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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
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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