-G_: 00001020h
• MR-J5D2-G_: 00001021h
• MR-J5D3-G_: 00001023h
38 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
39
3.9
[CAN Profile Version (Obj. 1D00h)]
[CAN Profile Version (Obj. 1D00h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B2
Mapping
Impossible
Default
Range
00h to FFh
Units
Save
Impossible
Description
The profile version of CANopen-compatible devices supported by the servo amplifier is returned.
Bit
0 to 3
4 to 7
Symbol
Description
Sub-version of CANopen-compatible device
Main version of CANopen-compatible device
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
TSN CIB
A0 C0
Units
Save
Impossible
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)
Parameter
Parameter
40 3 General Objects
3.9 [CAN Profile Version (Obj. 1D00h)]
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
TSN CIB
A0 C0
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.
4
4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
41
[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
TSN CIB
A0 C0
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.
■ CC-Link IE TSN
Index Sub
1600h
1Ch
1Dh
1Eh
1Fh
18h
19h
1Ah
1Bh
20h
14h
15h
16h
17h
10h
11h
12h
13h
0Ch
0Dh
0Eh
0Fh
08h
09h
0Ah
0Bh
04h
05h
06h
07h
00h
01h
02h
03h
Name
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
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
Default
00000010h
00000000h
00000000h
00000000h
00000000h
00000010h
00000000h
00000000h
00000000h
00000000h
00000010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
10h
1D010110h
60600008h
00000008h
607A0020h
60FF0020h
60400010h
60E00010h
60E10010h
60710010h
2D200020h
2D010010h
2D020010h
2D030010h
2D040010h
2D050010h
42 4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
■ CC-Link IE Field Network Basic
• Network standard mode (Mode 1)
Index
1600h
Sub
1Ah
1Bh
1Ch
1Dh
16h
17h
18h
19h
0Fh
10h
11h
12h
13h
14h
15h
1Eh
1Fh
20h
0Bh
0Ch
0Dh
0Eh
07h
08h
09h
0Ah
00h
01h
02h
03h
04h
05h
06h
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
60840020h
60870020h
60F20010h
60B80010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
12h
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
2D050010h
607A0020h
60FF0020h
2D200020h
60710010h
00000010h
60810020h
60830020h
4
4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
43
• Network standard mode (Mode 2)
Index
1600h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60840020h
60870020h
60E00010h
60E10010h
00000010h
60B80010h
60F20010h
2D050010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
14h
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
607A0020h
60FF0020h
2D200020h
60710010h
60810020h
60830020h
00000000h
00000000h
00000000h
00000000h
00000000h
44 4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
• Network standard mode (Mode 3)
Index
1600h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60840020h
60870020h
60E00010h
60E10010h
00000010h
60B80010h
60F20010h
2D050010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
14h
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
607A0020h
60FF0020h
2D200020h
60710010h
60810020h
60830020h
00000000h
00000000h
00000000h
00000000h
00000000h
4
4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
45
• Positioning mode (point table method) (Mode 1)
Index
1600h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60F20010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Dh
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
2D600010h
60810020h
60830020h
60840020h
60B80010h
00000010h
00000000h
00000000h
00000000h
00000000h
00000000h
46 4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
• Positioning mode (point table method) (Mode 2)
Index
1600h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
00000020h
60F20010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Eh
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
2D600010h
60810020h
60830020h
60840020h
60B80010h
00000010h
00000000h
00000000h
00000000h
00000000h
00000000h
4
4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
47
• Positioning mode (point table method) (Mode 3)
Index
1600h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
00000020h
60F20010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Eh
60600008h
00000008h
60400010h
2D010010h
2D020010h
2D030010h
2D600010h
60810020h
60830020h
60840020h
60B80010h
00000010h
00000000h
00000000h
00000000h
00000000h
00000000h
48 4 PDO Mapping Objects
4.1 [1st Receive PDO Mapping (Obj. 1600h)]
4.2
[2nd Receive PDO Mapping (Obj. 1601h)]
[2nd Receive PDO Mapping (Obj. 1601h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
A0
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
4 PDO Mapping Objects
4.2 [2nd Receive PDO Mapping (Obj. 1601h)]
49
[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
TSN
A0
CIB
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
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
06h
1D010110h
60600008h
00000008h
607A0020h
60400010h
2D040010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
50 4 PDO Mapping Objects
4.2 [2nd Receive PDO Mapping (Obj. 1601h)]
4.3
[3rd Receive PDO Mapping (Obj. 1602h)]
[3rd Receive PDO Mapping (Obj. 1602h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
B6
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
4 PDO Mapping Objects
4.3 [3rd Receive PDO Mapping (Obj. 1602h)]
51
[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
TSN
B6
CIB
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
2D030010h
2D040010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Fh
60600008h
00000008h
60400010h
607A0020h
60FF0020h
2D200020h
60710010h
60810020h
60830020h
60840020h
60870020h
2D010010h
2D020010h
52 4 PDO Mapping Objects
4.3 [3rd Receive PDO Mapping (Obj. 1602h)]
4.4
[4th Receive PDO Mapping (Obj. 1603h)]
[4th Receive PDO Mapping (Obj. 1603h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B8
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
4 PDO Mapping Objects
4.4 [4th Receive PDO Mapping (Obj. 1603h)]
53
[Mapped Object 001 (Obj. 1603h: 01h)] - [Mapped Object 032 (Obj.
1603h: 20h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
B8
CIB
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
1603h
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
4th 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
0Bh
60600008h
00000008h
60400010h
60810020h
60830020h
60840020h
2D600010h
2D010010h
2D020010h
2D030010h
2D040010h
00000000h
00000000h
54 4 PDO Mapping Objects
4.4 [4th Receive PDO Mapping (Obj. 1603h)]
4.5
[129th Receive PDO Mapping (Obj. 1680h)]
[129th Receive PDO Mapping (Obj. 1680h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
Range
00h to 08h
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
4 PDO Mapping Objects
4.5 [129th Receive PDO Mapping (Obj. 1680h)]
55
[Mapped Object 001 (Obj. 1680h: 01h)] - [Mapped Object 008 (Obj.
1680h: 08h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
D0
CIB
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.
56 4 PDO Mapping Objects
4.5 [129th Receive PDO Mapping (Obj. 1680h)]
4.6
[257th Receive PDO Mapping (Obj. 1700h)]
[257th Receive PDO Mapping (Obj. 1700h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
Range
00h to 08h
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
4 PDO Mapping Objects
4.6 [257th Receive PDO Mapping (Obj. 1700h)]
57
[Mapped Object 001 (Obj. 1700h: 01h)] - [Mapped Object 008 (Obj.
1700h: 08h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
D0
CIB
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.
58 4 PDO Mapping Objects
4.6 [257th Receive PDO Mapping (Obj. 1700h)]
4.7
[1st Transmit PDO Mapping (Obj. 1A00h)]
[1st Transmit PDO Mapping (Obj. 1A00h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
A0 C0
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
4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
59
[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
TSN CIB
A0 C0
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.
■ CC-Link IE TSN
Index Sub
1A00h
1Ch
1Dh
1Eh
1Fh
18h
19h
1Ah
1Bh
20h
14h
15h
16h
17h
10h
11h
12h
13h
0Ch
0Dh
0Eh
0Fh
08h
09h
0Ah
0Bh
04h
05h
06h
07h
00h
01h
02h
03h
Name
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
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
Default
2D210020h
2D220010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
11h
1D020110h
60610008h
00000008h
60640020h
606C0020h
60F40020h
60410010h
00000010h
60770010h
2D110010h
2D120010h
2D130010h
2D140010h
2D150010h
2A410020h
60 4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
■ CC-Link IE Field Network Basic
• Network standard mode (Mode 1)
Index
1A00h
Sub
1Ah
1Bh
1Ch
1Dh
16h
17h
18h
19h
0Fh
10h
11h
12h
13h
14h
15h
1Eh
1Fh
20h
0Bh
0Ch
0Dh
0Eh
07h
08h
09h
0Ah
00h
01h
02h
03h
04h
05h
06h
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
00000010h
60BA0020h
60BB0020h
60BC0020h
60BD0020h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
13h
60610008h
00000008h
60410010h
2D110010h
2D120010h
2D130010h
00000010h
60640020h
606C0020h
60F40020h
60770010h
00000010h
2A410020h
60B90010h
4
4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
61
• Network standard mode (Mode 2)
Index
1A00h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60B90010h
60BA0020h
60BB0020h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Fh
60610008h
00000008h
00000010h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D110010h
2D120010h
2D130010h
2A420010h
00000000h
00000000h
00000000h
00000000h
00000000h
62 4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
• Network standard mode (Mode 3)
Index
1A00h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60B90010h
60BA0020h
60BB0020h
60FD0020h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
10h
60610008h
00000008h
00000010h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D110010h
2D120010h
2D130010h
2A420010h
00000000h
00000000h
00000000h
00000000h
00000000h
4
4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
63
• Positioning mode (point table method) (Mode 1)
Index
1A00h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
60770010h
2D6A0008h
00000008h
2D680010h
2D690010h
2A410020h
60B90010h
00000010h
60BA0020h
60BB0020h
60BC0020h
60BD0020h
00000000h
00000000h
00000000h
18h
60610008h
00000008h
60410010h
2D110010h
2D120010h
2D130010h
2D150010h
2D170010h
00000010h
60640020h
606C0020h
60F40020h
00000000h
00000000h
00000000h
00000000h
00000000h
64 4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
• Positioning mode (point table method) (Mode 2)
Index
1A00h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
2D680010h
2D690010h
2D6A0008h
00000008h
2A420010h
60B90010h
60BA0020h
60BB0020h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
14h
60610008h
00000008h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D110010h
2D120010h
2D130010h
2D150010h
2D170010h
00000000h
00000000h
00000000h
00000000h
00000000h
4
4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
65
• Positioning mode (point table method) (Mode 3)
Index
1A00h
Sub
15h
16h
17h
18h
19h
1Ah
1Bh
11h
12h
13h
14h
0Dh
0Eh
0Fh
10h
1Ch
1Dh
1Eh
1Fh
20h
09h
0Ah
0Bh
0Ch
05h
06h
07h
08h
00h
01h
02h
03h
04h
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
2D680010h
2D690010h
2D6A0008h
00000008h
2A420010h
60B90010h
60BA0020h
60BB0020h
60FD0020h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
15h
60610008h
00000008h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D110010h
2D120010h
2D130010h
2D150010h
2D170010h
00000000h
00000000h
00000000h
00000000h
00000000h
66 4 PDO Mapping Objects
4.7 [1st Transmit PDO Mapping (Obj. 1A00h)]
4.8
[2nd Transmit PDO Mapping (Obj. 1A01h)]
[2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
A0
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
4 PDO Mapping Objects
4.8 [2nd Transmit PDO Mapping (Obj. 1A01h)]
67
[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
TSN
A0
CIB
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
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
0Ah
1D020110h
60610008h
00000008h
60640020h
60410010h
2D110010h
2D140010h
60770010h
606C0020h
2A410020h
00000000h
00000000h
00000000h
68 4 PDO Mapping Objects
4.8 [2nd Transmit PDO Mapping (Obj. 1A01h)]
4.9
[3rd Transmit PDO Mapping (Obj. 1A02h)]
[3rd Transmit PDO Mapping (Obj. 1A02h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
B6
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
4 PDO Mapping Objects
4.9 [3rd Transmit PDO Mapping (Obj. 1A02h)]
69
[Mapped Object 001 (Obj. 1A02h: 01h)] - [Mapped Object 032 (Obj.
1A02h: 20h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
B6
CIB
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
1A02h
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 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
0Ch
60610008h
00000008h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D110010h
2D120010h
2D130010h
2D140010h
2D150010h
00000000h
70 4 PDO Mapping Objects
4.9 [3rd Transmit PDO Mapping (Obj. 1A02h)]
4.10
[4th Transmit PDO Mapping (Obj. 1A03h)]
[4th Transmit PDO Mapping (Obj. 1A03h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
B8
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
4 PDO Mapping Objects
4.10 [4th Transmit PDO Mapping (Obj. 1A03h)]
71
[Mapped Object 001 (Obj. 1A03h: 01h)] - [Mapped Object 032 (Obj.
1A03h: 20h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
B8
CIB
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
1A03h
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
4th 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
2D130010h
2D140010h
2D150010h
2D170010h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
11h
60610008h
00000008h
60410010h
60640020h
606C0020h
60F40020h
60770010h
2D6A0008h
00000008h
2D680010h
2D690010h
2D110010h
2D120010h
72 4 PDO Mapping Objects
4.10 [4th Transmit PDO Mapping (Obj. 1A03h)]
4.11
[129th Transmit PDO Mapping (Obj. 1A80h)]
[129th Transmit PDO Mapping (Obj. 1A80h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
Range
00h to 08h
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
4 PDO Mapping Objects
4.11 [129th Transmit PDO Mapping (Obj. 1A80h)]
73
[Mapped Object 001 (Obj. 1A80h: 01h)] - [Mapped Object 008 (Obj.
1A80h: 08h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
D0
CIB
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.
74 4 PDO Mapping Objects
4.11 [129th Transmit PDO Mapping (Obj. 1A80h)]
4.12
[257th Transmit PDO Mapping (Obj. 1B00h)]
[257th Transmit PDO Mapping (Obj. 1B00h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
Range
00h to 08h
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
4 PDO Mapping Objects
4.12 [257th Transmit PDO Mapping (Obj. 1B00h)]
75
[Mapped Object 001 (Obj. 1B00h: 01h)] - [Mapped Object 008 (Obj.
1B00h: 08h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units
Save
Impossible
Parameter
PDO mapping
Supported firmware version
TSN
D0
CIB
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.
76 4 PDO Mapping Objects
4.12 [257th Transmit PDO Mapping (Obj. 1B00h)]
4.13
[1st PDO Config (Obj. 1C00h)]
[1st PDO Config (Obj. 1C00h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
Range
04h to 05h
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C00h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
A0
CIB
Mapping
Impossible
Default
1600h
Range
0000h to FFFFh
Units
Description
Set the addresses of RPDO (1600h to 1603h) to be used in communication.
[PDO Enable (Obj. 1C00h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
0001h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Impossible
Parameter
PDO mapping
Save
Impossible
Parameter
4
4 PDO Mapping Objects
4.13 [1st PDO Config (Obj. 1C00h)]
77
[Error Handling (Obj. 1C00h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
A0
CIB
Mapping
Impossible
Default
0001h
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C00h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
A0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C00h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
78 4 PDO Mapping Objects
4.13 [1st PDO Config (Obj. 1C00h)]
4.14
[2nd PDO Config (Obj. 1C01h)]
[2nd PDO Config (Obj. 1C01h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
Range
04h to 05h
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C01h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
A0
CIB
Mapping
Impossible
Default
1A00h
Range
0000h to FFFFh
Units
Description
Set the addresses of TPDO (1A00h to 1A03h) to be used in communication.
[PDO Enable (Obj. 1C01h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
0001h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Possible
Parameter
PDO mapping
Save
Impossible
Parameter
4
4 PDO Mapping Objects
4.14 [2nd PDO Config (Obj. 1C01h)]
79
[Error Handling (Obj. 1C01h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
A0
CIB
Mapping
Impossible
Default
0001h
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C01h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
A0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C01h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
80 4 PDO Mapping Objects
4.14 [2nd PDO Config (Obj. 1C01h)]
4.15
[17th PDO Config (Obj. 1C10h)]
[17th PDO Config (Obj. 1C10h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
05h
Range
05h (fixed)
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C10h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
1680h
Range
0000h to FFFFh
Units
Description
Set the address of RPDO (1680h) to be used in communication.
[PDO Enable (Obj. 1C10h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
0000h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Impossible
Parameter
Save
Impossible
Parameter
4
4 PDO Mapping Objects
4.15 [17th PDO Config (Obj. 1C10h)]
81
[Error Handling (Obj. 1C10h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C10h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
D0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C10h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
82 4 PDO Mapping Objects
4.15 [17th PDO Config (Obj. 1C10h)]
4.16
[33th PDO Config (Obj. 1C20h)]
[33th PDO Config (Obj. 1C20h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
05h
Range
05h (fixed)
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C20h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
1A80h
Range
0000h to FFFFh
Units
Description
Set the address of TPDO (1A80h) to be used in communication.
[PDO Enable (Obj. 1C20h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
0000h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Impossible
Parameter
Save
Impossible
Parameter
4
4 PDO Mapping Objects
4.16 [33th PDO Config (Obj. 1C20h)]
83
[Error Handling (Obj. 1C20h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C20h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
D0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C20h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
84 4 PDO Mapping Objects
4.16 [33th PDO Config (Obj. 1C20h)]
4.17
[49th PDO Config (Obj. 1C30h)]
[49th PDO Config (Obj. 1C30h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
05h
Range
05h (fixed)
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C30h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
1700h
Range
0000h to FFFFh
Units
Description
Set the address of RPDO (1700h) to be used in communication.
[PDO Enable (Obj. 1C30h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
0000h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Impossible
Parameter
Save
Impossible
Parameter
4
4 PDO Mapping Objects
4.17 [49th PDO Config (Obj. 1C30h)]
85
[Error Handling (Obj. 1C30h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C30h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
D0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C30h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
86 4 PDO Mapping Objects
4.17 [49th PDO Config (Obj. 1C30h)]
4.18
[50th PDO Config (Obj. 1C31h)] - [56th PDO Config
(Obj. 1C37h)]
The description of each Index and Sub Index is the same as that of [49th PDO Config (Obj. 1C30h)].
Page 85 [49th PDO Config (Obj. 1C30h)]
4
4 PDO Mapping Objects
4.18 [50th PDO Config (Obj. 1C31h)] - [56th PDO Config (Obj. 1C37h)]
87
4.19
[65th PDO Config (Obj. 1C40h)]
[65th PDO Config (Obj. 1C40h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
05h
Range
05h (fixed)
Units
Description
The total number of Sub Indexes is returned.
[PDO Assignment (Obj. 1C40h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
1B00h
Range
0000h to FFFFh
Units
Description
Set the address of TPDO (1B00h) to be used in communication.
[PDO Enable (Obj. 1C40h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
0000h
Range
0000h to 0001h
Units
Description
Enable/disable the PDO set in [PDO Assignment].
0000h: PDO disabled
0001h: PDO enabled
Save
Impossible
Parameter
Save
Impossible
Parameter
Save
Impossible
Parameter
88 4 PDO Mapping Objects
4.19 [65th PDO Config (Obj. 1C40h)]
[Error Handling (Obj. 1C40h: 03h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
Impossible
Default
Range
0000h to 0002h
Units
Save
Impossible
Parameter
Description
Perform the setting for the detection of RPDO receive errors. This object is available when an object set in [PDO Assignment] is mapped to RPDO.
0000h: Receive error is not detected.
0001h: Receive error is detected.
0002h: Error detection starts after receipt of the initial PDO.
[Memory Address (Obj. 1C40h: 04h)]
Data Type
U32
Access
RW
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Supported firmware version
TSN CIB
D0
Units
Save
Impossible
Parameter
Description
When the object set in [PDO Assignment] is mapped to RPDO, set the memory address of the sub payload. When the object set in [PDO Assignment] is mapped to TPDO, set the start address of the data to be stored in the sub payload.
[Communication Address (Obj. 1C40h: 05h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D0
Mapping
Impossible
Default
FFFFh
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Set the 3rd octet and 4th octet of the source IP address of RPDO. This object is available when an object set in [PDO
Assignment] is mapped to RPDO.
0000h to FFFEh: The 3rd octet and 4th octet of the source IP address
FFFFh: Not set
4
4 PDO Mapping Objects
4.19 [65th PDO Config (Obj. 1C40h)]
89
5
Sync Manager Communication Objects
5.1
[Watchdog counter DL (Obj. 1D01h)]
[Watchdog counter DL (Obj. 1D01h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
Range
01h to 02h
Units
Save
Impossible
Parameter
Description
The total number of Sub Indexes is returned.
[Watchdog counter DL 1 (Obj. 1D01h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Description
Mapping the object to RPDO notifies the servo amplifier of the watchdog counter value.
Bit
0 to 14
15
Symbol
Description
Watchdog counter
0: Watchdog counter disabled
1: Watchdog counter enabled
[Watchdog counter DL 2 (Obj. 1D01h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Save
Impossible
Parameter
Parameter
Description
Mapping the object to RPDO notifies the servo amplifier of the watchdog counter value.
This object is used for driver communication.
This object cannot be used for communication with the cyclic master station. For communication with the cyclic master station, use [Watchdog counter DL 1 (Obj. 1D01h: 01h)].
Bit
0 to 14
15
Symbol
Description
Watchdog counter
0: Watchdog counter disabled
1: Watchdog counter enabled
90 5 Sync Manager Communication Objects
5.1 [Watchdog counter DL (Obj. 1D01h)]
5.2
[Watchdog counter UL (Obj. 1D02h)]
[Watchdog counter UL (Obj. 1D02h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0
Mapping
Impossible
Default
Range
01h to 02h
Units
Save
Impossible
Parameter
Description
The total number of Sub Indexes is returned.
[Watchdog counter UL 1 (Obj. 1D02h: 01h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
A0
CIB
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Mapping the object to TPDO enables the master station to obtain the watchdog counter value from the servo amplifier. Every time TPDO is sent, "1" is added to the watchdog counter value previously sent.
Bit
0 to 14
15
Symbol
Description
Watchdog counter
0: Watchdog counter disabled
1: Watchdog counter enabled
[Watchdog counter UL 2 (Obj. 1D02h: 02h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
Mapping the object to TPDO enables the master station to obtain the watchdog counter value from the servo amplifier. Every time TPDO is sent, "1" is added to the watchdog counter value previously sent.
This object is used for driver communication.
This object cannot be used for communication with the cyclic master station. For communication with the cyclic master station, use [Watchdog counter UL 1 (Obj. 1D02h: 01h)].
Bit
0 to 14
15
Symbol
Description
Watchdog counter
0: Watchdog counter disabled
1: Watchdog counter enabled
5
5 Sync Manager Communication Objects
5.2 [Watchdog counter UL (Obj. 1D02h)]
91
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
Supported firmware version
TSN CIB
A0 C0
*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)] - [PN34 (Obj. 25A2h)]
The values of the network setting servo parameters ([Pr. PN_ _ ]) can be obtained and set.
92 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
TSN CIB
A5 C0
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
TSN CIB
A5 C0
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
TSN CIB
D0 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)]
93
7
Alarm Objects
When communications are performed normally over CC-Link IE TSN, the times at which alarms occurred can be displayed.
To display the exact time, the time must be set on the controller. For details, refer to the manual for the controller being used.
If an alarm occurs before the controller is connected or the exact time is not set on the controller, "-" or "... 2000" may appear.
7.1
[Alarm history newest (Obj. 2A00h)]
[Alarm history newest (Obj. 2A00h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
Impossible
Default
7
Range
7 (fixed)
Units
Save
Impossible
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
Impossible
Parameter
Alarm history
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Save
Impossible
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.
94 7 Alarm Objects
7.1 [Alarm history newest (Obj. 2A00h)]
[Alarm2 No. (Obj. 2A00h: 03h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Units second
Save
Impossible
Save
Impossible
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.
For CC-Link IE Field Network Basic, the time data is not obtained from the network, so the alarm occurrence time always 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
Impossible
Parameter
Alarm history
Supported firmware version
TSN CIB
A0 C0
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)]
95
[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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
Impossible
Parameter
Alarm history
Save
Impossible
Parameter
Alarm history
96 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 94 [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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
97
7.5
[Current alarm2 (Obj. 2A42h)]
[Current alarm 2 (Obj. 2A42h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
C0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The latest alarm that has occurred in the servo amplifier is returned. When no alarm has occurred, "0000h" is returned.
Bit 0 to Bit 7: Alarm detail number
Bit 8 to Bit 15: Alarm number
For example, if [AL. 037.1] occurs, "3701h" is returned. However, if a three-digit display alarm, such as [AL. 538.1], occurs, the value according to the two-digit display alarm, such as "8F05h", is returned. For the conversion of the alarm number, refer to "[AL. 08F Two-digit alarm No. display alarm]" and "[AL. 0FE Two-digit warning No. display warning]" in the following manual.
MR-J5 User's Manual (Troubleshooting)
98 7 Alarm Objects
7.5 [Current alarm2 (Obj. 2A42h)]
7.6
[Point table error (Obj. 2A43h)]
[Point table error (Obj. 2A43h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B8 C0
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
TSN CIB
B8 C0
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
TSN CIB
B8 C0
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
7
Save
Impossible
Parameter
Point table
7 Alarm Objects
7.6 [Point table error (Obj. 2A43h)]
99
7.7
[Parameter error number (Obj. 2A44h)]
[Parameter error number (Obj. 2A44h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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 101 [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)]
100 7 Alarm Objects
7.7 [Parameter error number (Obj. 2A44h)]
7.8
[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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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 _ _ ]
7
7 Alarm Objects
7.8 [Parameter error list (Obj. 2A45h)]
101
7.9
[Reset alarm (Obj. 2A46h)]
[Reset alarm (Obj. 2A46h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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.
7.10
[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
TSN CIB
C0 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.
102 7 Alarm Objects
7.9 [Reset alarm (Obj. 2A46h)]
7.11
[Drive recorder history newest (Obj. 2A70h)]
[Drive recorder history newest (Obj. 2A70h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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.
7
7 Alarm Objects
7.11 [Drive recorder history newest (Obj. 2A70h)]
103
[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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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.
104 7 Alarm Objects
7.11 [Drive recorder history newest (Obj. 2A70h)]
[Drive recorder history (time zone) (Obj. 2A70h: 06h)]
Data Type
I32
Access
RO
Mapping
Impossible
Default
00000000h
Range
80000000h to
7FFFFFFFh
Units minute
Save
Impossible
Supported firmware version
TSN CIB
A0 C0
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
Impossible
Supported firmware version
TSN CIB
A0 C0
Parameter
Description
Returns the daylight saving time at when recorded data in the drive recorder.
If no setting exists, "80000000h" will be returned.
7.12
[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 103 [Drive recorder history newest (Obj. 2A70h)]
7
7 Alarm Objects
7.12 [Drive recorder history 1 (Obj. 2A71h)] - [Drive recorder history 15 (Obj. 2A7Fh)]
105
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
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
Units r/min mm/s
Save
Impossible
Parameter
Supported firmware version
TSN CIB
A0 C0
Description
The servo motor speed is returned.
106 8 Monitor Objects
8.1 [Cumulative feedback pulses (Obj. 2B01h)]
8.3
[Droop pulses (Obj. 2B03h)]
[Droop pulses (Obj. 2B03h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units kpulse/s
Save
Impossible
Parameter
Description
The command pulse frequency is returned.
8
8 Monitor Objects
8.3 [Droop pulses (Obj. 2B03h)]
107
8.6
[Regenerative load ratio (Obj. 2B08h)]
[Regenerative load ratio (Obj. 2B08h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units
%
Description
The peak load ratio is returned.
Save
Impossible
Parameter
Parameter
Parameter
108 8 Monitor Objects
8.6 [Regenerative load ratio (Obj. 2B08h)]
8.9
[Instantaneous torque (Obj. 2B0Bh)]
[Instantaneous torque (Obj. 2B0Bh: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
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.
8
8 Monitor Objects
8.9 [Instantaneous torque (Obj. 2B0Bh)]
109
8.11
[ABS counter (Obj. 2B0Dh)]
[ABS counter (Obj. 2B0Dh: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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".
110 8 Monitor Objects
8.11 [ABS counter (Obj. 2B0Dh)]
8.13
[Bus voltage (Obj. 2B0Fh)]
[Bus voltage (Obj. 2B0Fh: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
Description
The load-side droop pulses (load-side encoder pulse unit) are returned.
8
8 Monitor Objects
8.13 [Bus voltage (Obj. 2B0Fh)]
111
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
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.
When the position within one-revolution is returned by an A/B/Z-phase differential output rotary encoder, set the value of the load-side encoder resolution in [Pr. PE51 Load-side encoder resolution setting].
MR-J5-G/MR-J5W-G User's Manual (Parameters)
8.17
[Load-side encoder information 2 (Obj. 2B13h)]
[Load-side encoder information 2 (Obj. 2B13h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units rev
Save
Impossible
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.
112 8 Monitor Objects
8.16 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)]
8.18
[Cumulative encoder out pulses (Obj. 2B16h)]
[Cumulative encoder out pulses (Obj. 2B16h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
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".
8
8 Monitor Objects
8.18 [Cumulative encoder out pulses (Obj. 2B16h)]
113
8.21
[Electrical angle (Obj. 2B19h)]
[Electrical angle (Obj. 2B19h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
Units r/min
Save
Impossible
Parameter
Description
The motor/load-side speed deviation is returned.
114 8 Monitor Objects
8.21 [Electrical angle (Obj. 2B19h)]
8.24
[Internal temperature of encoder (Obj. 2B25h)]
[Internal temperature of encoder (Obj. 2B25h: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units
Hz
Save
Impossible
Parameter
Description
The oscillation detection frequency is returned.
8
8 Monitor Objects
8.24 [Internal temperature of encoder (Obj. 2B25h)]
115
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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_.
116 8 Monitor Objects
8.27 [Number of tough drive operations (Obj. 2B28h)]
8.30
[Unit total power consumption (Obj. 2B2Eh)]
[Unit total power consumption (Obj. 2B2Eh: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units
Wh
Save
Impossible
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
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
8
8 Monitor Objects
8.30 [Unit total power consumption (Obj. 2B2Eh)]
117
8.33
[Remaining command distance (Obj. 2B31h)]
[Remaining command distance (Obj. 2B31h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A5 C0
Mapping
TxPDO
Default
Range
Units pos units
Save
Impossible
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
TSN CIB
B8 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
Units pulse
Save
Impossible
Parameter
Description
The excessive error alarm margin (encoder pulse unit) is returned.
118 8 Monitor Objects
8.33 [Remaining command distance (Obj. 2B31h)]
8.36
[Overload alarm margin (Obj. 2B40h)]
[Overload alarm margin (Obj. 2B40h: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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 %.
8
8 Monitor Objects
8.36 [Overload alarm margin (Obj. 2B40h)]
119
8.39
[Unit power consumption 2 (Obj. 2B43h)]
[Unit power consumption 2 (Obj. 2B43h: 00h)]
Data Type
I32
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range
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, "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
TSN CIB
C0 C0
Mapping
TxPDO
Default
Range
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.
8.41
[Converter effective load ratio (Obj. 2B4Ah)]
[Converter effective load ratio (Obj. 2B4Ah: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
C0 C0
Mapping
TxPDO
Default
Range
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.
120 8 Monitor Objects
8.39 [Unit power consumption 2 (Obj. 2B43h)]
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
121
9.3
[External output pin display (Obj. 2C11h)]
[External output pin display (Obj. 2C11h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B6 C0
Mapping
Impossible
Default
1
Range
00h to FFh
Units
Save
Impossible
Description
The number of entries in external output pin status is returned.
Parameter
122 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
TSN CIB
B6 C0
Save
Impossible
Description
The external output pin status 1 is returned.
MR-J5-_G_
Bit
4
5
2
3
0
1
6
7
13
15
9
8
CN3 connector pin Bit
8
9
10
11
12
13
14
15
CN3 connector pin Bit
16
17
18
19
20
21
22
23
Bit
0
3
4
1
2
5
6
7
*1 Available only on the MR-J5-_G_-RJ.
MR-J5W2-_G_
CN3 connector pin Bit
12
11
24
25
8
9
10
11
12
13
14
15
MR-J5W3-_G_
Bit
4
5
2
3
0
1
6
7
12
11
24
25
13
CN3 connector pin Bit
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
24
25
26
27
28
29
30
31
CN3 connector pin Bit
24
25
26
27
28
29
30
31
CN3 connector pin Bit
24
25
26
27
28
29
30
31
Parameter
CN3 connector pin
CN3 connector pin
CN3 connector pin
9
9 Manufacturer Specific Control Object
9.3 [External output pin display (Obj. 2C11h)]
123
Bit
0
3
4
1
2
5
6
7
MR-J5D1-_G_
CN3 connector pin Bit
32
16
15
21
8
9
10
11
12
13
14
15
MR-J5D2-_G_
Bit
4
5
2
3
0
1
6
7
32
16
15
31
CN3 connector pin Bit
8
9
10
11
12
13
14
15
MR-J5D3-_G_
Bit
5
6
3
4
0
1
2
7
CN3 connector pin Bit
31
30
32
16
15
11
12
13
14
8
9
10
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 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
CN3 connector pin
124 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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_, "00000000h" is returned.
9.6
[Number of dynamic brake stop times (Obj. 2C1Ah)]
[Number of dynamic brake stop times (Obj. 2C1Ah: 00h)]
Data Type
U32
Access
RO
Mapping
Impossible
Default
Range
00000000h to
FFFFFFFFh
Units number of times
Save
Impossible
Supported firmware version
TSN CIB
A0 C0
Parameter
Description
The number of times that the dynamic brake of the servo amplifier has been stopped is returned.
9
9 Manufacturer Specific Control Object
9.4 [Power ON cumulative time (Obj. 2C18h)]
125
9.7
[Machine diagnostic status (Obj. 2C20h)]
[Machine diagnostic status (Obj. 2C20h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
126 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
127
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Mapping
Impossible
Default
Range Units
-32768 to 32767 0.1 %
Save
Impossible
Parameter
Description
The vibration level during stop/servo-lock is returned.
128 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
129
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
TSN CIB
A0 C0
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
130 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
131
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Save
Impossible
Description
The machine total travel distance is returned.
Parameter
132 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
133
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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 %.
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
TSN CIB
A0 C0
Save
Impossible
Parameter
Description
The estimated tension value used by the belt tension deterioration function is expressed in 0.1 N units.
134 9 Manufacturer Specific Control Object
9.26 [Static friction based fault prediction lower threshold (Obj. 2C34h)]
9.29
[Phase current (Obj. 2C37h)]
[Phase current (Obj. 2C37h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B0 C0
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
TSN CIB
B0 C0
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
TSN CIB
B0 C0
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
TSN CIB
B0 C0
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
9
9 Manufacturer Specific Control Object
9.29 [Phase current (Obj. 2C37h)]
135
9.30
[Supported Control DI (Obj. 2D00h)]
[Supported Control DI (Obj. 2D00h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 2 (Obj. 2D00h: 02h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
136 9 Manufacturer Specific Control Object
9.30 [Supported Control DI (Obj. 2D00h)]
[Supported Control DI 3 (Obj. 2D00h: 03h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 4 (Obj. 2D00h: 04h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 5 (Obj. 2D00h: 05h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.30 [Supported Control DI (Obj. 2D00h)]
137
[Supported Control DI 6 (Obj. 2D00h: 06h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 7 (Obj. 2D00h: 07h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 8 (Obj. 2D00h: 08h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
138 9 Manufacturer Specific Control Object
9.30 [Supported Control DI (Obj. 2D00h)]
[Supported Control DI 9 (Obj. 2D00h: 09h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Control DI 10 (Obj. 2D00h: 0Ah)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.30 [Supported Control DI (Obj. 2D00h)]
139
9.31
[Control DI 1 (Obj. 2D01h)]
[Control DI 1 (Obj. 2D01h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
140 9 Manufacturer Specific Control Object
9.31 [Control DI 1 (Obj. 2D01h)]
9.34
[Control DI 4 (Obj. 2D04h)]
[Control DI 4 (Obj. 2D04h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.34 [Control DI 4 (Obj. 2D04h)]
141
9.37
[Control DI 7 (Obj. 2D07h)]
[Control DI 7 (Obj. 2D07h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
142 9 Manufacturer Specific Control Object
9.37 [Control DI 7 (Obj. 2D07h)]
9.40
[Control DI 10 (Obj. 2D0Ah)]
[Control DI 10 (Obj. 2D0Ah: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The input device status is returned and set. For details, refer to "Bit definition of Control DI" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
Impossible
Default
10
Range
10 (fixed)
Units
Save
Impossible
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
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.40 [Control DI 10 (Obj. 2D0Ah)]
143
[Supported Status DO 2 (Obj. 2D10h: 02h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 3 (Obj. 2D10h: 03h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 4 (Obj. 2D10h: 04h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 5 (Obj. 2D10h: 05h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
144 9 Manufacturer Specific Control Object
9.41 [Supported Status DO (Obj. 2D10h)]
[Supported Status DO 6 (Obj. 2D10h: 06h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 7 (Obj. 2D10h: 07h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 8 (Obj. 2D10h: 08h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.41 [Supported Status DO (Obj. 2D10h)]
145
[Supported Status DO 9 (Obj. 2D10h: 09h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
[Supported Status DO 10 (Obj. 2D10h: 0Ah)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
146 9 Manufacturer Specific Control Object
9.41 [Supported Status DO (Obj. 2D10h)]
9.42
[Status DO 1 (Obj. 2D11h)]
[Status DO 1 (Obj. 2D11h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.42 [Status DO 1 (Obj. 2D11h)]
147
9.45
[Status DO 4 (Obj. 2D14h)]
[Status DO 4 (Obj. 2D14h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
148 9 Manufacturer Specific Control Object
9.45 [Status DO 4 (Obj. 2D14h)]
9.48
[Status DO 7 (Obj. 2D17h)]
[Status DO 7 (Obj. 2D17h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
9
9 Manufacturer Specific Control Object
9.48 [Status DO 7 (Obj. 2D17h)]
149
9.51
[Status DO 10 (Obj. 2D1Ah)]
[Status DO 10 (Obj. 2D1Ah: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The output device status is returned. For details, refer to "Bit definition of Status DO" in the following manual.
MR-J5-G/MR-J5W-G 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
TSN CIB
A0 C0
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]
150 9 Manufacturer Specific Control Object
9.51 [Status DO 10 (Obj. 2D1Ah)]
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
TSN CIB
A0 C0
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
[Serial Number 2 (Obj. 2D33h)]
[Serial Number 2 (Obj. 2D33h: 00h)]
Data Type
VISIBLE
STRING
Access
RO
Supported firmware version
TSN CIB
B2 C0
Mapping
Impossible
Default
Range
Units
Save
Impossible
Parameter
Description
The serial number of the selected servo amplifier is returned.
9
9 Manufacturer Specific Control Object
9.53 [Motor rated speed (Obj. 2D28h)]
151
9.55
[Encoder status (Obj. 2D35h)]
[Encoder status (Obj. 2D35h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Units
Save
Impossible
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
Parameter
152 9 Manufacturer Specific Control Object
9.55 [Encoder status (Obj. 2D35h)]
[Encoder status 2 (Obj. 2D35h: 02h)]
Data Type
U32
Access
RO
Mapping
Impossible
Default
Range
00000000h to
00000007h
Supported firmware version
TSN CIB
A0 C0
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
9
9 Manufacturer Specific Control Object
9.55 [Encoder status (Obj. 2D35h)]
153
9.56
[Scale cycle counter (Obj. 2D36h)]
[Scale cycle counter (Obj. 2D36h: 00h)]
Data Type
U32
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
9.57
[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
TSN CIB
A0 C0
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
154 9 Manufacturer Specific Control Object
9.56 [Scale cycle counter (Obj. 2D36h)]
9.58
[Scale measurement encoder resolution (Obj.
2D38h)]
[Scale measurement encoder resolution (Obj. 2D38h: 00h)]
Data Type
U32
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
9.59
[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
TSN CIB
A0 C0
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
9
9 Manufacturer Specific Control Object
9.58 [Scale measurement encoder resolution (Obj. 2D38h)]
155
9.60
[Servo motor serial number (Obj. 2D46h)]
[Servo motor serial number (Obj. 2D46h: 00h)]
Data Type
VISIBLE
STRING
Access
RO
Supported firmware version
TSN CIB
B2 C0
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.
9.61
[Motor data 2 (Obj. 2D48h)]
[Motor data 2 (Obj. 2D48h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
B2 C0
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
TSN CIB
B2 C0
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)
156 9 Manufacturer Specific Control Object
9.60 [Servo motor serial number (Obj. 2D46h)]
[Motor ID 2 (Obj. 2D48h: 02h)]
Data Type
U32
Access
RO
Supported firmware version
TSN CIB
B2 C0
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
TSN CIB
B2 C0
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
TSN CIB
B2 C0
Mapping
Impossible
Default
Range
Units
Save
Impossible
Parameter
Description
The value for manufacturer setting is returned.
9
9 Manufacturer Specific Control Object
9.61 [Motor data 2 (Obj. 2D48h)]
157
9.62
[One-touch tuning mode (Obj. 2D50h)]
[One-touch tuning mode (Obj. 2D50h: 00h)]
Data Type
U8
Access
RW
Supported firmware version
TSN CIB
A0 C0
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
9.63
[One-touch tuning status (Obj. 2D51h)]
[One-touch tuning status (Obj. 2D51h: 00h)]
Data Type
I8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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.
158 9 Manufacturer Specific Control Object
9.62 [One-touch tuning mode (Obj. 2D50h)]
9.64
[One-touch tuning Stop (Obj. 2D52h)]
[One-touch tuning Stop (Obj. 2D52h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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)
9.65
[One-touch tuning Clear (Obj. 2D53h)]
[One-touch tuning Clear (Obj. 2D53h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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)
9
9 Manufacturer Specific Control Object
9.64 [One-touch tuning Stop (Obj. 2D52h)]
159
9.66
[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
TSN CIB
A0 C0
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
9.67
[Software reset (Obj. 2D5Fh)]
[Software reset (Obj. 2D5Fh: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
C4 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.
160 9 Manufacturer Specific Control Object
9.66 [One-touch tuning Error Code (Obj. 2D54h)]
9.68
[Speed override (Obj. 2DB0h)]
[Speed override (Obj. 2DB0h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
D4 D4
Mapping
RxPDO
Default
100
Range
0 to 360
Units
%
Save
Impossible
Parameter
Description
The override value is returned and set.
When the setting value of [Pr. PT38.1 Override selection] is "3" (the override function is enabled) and C_OVR (Override selection) (bit 7 of [Control DI 7 (Obj. 2D07h)]) is turned on, the setting value of this object is enabled.
9.69
[Master-slave torque coefficient (Obj. 2E44h)]
[Master-slave torque coefficient (Obj. 2E44h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
RxPDO
Default
0
Range
0 to 500
Units
Save
Possible
Parameter
[Pr. PD30]
Description
Set the torque command coefficient for the slave axis torque mode (slt).
9.70
[Master-slave velocity limit coefficient (Obj.
2E45h)]
[Master-slave velocity limit coefficient (Obj. 2E45h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN
D0
CIB
Mapping
RxPDO
Default
0
Range
0 to 500
Units
Save
Possible
Parameter
[Pr. PD31]
Description
Set the speed limit coefficient for the slave axis torque mode (slt).
The speed limit 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].
9
9 Manufacturer Specific Control Object
9.68 [Speed override (Obj. 2DB0h)]
161
9.71
[Master-slave Lower limit of velocity limit value
(Obj. 2E46h)]
[Master-slave Lower limit of velocity limit value (Obj. 2E46h: 00h)]
Data Type
U32
Access
RW
Mapping
RxPDO
Default
0
Range Units
0 to 4294967295 vel units
Save
Possible
Parameter
Refer to the following.
Supported firmware version
TSN CIB
D0
Description
Set the minimum speed limit value for the slave axis torque mode (slt).
The speed limit 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 settings of [Pr. PT01.2 Unit for position data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection].
[Pr. PT01.2]
3 (pulse)
[Pr. PT01.1]
0 (encoder unit)
1 (command unit)
Default
0
0
Units
0.01 r/min pulse/s
Parameter
[Pr. PD32]
[Pr. PV33]
Range
0 to 32767
0 to 4294967295
162 9 Manufacturer Specific Control Object
9.71 [Master-slave Lower limit of velocity limit value (Obj. 2E46h)]
10
PDS Control Objects
10.1
[Error code (Obj. 603Fh)]
[Error code (Obj. 603Fh: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
C0 C0
Mapping
TxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
Description
The No. of the latest error which occurred after power-on is returned.
For example, when [AL. 118.1 Encoder communication circuit diagnosis in progress] occurs, this object returns "0118h".
10.2
[Controlword (Obj. 6040h)]
[Controlword (Obj. 6040h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0000h
Range
0000h to FFFFh
Units
Save
Impossible
Parameter
10
10 PDS Control Objects
10.1 [Error code (Obj. 603Fh)]
163
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.
5
6
7
8
Bit
2
3
4
0
1
9
Name
SO
EV
QS
EO
OMS
OMS
OMS
FR
HALT
OMS
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.
Differs depending on the value of [Modes of operation]. Refer to the following for details.
Differs depending on the value of [Modes of operation]. Refer to the following for details.
Fault reset
0: Operation ready
1: Pauses the operation according to [Halt option code (Obj. 6050h)].
Refer to the following for details.
Differs depending on the value of [Modes of operation]. Refer to the following for details.
■ [Bit 4: OMS]
Setting value
1 (pp)
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)
-101 (pt)
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 A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
164 10 PDS Control Objects
10.2 [Controlword (Obj. 6040h)]
■ [Bit 5: OMS]
Symbol Setting value
1 (pp)
Change set immediately
4 (tq)
6 (hm)
8 (csp)
9 (csv)
10 (cst)
Direction
Description
0: Set of set-points
1: Single set-point
0: Forward rotation (Address increasing)
1: Reverse rotation (Address decreasing)
-101 (pt)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 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
4 (tq)
6 (hm)
8 (csp)
9 (csv)
10 (cst)
-101 (pt)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
■ [Bit 8: OMS]
Setting value
1 (pp)
4 (tq)
6 (hm)
8 (csp)
9 (csv)
10 (cst)
-101 (pt)
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 A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
10 PDS Control Objects
10.2 [Controlword (Obj. 6040h)]
165
10
■ [Bit 9: OMS]
Symbol Setting value
1 (pp)
Change on setpoint
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)].
4 (tq)
6 (hm)
8 (csp)
9 (csv)
10 (cst)
-101 (pt)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
166 10 PDS Control Objects
10.2 [Controlword (Obj. 6040h)]
10.3
[Statusword (Obj. 6041h)]
[Statusword (Obj. 6041h: 00h)]
Data Type
U16
Access
RO
Supported firmware version
TSN CIB
A0 C0
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.
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.
Differs depending on the value of [Modes of operation (Obj. 6060h)]. Refer to the following for details.
10
10 PDS Control Objects
10.3 [Statusword (Obj. 6041h)]
167
■ [Bit 10: OMS]
Name Setting value
1 (pp)
4 (tq)
6 (hm)
Description
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 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".
Target reached
(not supported)
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".
Target 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)
-101 (pt)
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 A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
168 10 PDS Control Objects
10.3 [Statusword (Obj. 6041h)]
■ [Bit 12: OMS]
Name Setting value
1 (pp)
4 (tq)
6 (hm)
8 (csp)
9 (csv)
10 (cst)
Set-point acknowledge
Speed
Homing attained
Drive follows the command value
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.
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
0: [Target torque (Obj. 6071h)] is being discarded.
1: [Target torque (Obj. 6071h)] is being used as a continuous operation to torque control loop input.
-101 (pt)
Set-point acknowledge
Drive follows the command value
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
■ [Bit 13: OMS]
Setting value
1 (pp)
Name Description
4 (tq)
6 (hm)
8 (csp)
Following error 0: No following error
1: Following error
Max slippage error
0: Maximum slippage not reached
1: Maximum slippage reached (not supported)
Max slippage is the maximum slippage of the asynchronous servo motor.
Homing error Refer to the following.
Following error 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".
9 (csv)
10 (cst)
-101 (pt)
Following error 0: No following error
1: Following error
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
10
10 PDS Control Objects
10.3 [Statusword (Obj. 6041h)]
169
10.4
[Quick stop option code (Obj. 605Ah)]
[Quick stop option code (Obj. 605Ah: 00h)]
Data Type
I16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
Impossible
Default
2
Range
0 to 6
Units
Save
Possible
Parameter
[Pr. PT68.0]
Description
Set how to decelerate the servo motor to a stop at Quick Stop reception and the servo-on state after the stop. In the slave axis torque mode (slt), the servo motor ignores the Quick Stop input and decelerates to a stop in accordance with the stop command from the master axis regardless of the setting value of this object. For details, refer to "Master-slave operation simultaneous stop function" in the following manual.
MR-J5-G/MR-J5W-G User's Manual (Communication Function)
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
2
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.
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).
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)
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.)
170 10 PDS Control Objects
10.4 [Quick stop option code (Obj. 605Ah)]
Setting value
Description
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)
*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 Not available for CC-Link IE Field Network Basic.
*4 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.
10
10 PDS Control Objects
10.4 [Quick stop option code (Obj. 605Ah)]
171
10.5
[Halt option code (Obj. 605Dh)]
[Halt option code (Obj. 605Dh: 00h)]
Data Type
I16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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
Description
0
1
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(unsupported)
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".
172 10 PDS Control Objects
10.5 [Halt option code (Obj. 605Dh)]
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
TSN CIB
A0 C0
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/MR-J5W-G User's Manual (Communication Function)
Setting value
7
8
5
6
0
2
9
10
-110
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)
Continuous operation to torque control mode (ct)
Slave axis torque mode (slt)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
*4 Available on 1-axis servo amplifiers with firmware version D0 or later supporting CC-Link IE TSN.
10
10 PDS Control Objects
10.6 [Modes of operation (Obj. 6060h)]
173
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
TSN CIB
A0 C0
Save
Impossible
Parameter
Description
The current control mode is returned.
The value to be returned as the initial value varies depending 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/MR-J5W-G User's Manual (Communication Function)
Even if [Modes of operation (Obj. 6060h)] is set to "0", this object does not return "0".
Setting value
-1
-2
9
10
-4
-6
-9
-10
-110
7
8
5
6
0
2
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)
Continuous operation to torque control mode (ct)
Slave axis torque mode (slt)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
*4 Available on 1-axis servo amplifiers with firmware version D0 or later supporting CC-Link IE TSN.
174 10 PDS Control Objects
10.7 [Modes of operation display (Obj. 6061h)]
10.8
[Supported drive modes (Obj. 6502h)]
[Supported drive modes (Obj. 6502h: 00h)]
Data Type
U32
Access
RO
Supported firmware version
TSN CIB
B2 C0
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
7
8
9
10
11 to 15
16
17
18 to 19
5
6
3
4
0
1
2
20
21 to 23
24
25 to 31
■ CC-Link IE TSN
Description
Velocity mode (vl)
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)
Point table mode (pt)
Reserved
Continuous operation to torque control mode (ct)
Reserved
Slave axis torque mode (slt)
Reserved
Defined value
1: Supported
0
0
1: Supported
0
1: Supported
1: Supported
1: Supported
0
0
1: Supported
1: Supported
0
1: Supported
0
1: Supported
0
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
*4 For the MR-J5W_-_G_, the defined value is "0".
*5 Available on 1-axis servo amplifiers with firmware version D0 or later supporting CC-Link IE TSN.
10
10 PDS Control Objects
10.8 [Supported drive modes (Obj. 6502h)]
175
■ CC-Link IE Field Network Basic
Bit
7
8
9
10
11 to 15
16
17
18
5
6
3
4
0
1
2
19
20
21
22 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)
Point table mode (pt)
Reserved
Reserved
Continuous operation to torque control mode (ct)
Reserved
Reserved
*1 Not supported for the MR-J5W_-_G.
Defined value
0
0
0
0
1: Supported
0
0
1: Supported
0
0
0
0
0
0
1: Supported
1: Supported
0
176 10 PDS Control Objects
10.8 [Supported drive modes (Obj. 6502h)]
11
Position Control Function Objects
11.1
[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
TSN CIB
A0 C0
Save
Impossible
Parameter
Description
The current position is returned.
11.2
[Position actual value (Obj. 6064h)]
[Position actual value (Obj. 6064h: 00h)]
Data Type
I32
Access
RO
Mapping
TxPDO
Default
Range
-2147483648 to
2147483647
Units pos units
Supported firmware version
TSN CIB
A0 C0
Save
Impossible
Parameter
Description
The current position of the command unit is returned.
11.3
[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
TSN CIB
A0 C0
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
11 Position Control Function Objects
11.1 [Position actual internal value (Obj. 6063h)]
177
11.4
[Following error time out (Obj. 6066h)]
[Following error time out (Obj. 6066h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
10
Range
0 to 65535
Units ms
Save
Possible
Description
Refer to the following object.
Page 177 [Following error window (Obj. 6065h)]
11.5
[Position window (Obj. 6067h)]
[Position window (Obj. 6067h: 00h)]
Data Type
U32
Access
RW
Supported firmware version
TSN CIB
A5 C0
Mapping
RxPDO
Default
00000190h
Range
Units pos units
Save
Possible
Parameter
[Pr. PC69]
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.
11.6
[Position window time (Obj. 6068h)]
[Position window time (Obj. 6068h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A5 C0
Mapping
RxPDO
Default
10
Range
0 to 65535
Units ms
Save
Possible
Parameter
[Pr. PC71]
Description
Refer to the following object.
Page 178 [Position window (Obj. 6067h)]
178 11 Position Control Function Objects
11.4 [Following error time out (Obj. 6066h)]
11.7
[Positioning option code (Obj. 60F2h)]
[Positioning option code (Obj. 60F2h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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
11.8
[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
TSN CIB
A0 C0
Save
Impossible
Parameter
Description
The droop pulses are returned.
11
11 Position Control Function Objects
11.7 [Positioning option code (Obj. 60F2h)]
179
11.9
[Control effort (Obj. 60FAh)]
[Control effort (Obj. 60FAh: 00h)]
Data Type
I32
Access
RO
Mapping
TxPDO
Default
Range
-2147483648 to
2147483647
Supported firmware version
TSN CIB
A0 C0
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)
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.
180 11 Position Control Function Objects
11.9 [Control effort (Obj. 60FAh)]
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
TSN CIB
A0 C0
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)
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
TSN CIB
A0 C0
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)
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
12 Profile Velocity Mode Objects
12.1 [Velocity demand value (Obj. 606Bh)]
181
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
TSN CIB
A5 C0
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
TSN CIB
A5 C0
Mapping
RxPDO
Default
10
Range
0 to 65535
Units ms
Save
Possible
Parameter
[Pr. PC73]
Description
Refer to the following object.
Page 182 [Velocity window (Obj. 606Dh)]
182 12 Profile Velocity Mode Objects
12.3 [Velocity window (Obj. 606Dh)]
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
TSN CIB
A5 C0
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
TSN CIB
A5 C0
Mapping
RxPDO
Default
10
Range
0 to 65535
Units ms
Save
Possible
Parameter
[Pr. PC66]
12
Description
Refer to the following object.
Page 183 [Velocity threshold (Obj. 606Fh)]
12 Profile Velocity Mode Objects
12.5 [Velocity threshold (Obj. 606Fh)]
183
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
TSN CIB
A0 C0
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
184 12 Profile Velocity Mode Objects
12.7 [Target velocity (Obj. 60FFh)]
13
Profile Torque Mode Objects
13.1
[Target torque (Obj. 6071h)]
[Target torque (Obj. 6071h: 00h)]
Data Type
I16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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).
13.2
[Max torque (Obj. 6072h)]
[Max torque (Obj. 6072h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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
13 Profile Torque Mode Objects
13.1 [Target torque (Obj. 6071h)]
185
13.3
[Max current (Obj. 6073h)]
[Max current (Obj. 6073h: 00h)]
Data Type
U16
Access
RW
Supported firmware version
TSN CIB
C0 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 %)
13.4
[Torque demand value (Obj. 6074h)]
[Torque demand value (Obj. 6074h: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range Units
-32768 to 32767 0.1 %
Save
Impossible
Parameter
Description
The torque command is returned.
13.5
[Motor rated torque (Obj. 6076h)]
[Motor rated torque (Obj. 6076h: 00h)]
Data Type
U32
Access
RO
Supported firmware version
TSN CIB
C0 C0
Mapping
Impossible
Default
Range Units
0 to 4294967295 mN•m, mN
Save
Impossible
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.
186 13 Profile Torque Mode Objects
13.3 [Max current (Obj. 6073h)]
13.6
[Torque actual value (Obj. 6077h)]
[Torque actual value (Obj. 6077h: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
TxPDO
Default
Range Units
-32768 to 32767 0.1 %
Description
The current torque is returned.
13.7
[Current actual value (Obj. 6078h)]
[Current actual value (Obj. 6078h: 00h)]
Data Type
I16
Access
RO
Supported firmware version
TSN CIB
B6 C0
Mapping
TxPDO
Default
Range Units
-32768 to 32767 0.1 %
Save
Impossible
Save
Impossible
Parameter
Parameter
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)].
13.8
[Torque slope (Obj. 6087h)]
[Torque slope (Obj. 6087h: 00h)]
Data Type
U32
Access
RW
Supported firmware version
TSN CIB
A0 C0
Mapping
RxPDO
Default
0
Range
0 to 10000000
Units
0.1 %/s
Save
Possible
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
13 Profile Torque Mode Objects
13.6 [Torque actual value (Obj. 6077h)]
187
13.9
[Torque profile type (Obj. 6088h)]
[Torque profile type (Obj. 6088h: 00h)]
Data Type
I16
Access
RW
Supported firmware version
TSN CIB
A0 C0
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)
13.10
[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
TSN CIB
A0 C0
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.
188 13 Profile Torque Mode Objects
13.9 [Torque profile type (Obj. 6088h)]
13.11
[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
TSN CIB
A0 C0
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
13 Profile Torque Mode Objects
13.11 [Negative torque limit value (Obj. 60E1h)]
189
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
TSN CIB
A0 C0
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)
190 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Mapping
RxPDO
Default
Range
Units pos units
Save
Impossible
Parameter
Description
Refer to the following object.
Page 191 [Min position range limit (Obj. 607Bh: 01h)]
14
14 Profile Position Mode Objects
14.2 [Position range limit (Obj. 607Bh)]
191
14.3
[Software position limit (Obj. 607Dh)]
[Software position limit (Obj. 607Dh: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)
192 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
TSN CIB
A0 C0
Units pos units
Description
Refer to the following object.
Page 192 [Min position limit (Obj. 607Dh: 01h)]
Save
Possible
Parameter
[Pr. PT15]
14
14 Profile Position Mode Objects
14.3 [Software position limit (Obj. 607Dh)]
193
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
TSN CIB
A5 C0
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
TSN CIB
A0 C0
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
194 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
TSN CIB
A0 C0
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)]
195
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
TSN CIB
A0 C0
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
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].
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
TSN CIB
A0 C0
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
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].
196 14 Profile Position Mode Objects
14.7 [Profile acceleration (Obj. 6083h)]
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
TSN CIB
A0 C0
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
0 to 4294967295
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].
14.10
[Motion profile type (Obj. 6086h)]
[Motion profile type (Obj. 6086h: 00h)]
Data Type
I16
Access
RW
Supported firmware version
TSN CIB
A5 C0
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
-1
0
Description
S-pattern
Linear ramp (not supported)
Sin
2
ramp (not supported)
Jerk-free ramp (not supported)
Jerk-limited ramp (not supported)
14
14 Profile Position Mode Objects
14.9 [Quick stop deceleration (Obj. 6085h)]
197
14.11
[Max acceleration (Obj. 60C5h)]
[Max acceleration (Obj. 60C5h: 00h)]
Data Type
U32
Access
RW
Supported firmware version
TSN CIB
C0 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
14.12
[Max deceleration (Obj. 60C6h)]
[Max deceleration (Obj. 60C6h: 00h)]
Data Type
U32
Access
RW
Supported firmware version
TSN CIB
C0 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
198 14 Profile Position Mode Objects
14.11 [Max acceleration (Obj. 60C5h)]
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
199
15.3
[Homing speeds (Obj. 6099h)]
[Homing speeds (Obj. 6099h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
200 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
TSN CIB
A0 C0
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
15 Homing Mode Objects
15.3 [Homing speeds (Obj. 6099h)]
201
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
TSN CIB
A0 C0
Units acc units
Save
Possible
Parameter
Refer to the following.
Description
Set the acceleration/deceleration time constants at homing. Set a time for the servo motor to reach the rated speed. The description of the object varies as shown in the table below depending on the 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
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].
15.5
[Supported homing methods (Obj. 60E3h)]
[Supported homing methods (Obj. 60E3h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
Impossible
Default
Range
Units
Save
Impossible
Parameter
Description
The total number of Sub Indexes is returned.
[1st supported homing method (Obj. 60E3h: 01h)] - [47th supported homing method (Obj. 60E3h: 2Fh)]
Data Type
I8
Access
RO
Supported firmware version
TSN CIB
A0 C0
Mapping
Impossible
Default
Range
Units
Save
Impossible
Parameter
202 15 Homing Mode Objects
15.4 [Homing acceleration (Obj. 609Ah)]
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 methods (Obj. 60E3h)]
203
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
TSN CIB
B8 C0
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
TSN CIB
B8 C0
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
204 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
TSN CIB
B8 C0
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
TSN CIB
B8 C0
Units acc units
Save
Possible
Parameter
Point table
16
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
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 Point table Mode Objects
16.1 [Point table 001 (Obj. 2801h)]
205
[Deceleration (Obj. 2801h: 04h)]
Data Type
I32
Access
RW
Mapping
Impossible
Default
0
Range
Refer to the following.
Supported firmware version
TSN CIB
B8 C0
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
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
TSN CIB
B8 C0
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.
206 16 Point table Mode Objects
16.1 [Point table 001 (Obj. 2801h)]
[Auxiliary (Obj. 2801h: 06h)]
Data Type
I32
Access
RW
Supported firmware version
TSN CIB
B8 C0
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
TSN CIB
B8 C0
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)]
207
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
TSN CIB
B8 C0
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: Specified point table execution
-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
TSN CIB
B8 C0
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
208 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
TSN CIB
B8 C0
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
TSN CIB
B8 C0
Mapping
TxPDO
Default
Range
0 to 255
Units
Save
Impossible
Parameter
Description
The M code of 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)]
209
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
TSN CIB
A0 C0
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]
210 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)]
211
17.3
[Gear ratio (Obj. 6091h)]
[Gear ratio (Obj. 6091h: 00h)]
Data Type
U8
Access
RO
Supported firmware version
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)
212 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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
Mapping
RxPDO
Default
Range
Units pos units
Save
Possible
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
TSN CIB
A0 C0
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)]
213
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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)
214 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
TSN CIB
A0 C0
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)]
215
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
TSN CIB
A5 C0
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
[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
[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.
216 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
TSN CIB
A5 C0
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
TSN CIB
A5 C0
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)]
217
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
TSN CIB
A5 C0
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
TSN CIB
B6 C0
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".
218 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
TSN CIB
B6 C0
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
TSN CIB
A0 C0
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)]
219
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
[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
[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
[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
[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.
220 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
TSN CIB
A0 C0
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)]
221
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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
TSN CIB
A0 C0
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.
222 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
TSN CIB
A0 C0
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
TSN CIB
B6 C0
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)]
223
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
TSN CIB
B6 C0
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
TSN CIB
B6 C0
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".
224 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
TSN CIB
B6 C0
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)]
225
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
TSN CIB
A0 C0
Units
Description
The ON/OFF status of the input device connected to the servo amplifier is returned.
■ MR-J5-_/MR-J5W_
Bit
17
18
19
20
21
22
Name
DI1
DI2
DI3
DI4
DI5
EM2/EM1
DI pin
MR-J5-G
CN3-2
CN3-12
CN3-19
CN3-10
CN3-20
MR-J5-G-RJ
CN3-2
CN3-12
CN3-19
CN3-10
CN3-1
CN3-20
MR-J5W_-G
A-axis
CN3-7
CN3-8
CN3-9
CN3-10
B-axis
CN3-20
CN3-21
CN3-22
CN3-10
*1 For the MR-J5W3-_G_.
*2 Available on servo amplifiers with firmware version C0 or later manufactured in June 2021 or later.
Save
Impossible
Parameter
CN3-1
CN3-2
CN3-15
CN3-10
226 19 Optional application FE Objects
19.1 [Digital inputs (Obj. 60FDh)]
■ MR-J5D_
Bit
17
18
19
20
21
22
Name
DI1
DI2
DI3
DI4
DI5
EM2/EM1
DI pin
J5D1-_G_
CN3-12
CN3-28
CN3-29
CN3-11
CN3-27
CN3-13
J5D2-_G_/J5D3-_G_
A-axis
CN3-12
CN3-28
CN3-29
CN3-13
B-axis
CN3-26
CN3-25
CN3-27
CN3-13
*1 For the MR-J5D3-_G_.
Bit
0
1
2
3 to 16
17
18
19
20
21
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.
DI2
Refer to the following for details.
DI3
Refer to the following for details.
DI4
Refer to the following for details.
DI5
Refer to the following for details.
EM2/EM1
Refer to the following for details.
(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.
C-axis
CN3-10
CN3-9
CN3-11
CN3-13
19 Optional application FE Objects
19.1 [Digital inputs (Obj. 60FDh)]
227
19
■ DI1
[Pr. PC79.0]
Setting digit (BIN): _ _ x
0
1
[Pr. PD03.0-1]
With assigned function
No assigned function
[Pr. PD60.0]
Setting digit (BIN): _ _ _
Description of DI1
0
1
0
1
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]
Description of DI2
[Pr. PC79.0]
Setting digit (BIN): _ x _
0 With assigned function
[Pr. PD60.0]
Setting digit (BIN): _ _ x
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)
228 19 Optional application FE Objects
19.1 [Digital inputs (Obj. 60FDh)]
■ DI3
[Pr. PC79.0]
Setting digit (BIN): x _ _
0
1
[Pr. PD05.0-1]
With assigned function
No assigned function
[Pr. PD60.0]
Setting digit (BIN): _ x _
Description of DI3
0
1
0
1
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]
Description of DI4
[Pr. PC79.1]
Setting digit (BIN): _ _ _
0 With assigned function
[Pr. PD60.0]
Setting digit (BIN): x _ _
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)]
229
■ DI5
[Pr. PC79.1]
Setting digit (BIN): _ _ x
0
1
[Pr. PD39.0-1]
With assigned function
No assigned function
[Pr. PD60.1]
Setting digit (BIN): _ _ _
Description of DI5
0
1
0
1
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]
[Pr. PC79.1]
Setting digit (BIN): _ x _
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.
230 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
TSN CIB
B6 C0
Mapping
Impossible
Default
2
Range
2 (fixed)
Units
Save
Impossible
Parameter
Description
The total number of Sub Indexes (= 2) is returned.
[Physical outputs (Obj. 60FEh: 01h)]
Data Type
U32
Access
RW
Mapping
RxPDO
Default
00000000h
Range
00000000h to
000E0000h
Supported firmware version
TSN CIB
B6 C0
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 Corresponding pin
MR-J5-_G_
MR-J5W2-_G_
MR-J5W3-_G_
MR-J5D1-_G_
MR-J5D2-_G_
MR-J5D3-_G_
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)
19 Optional application FE Objects
19.2 [Digital outputs (Obj. 60FEh)]
231
19
[Bitmask (Obj. 60FEh: 02h)]
Data Type
U32
Access
RW
Mapping
RxPDO
Default
00000000h
Range
00000000h to
000E0000h
Units
Save
Impossible
Parameter
Supported firmware version
TSN CIB
B6 C0
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.
232 19 Optional application FE Objects
19.2 [Digital outputs (Obj. 60FEh)]
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
TSN CIB
A5
Units pos units
Save
Impossible
Parameter
Description
Set the position offset.
20
20 Cyclic Synchronous Position Mode Objects
20.1 [Position offset (Obj. 60B0h)]
233
20.2
[Velocity offset (Obj. 60B1h)]
[Velocity offset (Obj. 60B1h: 00h)]
Data Type
I32
Access
RW
Mapping
RxPDO
Default
0
Range
-2147483648 to
2147483647
Supported firmware version
TSN CIB
A5 C0
Units vel units
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
234 20 Cyclic Synchronous Position Mode Objects
20.2 [Velocity offset (Obj. 60B1h)]
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
TSN CIB
A5 C0
Description
Set the torque offset.
Parameter
20
20 Cyclic Synchronous Position Mode Objects
20.3 [Torque offset (Obj. 60B2h)]
235
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date
June 2019
January 2020
July 2020
November 2020
March 2021
June 2021
July 2022
January 2023
*Manual number
SH(NA)-030304ENG-A
SH(NA)-030304ENG-B
SH(NA)-030304ENG-C
SH(NA)-030304ENG-D
SH(NA)-030304ENG-E
SH(NA)-030304ENG-F
SH(NA)-030304ENG-G
SH(NA)-030304ENG-H
Description
First edition
■ Objects related to the following functions are added:
Profile mode, communication function, fully closed loop system, scale measurement function, touch probe
■ Objects related to the following function are changed:
Continuous operation to torque control mode
■ Objects related to the following functions are changed:
Degree unit, touch probe
■ Objects related to the following function are added:
Positioning mode (point table method)
■ The following communication method is added:
CC-Link IE Field Network Basic
■ Objects related to the following drive unit are added:
MR-J5D_-_G_
■ Object dictionary list is added.
■ Objects related to the following function are added:
Master-slave operation function
■ The following objects are added and changed:
Software reset, Max current, Motor rated torque, Max acceleration, Max deceleration, Quick stop option code
■ Objects related to the following functions are added:
Override function
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2019 MITSUBISHI ELECTRIC CORPORATION
236
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.
237
TRADEMARKS
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
All other product names and company names are trademarks or registered trademarks of their respective companies.
238
MODEL:
MODEL CODE:
HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, 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.
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Table of contents
- 3 SAFETY INSTRUCTIONS
- 5 ABOUT THE MANUAL
- 5 U.S. CUSTOMARY UNITS
- 20 Structure
- 21 Object units
- 22 Section definition of object dictionary
- 22 General Objects
- 23 PDO Mapping Objects
- 25 Sync Manager Communication Objects
- 25 Parameter Objects
- 26 Alarm Objects
- 27 Monitor Objects
- 28 Manufacturer Specific Control Object
- 31 PDS Control Objects
- 31 Position Control Function Objects
- 31 Profile Velocity Mode Objects
- 32 Profile Torque Mode Objects
- 32 Profile Position Mode Objects
- 33 Homing Mode Objects
- 33 Point table Mode Objects
- 34 Factor Group Objects
- 34 Touch Probe Function Objects
- 35 Optional application FE Objects
- 35 Cyclic Synchronous Position Mode Objects
- 36 [Device Type (Obj. 1000h)]
- 36 [Device Type (Obj. 1000h: 00h)]
- 36 [Error Register (Obj. 1001h)]
- 36 [Error Register (Obj. 1001h: 00h)]
- 37 [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)]
- 38 [Store parameters (Obj. 1010h)]
- 38 [Store parameters (Obj. 1010h: 00h)]
- 38 [Save all parameters (Obj. 1010h: 01h)]
- 39 [Restore default parameters (Obj. 1011h)]
- 39 [Restore default parameters (Obj. 1011h: 00h)]
- 39 [Restore all default parameters (Obj. 1011h: 01h)]
- 40 [Identity Object (Obj. 1018h)]
- 40 [Identity Object (Obj. 1018h: 00h)]
- 40 [Vendor ID (Obj. 1018h: 01h)]
- 40 [Product Code (Obj. 1018h: 02h)]
- 41 [Revision Number (Obj. 1018h: 03h)]
- 41 [Serial Number (Obj. 1018h: 04h)]
- 42 [CAN Profile Version (Obj. 1D00h)]
- 42 [CAN Profile Version (Obj. 1D00h: 00h)]
- 42 [Version number (Obj. 67FEh)]
- 42 [Version number (Obj. 67FEh: 00h)]
- 43 [1st Receive PDO Mapping (Obj. 1600h)]
- 43 [1st Receive PDO Mapping (Obj. 1600h: 00h)]
- 44 [Mapped Object 001 (Obj. 1600h: 01h)] - [Mapped Object 032 (Obj. 1600h: 20h)]
- 51 [2nd Receive PDO Mapping (Obj. 1601h)]
- 51 [2nd Receive PDO Mapping (Obj. 1601h: 00h)]
- 52 [Mapped Object 001 (Obj. 1601h: 01h)] - [Mapped Object 032 (Obj. 1601h: 20h)]
- 53 [3rd Receive PDO Mapping (Obj. 1602h)]
- 53 [3rd Receive PDO Mapping (Obj. 1602h: 00h)]
- 54 [Mapped Object 001 (Obj. 1602h: 01h)] - [Mapped Object 032 (Obj. 1602h: 20h)]
- 55 [4th Receive PDO Mapping (Obj. 1603h)]
- 55 [4th Receive PDO Mapping (Obj. 1603h: 00h)]
- 56 [Mapped Object 001 (Obj. 1603h: 01h)] - [Mapped Object 032 (Obj. 1603h: 20h)]
- 57 [129th Receive PDO Mapping (Obj. 1680h)]
- 57 [129th Receive PDO Mapping (Obj. 1680h: 00h)]
- 58 [Mapped Object 001 (Obj. 1680h: 01h)] - [Mapped Object 008 (Obj. 1680h: 08h)]
- 59 [257th Receive PDO Mapping (Obj. 1700h)]
- 59 [257th Receive PDO Mapping (Obj. 1700h: 00h)]
- 60 [Mapped Object 001 (Obj. 1700h: 01h)] - [Mapped Object 008 (Obj. 1700h: 08h)]
- 61 [1st Transmit PDO Mapping (Obj. 1A00h)]
- 61 [1st Transmit PDO Mapping (Obj. 1A00h: 00h)]
- 62 [Mapped Object 001 (Obj. 1A00h: 01h)] - [Mapped Object 032 (Obj. 1A00h: 20h)]
- 69 [2nd Transmit PDO Mapping (Obj. 1A01h)]
- 69 [2nd Transmit PDO Mapping (Obj. 1A01h: 00h)]
- 70 [Mapped Object 001 (Obj. 1A01h: 01h)] - [Mapped Object 032 (Obj. 1A01h: 20h)]
- 71 [3rd Transmit PDO Mapping (Obj. 1A02h)]
- 71 [3rd Transmit PDO Mapping (Obj. 1A02h: 00h)]
- 72 [Mapped Object 001 (Obj. 1A02h: 01h)] - [Mapped Object 032 (Obj. 1A02h: 20h)]
- 73 [4th Transmit PDO Mapping (Obj. 1A03h)]
- 73 [4th Transmit PDO Mapping (Obj. 1A03h: 00h)]
- 74 [Mapped Object 001 (Obj. 1A03h: 01h)] - [Mapped Object 032 (Obj. 1A03h: 20h)]
- 75 [129th Transmit PDO Mapping (Obj. 1A80h)]
- 75 [129th Transmit PDO Mapping (Obj. 1A80h: 00h)]
- 76 [Mapped Object 001 (Obj. 1A80h: 01h)] - [Mapped Object 008 (Obj. 1A80h: 08h)]
- 77 [257th Transmit PDO Mapping (Obj. 1B00h)]
- 77 [257th Transmit PDO Mapping (Obj. 1B00h: 00h)]
- 78 [Mapped Object 001 (Obj. 1B00h: 01h)] - [Mapped Object 008 (Obj. 1B00h: 08h)]
- 79 [1st PDO Config (Obj. 1C00h)]
- 79 [1st PDO Config (Obj. 1C00h: 00h)]
- 79 [PDO Assignment (Obj. 1C00h: 01h)]
- 79 [PDO Enable (Obj. 1C00h: 02h)]
- 80 [Error Handling (Obj. 1C00h: 03h)]
- 80 [Memory Address (Obj. 1C00h: 04h)]
- 80 [Communication Address (Obj. 1C00h: 05h)]
- 81 [2nd PDO Config (Obj. 1C01h)]
- 81 [2nd PDO Config (Obj. 1C01h: 00h)]
- 81 [PDO Assignment (Obj. 1C01h: 01h)]
- 81 [PDO Enable (Obj. 1C01h: 02h)]
- 82 [Error Handling (Obj. 1C01h: 03h)]
- 82 [Memory Address (Obj. 1C01h: 04h)]
- 82 [Communication Address (Obj. 1C01h: 05h)]
- 83 [17th PDO Config (Obj. 1C10h)]
- 83 [17th PDO Config (Obj. 1C10h: 00h)]
- 83 [PDO Assignment (Obj. 1C10h: 01h)]
- 83 [PDO Enable (Obj. 1C10h: 02h)]
- 84 [Error Handling (Obj. 1C10h: 03h)]
- 84 [Memory Address (Obj. 1C10h: 04h)]
- 84 [Communication Address (Obj. 1C10h: 05h)]
- 85 [33th PDO Config (Obj. 1C20h)]
- 85 [33th PDO Config (Obj. 1C20h: 00h)]
- 85 [PDO Assignment (Obj. 1C20h: 01h)]
- 85 [PDO Enable (Obj. 1C20h: 02h)]
- 86 [Error Handling (Obj. 1C20h: 03h)]
- 86 [Memory Address (Obj. 1C20h: 04h)]
- 86 [Communication Address (Obj. 1C20h: 05h)]
- 87 [49th PDO Config (Obj. 1C30h)]
- 87 [49th PDO Config (Obj. 1C30h: 00h)]
- 87 [PDO Assignment (Obj. 1C30h: 01h)]
- 87 [PDO Enable (Obj. 1C30h: 02h)]
- 88 [Error Handling (Obj. 1C30h: 03h)]
- 88 [Memory Address (Obj. 1C30h: 04h)]
- 88 [Communication Address (Obj. 1C30h: 05h)]
- 89 [50th PDO Config (Obj. 1C31h)] - [56th PDO Config (Obj. 1C37h)]
- 90 [65th PDO Config (Obj. 1C40h)]
- 90 [65th PDO Config (Obj. 1C40h: 00h)]
- 90 [PDO Assignment (Obj. 1C40h: 01h)]
- 90 [PDO Enable (Obj. 1C40h: 02h)]
- 91 [Error Handling (Obj. 1C40h: 03h)]
- 91 [Memory Address (Obj. 1C40h: 04h)]
- 91 [Communication Address (Obj. 1C40h: 05h)]
- 92 [Watchdog counter DL (Obj. 1D01h)]
- 92 [Watchdog counter DL (Obj. 1D01h: 00h)]
- 92 [Watchdog counter DL 1 (Obj. 1D01h: 01h)]
- 92 [Watchdog counter DL 2 (Obj. 1D01h: 02h)]
- 93 [Watchdog counter UL (Obj. 1D02h)]
- 93 [Watchdog counter UL (Obj. 1D02h: 00h)]
- 93 [Watchdog counter UL 1 (Obj. 1D02h: 01h)]
- 93 [Watchdog counter UL 2 (Obj. 1D02h: 02h)]
- 94 [PA01 (Obj. 2001h)] - [PA44 (Obj. 202Ch)]
- 94 [PB01 (Obj. 2081h)] - [PB92 (Obj. 20DCh)]
- 94 [PC01 (Obj. 2101h)] - [PC90 (Obj. 215Ah)]
- 94 [PD01 (Obj. 2181h)] - [PD72 (Obj. 21C8h)]
- 94 [PE01 (Obj. 2201h)] - [PE88 (Obj. 2258h)]
- 94 [PF01 (Obj. 2281h)] - [PF99 (Obj. 22E3h)]
- 94 [PL01 (Obj. 2401h)] - [PL72 (Obj. 2448h)]
- 94 [PT01 (Obj. 2481h)] - [PT90 (Obj. 24DAh)]
- 94 [PN01 (Obj. 2581h)] - [PN34 (Obj. 25A2h)]
- 95 [PV group parameters (Obj. 2691h)]
- 95 [PV group parameters (Obj. 2691h: 00h)]
- 95 [PV01 (Obj. 2691h: 01h)] - [PV32 (Obj. 2691h: 20h)]
- 95 [PV33 (Obj. 2691h: 21h)] - [PV40 (Obj. 2691h: 28h)]
- 96 [Alarm history newest (Obj. 2A00h)]
- 96 [Alarm history newest (Obj. 2A00h: 00h)]
- 96 [Alarm No. (Obj. 2A00h: 01h)]
- 96 [Alarm time (Hour) (Obj. 2A00h: 02h)]
- 97 [Alarm2 No. (Obj. 2A00h: 03h)]
- 97 [Alarm time (second) (Obj. 2A00h: 04h)]
- 97 [Alarm time (nanosecond) (Obj. 2A00h: 05h)]
- 98 [Alarm time (time zone) (Obj. 2A00h: 06h)]
- 98 [Alarm time (summer time) (Obj. 2A00h: 07h)]
- 99 [Alarm history 1 (Obj. 2A01h)] - [Alarm history 15 (Obj. 2A0Fh)]
- 99 [Clear alarm history (Obj. 2A40h)]
- 99 [Clear alarm history (Obj. 2A40h: 00h)]
- 99 [Current alarm (Obj. 2A41h)]
- 99 [Current alarm (Obj. 2A41h: 00h)]
- 100 [Current alarm2 (Obj. 2A42h)]
- 100 [Current alarm 2 (Obj. 2A42h: 00h)]
- 101 [Point table error (Obj. 2A43h)]
- 101 [Point table error (Obj. 2A43h: 00h)]
- 101 [Point table error No. (Obj. 2A43h: 01h)]
- 101 [Point table error factor (Obj. 2A43h: 02h)]
- 102 [Parameter error number (Obj. 2A44h)]
- 102 [Parameter error number (Obj. 2A44h: 00h)]
- 103 [Parameter error list (Obj. 2A45h)]
- 103 [Parameter error list (Obj. 2A45h: 00h)]
- 103 [Parameter error list 1 (Obj. 2A45h: 01h)] - [Parameter error list 254 (Obj. 2A45h: FEh)]
- 104 [Reset alarm (Obj. 2A46h)]
- 104 [Reset alarm (Obj. 2A46h: 00h)]
- 104 [Converter Alarm No. (Obj. 2A47h)]
- 104 [Converter Alarm No. (Obj. 2A47h: 00h)]
- 105 [Drive recorder history newest (Obj. 2A70h)]
- 105 [Drive recorder history newest (Obj. 2A70h: 00h)]
- 105 [Drive recorder history index (Obj. 2A70h: 01h)]
- 105 [Drive recorder history alarm number (Obj. 2A70h: 02h)]
- 106 [Drive recorder history power on time (Obj. 2A70h: 03h)]
- 106 [Drive recorder history time (second) (Obj. 2A70h: 04h)]
- 106 [Drive recorder history time (nanosecond) (Obj. 2A70h: 05h)]
- 107 [Drive recorder history (time zone) (Obj. 2A70h: 06h)]
- 107 [Drive recorder history (summer time) (Obj. 2A70h: 07h)]
- 107 [Drive recorder history 1 (Obj. 2A71h)] - [Drive recorder history 15 (Obj. 2A7Fh)]
- 108 [Cumulative feedback pulses (Obj. 2B01h)]
- 108 [Cumulative feedback pulses (Obj. 2B01h: 00h)]
- 108 [Servo motor speed (Obj. 2B02h)]
- 108 [Servo motor speed (Obj. 2B02h: 00h)]
- 109 [Droop pulses (Obj. 2B03h)]
- 109 [Droop pulses (Obj. 2B03h: 00h)]
- 109 [Cumulative command pulses (Obj. 2B04h)]
- 109 [Cumulative command pulses (Obj. 2B04h: 00h)]
- 109 [Command pulse frequency (Obj. 2B05h)]
- 109 [Command pulse frequency (Obj. 2B05h: 00h)]
- 110 [Regenerative load ratio (Obj. 2B08h)]
- 110 [Regenerative load ratio (Obj. 2B08h: 00h)]
- 110 [Effective load ratio (Obj. 2B09h)]
- 110 [Effective load ratio (Obj. 2B09h: 00h)]
- 110 [Peak load ratio (Obj. 2B0Ah)]
- 110 [Peak load ratio (Obj. 2B0Ah: 00h)]
- 111 [Instantaneous torque (Obj. 2B0Bh)]
- 111 [Instantaneous torque (Obj. 2B0Bh: 00h)]
- 111 [Within one-revolution position (Obj. 2B0Ch)]
- 111 [Within one-revolution position (Obj. 2B0Ch: 00h)]
- 112 [ABS counter (Obj. 2B0Dh)]
- 112 [ABS counter (Obj. 2B0Dh: 00h)]
- 112 [Load inertia moment ratio (Obj. 2B0Eh)]
- 112 [Load inertia moment ratio (Obj. 2B0Eh: 00h)]
- 113 [Bus voltage (Obj. 2B0Fh)]
- 113 [Bus voltage (Obj. 2B0Fh: 00h)]
- 113 [Load-side cumulative feedback pulses (Obj. 2B10h)]
- 113 [Load-side cumulative feedback pulses (Obj. 2B10h: 00h)]
- 113 [Load-side droop pulses (Obj. 2B11h)]
- 113 [Load-side droop pulses (Obj. 2B11h: 00h)]
- 114 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h)]
- 114 [Load-side encoder information 1 Z-phase counter (Obj. 2B12h: 00h)]
- 114 [Load-side encoder information 2 (Obj. 2B13h)]
- 114 [Load-side encoder information 2 (Obj. 2B13h: 00h)]
- 115 [Cumulative encoder out pulses (Obj. 2B16h)]
- 115 [Cumulative encoder out pulses (Obj. 2B16h: 00h)]
- 115 [Temperature of motor thermistor (Obj. 2B17h)]
- 115 [Temperature of motor thermistor (Obj. 2B17h: 00h)]
- 115 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h)]
- 115 [Motor-side cumu. feedback pulses (before gear) (Obj. 2B18h: 00h)]
- 116 [Electrical angle (Obj. 2B19h)]
- 116 [Electrical angle (Obj. 2B19h: 00h)]
- 116 [Motor-side/load-side position deviation (Obj. 2B23h)]
- 116 [Motor-side/load-side position deviation (Obj. 2B23h: 00h)]
- 116 [Motor-side/load-side speed deviation (Obj. 2B24h)]
- 116 [Motor-side/load-side speed deviation (Obj. 2B24h: 00h)]
- 117 [Internal temperature of encoder (Obj. 2B25h)]
- 117 [Internal temperature of encoder (Obj. 2B25h: 00h)]
- 117 [Settling time (Obj. 2B26h)]
- 117 [Settling time (Obj. 2B26h: 00h)]
- 117 [Oscillation detection frequency (Obj. 2B27h)]
- 117 [Oscillation detection frequency (Obj. 2B27h: 00h)]
- 118 [Number of tough drive operations (Obj. 2B28h)]
- 118 [Number of tough drive operations (Obj. 2B28h: 00h)]
- 118 [Internal temperature of amplifier (Obj. 2B2Ah)]
- 118 [Internal temperature of amplifier (Obj. 2B2Ah: 00h)]
- 118 [Unit power consumption (Obj. 2B2Dh)]
- 118 [Unit power consumption (Obj. 2B2Dh: 00h)]
- 119 [Unit total power consumption (Obj. 2B2Eh)]
- 119 [Unit total power consumption (Obj. 2B2Eh: 00h)]
- 119 [Current position (Obj. 2B2Fh)]
- 119 [Current position (Obj. 2B2Fh: 00h)]
- 119 [Command position (Obj. 2B30h)]
- 119 [Command position (Obj. 2B30h: 00h)]
- 120 [Remaining command distance (Obj. 2B31h)]
- 120 [Remaining command distance (Obj. 2B31h: 00h)]
- 120 [Command No. (Obj. 2B32h)]
- 120 [Command No. (Obj. 2B32h: 00h)]
- 120 [Error excessive alarm margin (Obj. 2B3Fh)]
- 120 [Error excessive alarm margin (Obj. 2B3Fh: 00h)]
- 121 [Overload alarm margin (Obj. 2B40h)]
- 121 [Overload alarm margin (Obj. 2B40h: 00h)]
- 121 [Overshoot amount (Obj. 2B41h)]
- 121 [Overshoot amount (Obj. 2B41h: 00h)]
- 121 [Torque/thrust equivalent to disturbance (Obj. 2B42h)]
- 121 [Torque/thrust equivalent to disturbance (Obj. 2B42h: 00h)]
- 122 [Unit power consumption 2 (Obj. 2B43h)]
- 122 [Unit power consumption 2 (Obj. 2B43h: 00h)]
- 122 [Converter regenerative load ratio (Obj. 2B49h)]
- 122 [Converter regenerative load ratio (Obj. 2B49h: 00h)]
- 122 [Converter effective load ratio (Obj. 2B4Ah)]
- 122 [Converter effective load ratio (Obj. 2B4Ah: 00h)]
- 123 [Drive recorder status (Obj. 2C02h)]
- 123 [Drive recorder status (Obj. 2C02h: 00h)]
- 123 [Clear drive recorder history (Obj. 2C03h)]
- 123 [Clear drive recorder history (Obj. 2C03h: 00h)]
- 124 [External output pin display (Obj. 2C11h)]
- 124 [External output pin display (Obj. 2C11h: 00h)]
- 125 [External output pin display1 (Obj. 2C11h: 01h)]
- 127 [Power ON cumulative time (Obj. 2C18h)]
- 127 [Power ON cumulative time (Obj. 2C18h: 00h)]
- 127 [Number of inrush relay on/off times (Obj. 2C19h)]
- 127 [Number of inrush relay on/off times (Obj. 2C19h: 00h)]
- 128 [Machine diagnostic status (Obj. 2C20h)]
- 128 [Machine diagnostic status (Obj. 2C20h: 00h)]
- 129 [Static friction torque at forward rotation (Obj. 2C21h)]
- 129 [Static friction torque at forward rotation (Obj. 2C21h: 00h)]
- 129 [Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h)]
- 129 [Dynamic friction torque at forward rotation (at rated speed) (Obj. 2C22h: 00h)]
- 129 [Static friction torque at reverse rotation (Obj. 2C23h)]
- 129 [Static friction torque at reverse rotation (Obj. 2C23h: 00h)]
- 130 [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h)]
- 130 [Dynamic friction torque at reverse rotation (at rated speed) (Obj. 2C24h: 00h)]
- 130 [Oscillation frequency during motor stop (Obj. 2C25h)]
- 130 [Oscillation frequency during motor stop (Obj. 2C25h: 00h)]
- 130 [Vibration level during motor stop (Obj. 2C26h)]
- 130 [Vibration level during motor stop (Obj. 2C26h: 00h)]
- 131 [Oscillation frequency during motor operating (Obj. 2C27h)]
- 131 [Oscillation frequency during motor operating (Obj. 2C27h: 00h)]
- 131 [Vibration level during motor operating (Obj. 2C28h)]
- 131 [Vibration level during motor operating (Obj. 2C28h: 00h)]
- 132 [Fault prediction status (Obj. 2C29h)]
- 132 [Fault prediction status (Obj. 2C29h: 00h)]
- 133 [Friction based fault prediction upper threshold (Obj. 2C2Ah)]
- 133 [Friction based fault prediction upper threshold (Obj. 2C2Ah: 00h)]
- 133 [Friction based fault prediction lower threshold (Obj. 2C2Bh)]
- 133 [Friction based fault prediction lower threshold (Obj. 2C2Bh: 00h)]
- 133 [Friction based fault prediction prepare status (Obj. 2C2Ch)]
- 133 [Friction based fault prediction prepare status (Obj. 2C2Ch: 00h)]
- 134 [Vibration based fault prediction threshold (Obj. 2C2Dh)]
- 134 [Vibration based fault prediction threshold (Obj. 2C2Dh: 00h)]
- 134 [Vibration based fault prediction prepare status (Obj. 2C2Eh)]
- 134 [Vibration based fault prediction prepare status (Obj. 2C2Eh: 00h)]
- 134 [Machine total distance (Obj. 2C2Fh)]
- 134 [Machine total distance (Obj. 2C2Fh: 00h)]
- 135 [Friction estimate status (Obj. 2C31h)]
- 135 [Friction estimate status (Obj. 2C31h: 00h)]
- 135 [Backlash estimation value (Obj. 2C32h)]
- 135 [Backlash estimation value (Obj. 2C32h: 00h)]
- 135 [Static friction based fault prediction upper threshold (Obj. 2C33h)]
- 135 [Static friction based fault prediction upper threshold (Obj. 2C33h: 00h)]
- 136 [Static friction based fault prediction lower threshold (Obj. 2C34h)]
- 136 [Static friction based fault prediction lower threshold (Obj. 2C34h: 00h)]
- 136 [Static friction based fault prediction prepare status (Obj. 2C35h)]
- 136 [Static friction based fault prediction prepare status (Obj. 2C35h: 00h)]
- 136 [Tension estimation value (Obj. 2C36h)]
- 136 [Tension estimation value (Obj. 2C36h: 00h)]
- 137 [Phase current (Obj. 2C37h)]
- 137 [Phase current (Obj. 2C37h: 00h)]
- 137 [U phase current (Obj. 2C37h: 01h)]
- 137 [V phase current (Obj. 2C37h: 02h)]
- 137 [W phase current (Obj. 2C37h: 03h)]
- 138 [Supported Control DI (Obj. 2D00h)]
- 138 [Supported Control DI (Obj. 2D00h: 00h)]
- 138 [Supported Control DI 1 (Obj. 2D00h: 01h)]
- 138 [Supported Control DI 2 (Obj. 2D00h: 02h)]
- 139 [Supported Control DI 3 (Obj. 2D00h: 03h)]
- 139 [Supported Control DI 4 (Obj. 2D00h: 04h)]
- 139 [Supported Control DI 5 (Obj. 2D00h: 05h)]
- 140 [Supported Control DI 6 (Obj. 2D00h: 06h)]
- 140 [Supported Control DI 7 (Obj. 2D00h: 07h)]
- 140 [Supported Control DI 8 (Obj. 2D00h: 08h)]
- 141 [Supported Control DI 9 (Obj. 2D00h: 09h)]
- 141 [Supported Control DI 10 (Obj. 2D00h: 0Ah)]
- 142 [Control DI 1 (Obj. 2D01h)]
- 142 [Control DI 1 (Obj. 2D01h: 00h)]
- 142 [Control DI 2 (Obj. 2D02h)]
- 142 [Control DI 2 (Obj. 2D02h: 00h)]
- 142 [Control DI 3 (Obj. 2D03h)]
- 142 [Control DI 3 (Obj. 2D03h: 00h)]
- 143 [Control DI 4 (Obj. 2D04h)]
- 143 [Control DI 4 (Obj. 2D04h: 00h)]
- 143 [Control DI 5 (Obj. 2D05h)]
- 143 [Control DI 5 (Obj. 2D05h: 00h)]
- 143 [Control DI 6 (Obj. 2D06h)]
- 143 [Control DI 6 (Obj. 2D06h: 00h)]
- 144 [Control DI 7 (Obj. 2D07h)]
- 144 [Control DI 7 (Obj. 2D07h: 00h)]
- 144 [Control DI 8 (Obj. 2D08h)]
- 144 [Control DI 8 (Obj. 2D08h: 00h)]
- 144 [Control DI 9 (Obj. 2D09h)]
- 144 [Control DI 9 (Obj. 2D09h: 00h)]
- 145 [Control DI 10 (Obj. 2D0Ah)]
- 145 [Control DI 10 (Obj. 2D0Ah: 00h)]
- 145 [Supported Status DO (Obj. 2D10h)]
- 145 [Supported Status DO (Obj. 2D10h: 00h)]
- 145 [Supported Status DO 1 (Obj. 2D10h: 01h)]
- 146 [Supported Status DO 2 (Obj. 2D10h: 02h)]
- 146 [Supported Status DO 3 (Obj. 2D10h: 03h)]
- 146 [Supported Status DO 4 (Obj. 2D10h: 04h)]
- 146 [Supported Status DO 5 (Obj. 2D10h: 05h)]
- 147 [Supported Status DO 6 (Obj. 2D10h: 06h)]
- 147 [Supported Status DO 7 (Obj. 2D10h: 07h)]
- 147 [Supported Status DO 8 (Obj. 2D10h: 08h)]
- 148 [Supported Status DO 9 (Obj. 2D10h: 09h)]
- 148 [Supported Status DO 10 (Obj. 2D10h: 0Ah)]
- 149 [Status DO 1 (Obj. 2D11h)]
- 149 [Status DO 1 (Obj. 2D11h: 00h)]
- 149 [Status DO 2 (Obj. 2D12h)]
- 149 [Status DO 2 (Obj. 2D12h: 00h)]
- 149 [Status DO 3 (Obj. 2D13h)]
- 149 [Status DO 3 (Obj. 2D13h: 00h)]
- 150 [Status DO 4 (Obj. 2D14h)]
- 150 [Status DO 4 (Obj. 2D14h: 00h)]
- 150 [Status DO 5 (Obj. 2D15h)]
- 150 [Status DO 5 (Obj. 2D15h: 00h)]
- 150 [Status DO 6 (Obj. 2D16h)]
- 150 [Status DO 6 (Obj. 2D16h: 00h)]
- 151 [Status DO 7 (Obj. 2D17h)]
- 151 [Status DO 7 (Obj. 2D17h: 00h)]
- 151 [Status DO 8 (Obj. 2D18h)]
- 151 [Status DO 8 (Obj. 2D18h: 00h)]
- 151 [Status DO 9 (Obj. 2D19h)]
- 151 [Status DO 9 (Obj. 2D19h: 00h)]
- 152 [Status DO 10 (Obj. 2D1Ah)]
- 152 [Status DO 10 (Obj. 2D1Ah: 00h)]
- 152 [Velocity limit value (Obj. 2D20h)]
- 152 [Velocity limit value (Obj. 2D20h: 00h)]
- 153 [Motor rated speed (Obj. 2D28h)]
- 153 [Motor rated speed (Obj. 2D28h: 00h)]
- 153 [Serial Number 2 (Obj. 2D33h)]
- 153 [Serial Number 2 (Obj. 2D33h: 00h)]
- 154 [Encoder status (Obj. 2D35h)]
- 154 [Encoder status (Obj. 2D35h: 00h)]
- 154 [Encoder status 1 (Obj. 2D35h: 01h)]
- 155 [Encoder status 2 (Obj. 2D35h: 02h)]
- 156 [Scale cycle counter (Obj. 2D36h)]
- 156 [Scale cycle counter (Obj. 2D36h: 00h)]
- 156 [Scale ABS counter (Obj. 2D37h)]
- 156 [Scale ABS counter (Obj. 2D37h: 00h)]
- 157 [Scale measurement encoder resolution (Obj. 2D38h)]
- 157 [Scale measurement encoder resolution (Obj. 2D38h: 00h)]
- 157 [Scale measurement encoder reception status (Obj. 2D3Ch)]
- 157 [Scale measurement encoder reception status (Obj. 2D3Ch: 00h)]
- 158 [Servo motor serial number (Obj. 2D46h)]
- 158 [Servo motor serial number (Obj. 2D46h: 00h)]
- 158 [Motor data 2 (Obj. 2D48h)]
- 158 [Motor data 2 (Obj. 2D48h: 00h)]
- 158 [Motor ID 1 (Obj. 2D48h: 01h)]
- 159 [Motor ID 2 (Obj. 2D48h: 02h)]
- 159 [Encoder ID 1 (Obj. 2D48h: 03h)]
- 159 [Encoder ID 2 (Obj. 2D48h: 04h)]
- 160 [One-touch tuning mode (Obj. 2D50h)]
- 160 [One-touch tuning mode (Obj. 2D50h: 00h)]
- 160 [One-touch tuning status (Obj. 2D51h)]
- 160 [One-touch tuning status (Obj. 2D51h: 00h)]
- 161 [One-touch tuning Stop (Obj. 2D52h)]
- 161 [One-touch tuning Stop (Obj. 2D52h: 00h)]
- 161 [One-touch tuning Clear (Obj. 2D53h)]
- 161 [One-touch tuning Clear (Obj. 2D53h: 00h)]
- 162 [One-touch tuning Error Code (Obj. 2D54h)]
- 162 [One-touch tuning Error Code (Obj. 2D54h: 00h)]
- 162 [Software reset (Obj. 2D5Fh)]
- 162 [Software reset (Obj. 2D5Fh: 00h)]
- 163 [Speed override (Obj. 2DB0h)]
- 163 [Speed override (Obj. 2DB0h: 00h)]
- 163 [Master-slave torque coefficient (Obj. 2E44h)]
- 163 [Master-slave torque coefficient (Obj. 2E44h: 00h)]
- 163 [Master-slave velocity limit coefficient (Obj. 2E45h)]
- 163 [Master-slave velocity limit coefficient (Obj. 2E45h: 00h)]
- 164 [Master-slave Lower limit of velocity limit value (Obj. 2E46h)]
- 164 [Master-slave Lower limit of velocity limit value (Obj. 2E46h: 00h)]
- 165 [Error code (Obj. 603Fh)]
- 165 [Error code (Obj. 603Fh: 00h)]
- 165 [Controlword (Obj. 6040h)]
- 165 [Controlword (Obj. 6040h: 00h)]
- 169 [Statusword (Obj. 6041h)]
- 169 [Statusword (Obj. 6041h: 00h)]
- 172 [Quick stop option code (Obj. 605Ah)]
- 172 [Quick stop option code (Obj. 605Ah: 00h)]
- 174 [Halt option code (Obj. 605Dh)]
- 174 [Halt option code (Obj. 605Dh: 00h)]
- 175 [Modes of operation (Obj. 6060h)]
- 175 [Modes of operation (Obj. 6060h: 00h)]
- 176 [Modes of operation display (Obj. 6061h)]
- 176 [Modes of operation display (Obj. 6061h: 00h)]
- 177 [Supported drive modes (Obj. 6502h)]
- 177 [Supported drive modes (Obj. 6502h: 00h)]
- 179 [Position actual internal value (Obj. 6063h)]
- 179 [Position actual internal value (Obj. 6063h: 00h)]
- 179 [Position actual value (Obj. 6064h)]
- 179 [Position actual value (Obj. 6064h: 00h)]
- 179 [Following error window (Obj. 6065h)]
- 179 [Following error window (Obj. 6065h: 00h)]
- 180 [Following error time out (Obj. 6066h)]
- 180 [Following error time out (Obj. 6066h: 00h)]
- 180 [Position window (Obj. 6067h)]
- 180 [Position window (Obj. 6067h: 00h)]
- 180 [Position window time (Obj. 6068h)]
- 180 [Position window time (Obj. 6068h: 00h)]
- 181 [Positioning option code (Obj. 60F2h)]
- 181 [Positioning option code (Obj. 60F2h: 00h)]
- 181 [Following error actual value (Obj. 60F4h)]
- 181 [Following error actual value (Obj. 60F4h: 00h)]
- 182 [Control effort (Obj. 60FAh)]
- 182 [Control effort (Obj. 60FAh: 00h)]
- 183 [Velocity demand value (Obj. 606Bh)]
- 183 [Velocity demand value (Obj. 606Bh: 00h)]
- 183 [Velocity actual value (Obj. 606Ch)]
- 183 [Velocity actual value (Obj. 606Ch: 00h)]
- 184 [Velocity window (Obj. 606Dh)]
- 184 [Velocity window (Obj. 606Dh: 00h)]
- 184 [Velocity window time (Obj. 606Eh)]
- 184 [Velocity window time (Obj. 606Eh: 00h)]
- 185 [Velocity threshold (Obj. 606Fh)]
- 185 [Velocity threshold (Obj. 606Fh: 00h)]
- 185 [Velocity threshold time (Obj. 6070h)]
- 185 [Velocity threshold time (Obj. 6070h: 00h)]
- 186 [Target velocity (Obj. 60FFh)]
- 186 [Target velocity (Obj. 60FFh: 00h)]
- 187 [Target torque (Obj. 6071h)]
- 187 [Target torque (Obj. 6071h: 00h)]
- 187 [Max torque (Obj. 6072h)]
- 187 [Max torque (Obj. 6072h: 00h)]
- 188 [Max current (Obj. 6073h)]
- 188 [Max current (Obj. 6073h: 00h)]
- 188 [Torque demand value (Obj. 6074h)]
- 188 [Torque demand value (Obj. 6074h: 00h)]
- 188 [Motor rated torque (Obj. 6076h)]
- 188 [Motor rated torque (Obj. 6076h: 00h)]
- 189 [Torque actual value (Obj. 6077h)]
- 189 [Torque actual value (Obj. 6077h: 00h)]
- 189 [Current actual value (Obj. 6078h)]
- 189 [Current actual value (Obj. 6078h: 00h)]
- 189 [Torque slope (Obj. 6087h)]
- 189 [Torque slope (Obj. 6087h: 00h)]
- 190 [Torque profile type (Obj. 6088h)]
- 190 [Torque profile type (Obj. 6088h: 00h)]
- 190 13.10 [Positive torque limit value (Obj. 60E0h)]
- 190 [Positive torque limit value (Obj. 60E0h: 00h)]
- 191 13.11 [Negative torque limit value (Obj. 60E1h)]
- 191 [Negative torque limit value (Obj. 60E1h: 00h)]
- 192 [Target position (Obj. 607Ah)]
- 192 [Target position (Obj. 607Ah: 00h)]
- 193 [Position range limit (Obj. 607Bh)]
- 193 [Position range limit (Obj. 607Bh: 00h)]
- 193 [Min position range limit (Obj. 607Bh: 01h)]
- 193 [Max position range limit (Obj. 607Bh: 02h)]
- 194 [Software position limit (Obj. 607Dh)]
- 194 [Software position limit (Obj. 607Dh: 00h)]
- 194 [Min position limit (Obj. 607Dh: 01h)]
- 195 [Max position limit (Obj. 607Dh: 02h)]
- 196 [Max profile velocity (Obj. 607Fh)]
- 196 [Max profile velocity (Obj. 607Fh: 00h)]
- 196 [Max motor speed (Obj. 6080h)]
- 196 [Max motor speed (Obj. 6080h: 00h)]
- 197 [Profile velocity (Obj. 6081h)]
- 197 [Profile velocity (Obj. 6081h: 00h)]
- 198 [Profile acceleration (Obj. 6083h)]
- 198 [Profile acceleration (Obj. 6083h: 00h)]
- 198 [Profile deceleration (Obj. 6084h)]
- 198 [Profile deceleration (Obj. 6084h: 00h)]
- 199 [Quick stop deceleration (Obj. 6085h)]
- 199 [Quick stop deceleration (Obj. 6085h: 00h)]
- 199 14.10 [Motion profile type (Obj. 6086h)]
- 199 [Motion profile type (Obj. 6086h: 00h)]
- 200 14.11 [Max acceleration (Obj. 60C5h)]
- 200 [Max acceleration (Obj. 60C5h: 00h)]
- 200 14.12 [Max deceleration (Obj. 60C6h)]
- 200 [Max deceleration (Obj. 60C6h: 00h)]
- 201 [Home offset (Obj. 607Ch)]
- 201 [Home offset (Obj. 607Ch: 00h)]
- 201 [Homing method (Obj. 6098h)]
- 201 [Homing method (Obj. 6098h: 00h)]
- 202 [Homing speeds (Obj. 6099h)]
- 202 [Homing speeds (Obj. 6099h: 00h)]
- 202 [Speed during search for switch (Obj. 6099h: 01h)]
- 203 [Speed during search for zero (Obj. 6099h: 02h)]
- 204 [Homing acceleration (Obj. 609Ah)]
- 204 [Homing acceleration (Obj. 609Ah: 00h)]
- 204 [Supported homing methods (Obj. 60E3h)]
- 204 [Supported homing methods (Obj. 60E3h: 00h)]
- 204 [1st supported homing method (Obj. 60E3h: 01h)] - [47th supported homing method (Obj. 60E3h: 2Fh)]
- 206 [Point table 001 (Obj. 2801h)]
- 206 [Point table 001 (Obj. 2801h: 00h)]
- 206 [Point data (Obj. 2801h: 01h)]
- 207 [Speed (Obj. 2801h: 02h)]
- 207 [Acceleration (Obj. 2801h: 03h)]
- 208 [Deceleration (Obj. 2801h: 04h)]
- 208 [Dwell (Obj. 2801h: 05h)]
- 209 [Auxiliary (Obj. 2801h: 06h)]
- 209 [M code (Obj. 2801h: 07h)]
- 210 [Point table 002 (Obj. 2802h)] - Point table 255 (Obj. 28FFh)]
- 210 [Target point table (Obj. 2D60h)]
- 210 [Target point table (Obj. 2D60h: 00h)]
- 210 [Point demand value (Obj. 2D68h)]
- 210 [Point demand value (Obj. 2D68h: 00h)]
- 211 [Point actual value (Obj. 2D69h)]
- 211 [Point actual value (Obj. 2D69h: 00h)]
- 211 [M code actual value (Obj. 2D6Ah)]
- 211 [M code actual value (Obj. 2D6Ah: 00h)]
- 212 [Polarity (Obj. 607Eh)]
- 212 [Polarity (Obj. 607Eh: 00h)]
- 213 [Position encoder resolution (Obj. 608Fh)]
- 213 [Position encoder resolution (Obj. 608Fh: 00h)]
- 213 [Encoder increments (Obj. 608Fh: 01h)]
- 213 [Motor revolutions (Obj. 608Fh: 02h)]
- 214 [Gear ratio (Obj. 6091h)]
- 214 [Gear ratio (Obj. 6091h: 00h)]
- 214 [Motor revolutions (Obj. 6091h: 01h)]
- 214 [Shaft revolutions (Obj. 6091h: 02h)]
- 215 [Feed constant (Obj. 6092h)]
- 215 [Feed constant (Obj. 6092h: 00h)]
- 215 [Feed (Obj. 6092h: 01h)]
- 215 [Shaft revolutions (Obj. 6092h: 02h)]
- 216 [SI unit position (Obj. 60A8h)]
- 216 [SI unit position (Obj. 60A8h: 00h)]
- 216 [SI unit velocity (Obj. 60A9h)]
- 216 [SI unit velocity (Obj. 60A9h: 00h)]
- 217 [SI unit acceleration (Obj. 60AAh)]
- 217 [SI unit acceleration (Obj. 60AAh: 00h)]
- 218 [Touch probe function 2 (Obj. 2DE8h)]
- 218 [Touch probe function 2 (Obj. 2DE8h: 00h)]
- 219 [Touch probe status 2 (Obj. 2DE9h)]
- 219 [Touch probe status 2 (Obj. 2DE9h: 00h)]
- 219 [Touch probe 3 positive edge (Obj. 2DEAh)]
- 219 [Touch probe 3 positive edge (Obj. 2DEAh: 00h)]
- 220 [Touch probe 3 negative edge (Obj. 2DEBh)]
- 220 [Touch probe 3 negative edge (Obj. 2DEBh: 00h)]
- 220 [Touch probe time stamp 3 positive value (Obj. 2DF8h)]
- 220 [Touch probe time stamp 3 positive value (Obj. 2DF8h: 00h)]
- 221 [Touch probe time stamp 3 negative value (Obj. 2DF9h)]
- 221 [Touch probe time stamp 3 negative value (Obj. 2DF9h: 00h)]
- 221 [Touch probe function (Obj. 60B8h)]
- 221 [Touch probe function (Obj. 60B8h: 00h)]
- 223 [Touch probe status (Obj. 60B9h)]
- 223 [Touch probe status (Obj. 60B9h: 00h)]
- 224 [Touch probe 1 positive edge (Obj. 60BAh)]
- 224 [Touch probe 1 positive edge (Obj. 60BAh: 00h)]
- 224 18.10 [Touch probe 1 negative edge (Obj. 60BBh)]
- 224 [Touch probe 1 negative edge (Obj. 60BBh: 00h)]
- 224 18.11 [Touch probe 2 positive edge (Obj. 60BCh)]
- 224 [Touch probe 2 positive edge (Obj. 60BCh: 00h)]
- 225 18.12 [Touch probe 2 negative edge (Obj. 60BDh)]
- 225 [Touch probe 2 negative edge (Obj. 60BDh: 00h)]
- 225 18.13 [Touch probe time stamp 1 positive value (Obj. 60D1h)]
- 225 [Touch probe time stamp 1 positive value (Obj. 60D1h: 00h)]
- 226 18.14 [Touch probe time stamp 1 negative value (Obj. 60D2h)]
- 226 [Touch probe time stamp 1 negative value (Obj. 60D2h: 00h)]
- 226 18.15 [Touch probe time stamp 2 positive value (Obj. 60D3h)]
- 226 [Touch probe time stamp 2 positive value (Obj. 60D3h: 00h)]
- 227 18.16 [Touch probe time stamp 2 negative value (Obj. 60D4h)]
- 227 [Touch probe time stamp 2 negative value (Obj. 60D4h: 00h)]
- 228 [Digital inputs (Obj. 60FDh)]
- 228 [Digital inputs (Obj. 60FDh: 00h)]
- 233 [Digital outputs (Obj. 60FEh)]
- 233 [Digital outputs (Obj. 60FEh: 00h)]
- 233 [Physical outputs (Obj. 60FEh: 01h)]
- 234 [Bitmask (Obj. 60FEh: 02h)]
- 235 [Position offset (Obj. 60B0h)]
- 235 [Position offset (Obj. 60B0h: 00h)]
- 236 [Velocity offset (Obj. 60B1h)]
- 236 [Velocity offset (Obj. 60B1h: 00h)]
- 237 [Torque offset (Obj. 60B2h)]
- 237 [Torque offset (Obj. 60B2h: 00h)]
- 238 REVISIONS
- 239 WARRANTY
- 240 TRADEMARKS