Page 1 General-Purpose AC Servo Multi-network Interface AC Servo MODEL MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT)
Page 2 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 Instruction 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.
Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 3. To prevent injury, note the following CAUTION Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct.
Page 5 CAUTION When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment.
Page 6 (3) Test run and adjustment CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
Page 7 (5) Corrective actions CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
Page 9 «Wiring» Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table. Quantity SI (metric) unit U.S.
Page 10: Table Of Contents
CONTENTS 1. EtherCAT COMMUNICATION 1- 1 to 1-12 1.1 Summary ............................1- 1 1.2 Function list ............................1- 4 1.3 Communication specifications ......................1- 7 1.4 EtherCAT State Machine (ESM) ....................... 1- 8 1.4.1 Communication status ........................ 1- 8 1.4.2 EtherCAT state ........................... 1- 9 1.4.3 Startup ............................
Page 11 5.4.4 Cyclic synchronous velocity mode (csv) ................... 5-16 5.4.5 Cyclic synchronous torque mode (cst) ..................5-18 5.4.6 Profile position mode (pp) ......................5-20 5.4.7 Profile velocity mode (pv) ......................5-24 5.4.8 Profile torque mode (tq) ......................5-27 5.4.9 Homing mode (hm) ........................5-30 5.4.10 Point table mode (pt) .......................
Page 12 7.3.15 Touch Probe Function Objects ....................7-75 7.3.16 Optional application FE Objects ....................7-76 7.3.17 Point Table Mode Objects ....................... 7-79 7.3.18 Cyclic synchronous position mode Objects ................7-82...
Page 13 MEMO...
Page 14 1. EtherCAT COMMUNICATION 1. EtherCAT COMMUNICATION 1.1 Summary EtherCAT is the abbreviation of Ethernet for Control Automation Technology. It is open network communication between a master and slaves developed by Beckhoff Automation that uses real-time Ethernet. ETG (EtherCAT Technology Group) owns EtherCAT. The EtherCAT communication is available when the EtherCAT network module (ABCC-M40-ECT manufactured by HMS Industrial Networks) is connected to the MR-J4-_TM_ servo amplifier.
Page 15: Ethercat Communication 1- 1 To
This control mode is specific Point table mode to Mitsubishi Electric, not in CiA 402 standard. This is available with servo amplifiers with software version B2 or later.
Page 16 1. EtherCAT COMMUNICATION (3) Synchronous mode (DC mode) In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off. Synchronous mode setting Sync0 Sync1...
Page 17: Function List
1. EtherCAT COMMUNICATION 1.2 Function list The following table lists the functions available with the MR-J4-_TM_ servo amplifier to which the EtherCAT network module is connected. "MR-J4-_TM_" means "MR-J4-_TM_ Servo Amplifier Instruction Manual". Function Description Reference Cyclic synchronous position The position control operation performed by a synchronous sequential position mode (csp) command through network is supported.
Page 18 1. EtherCAT COMMUNICATION Function Description Reference Automatically adjusts the gain to optimum value if load applied to the servo motor MR-J4-_TM_ Auto tuning shaft varies. Section 6.3 Use the brake unit when the regenerative option cannot provide sufficient MR-J4-_TM_ regenerative capability. Brake unit Section 11.3 The brake unit can be used for the servo amplifiers of the 5 kW or more.
Page 19 1. EtherCAT COMMUNICATION Function Description Reference This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph"...
Page 20: Communication Specifications
1. EtherCAT COMMUNICATION 1.3 Communication specifications The following table shows the communication specifications. Item Description Remark IEC 61158 Type121 EtherCAT communication CAN application protocol over EtherCAT specifications (CoE), IEC 61800-7 CiA 402 Drive Profile Physical layer 100BASE-TX (IEEE802.3) Communication connector RJ45, 2 ports (IN port, OUT port) CAT5e, shielded twisted pair (4 pair) straight Double-shielded type recommended...
Page 21: Ethercat State Machine (Esm)
1. EtherCAT COMMUNICATION 1.4 EtherCAT State Machine (ESM) The communication status of MR-J4-_TM_ servo amplifiers is classified and managed by EtherCAT State Machine (ESM) that the EtherCAT standard specifies. 1.4.1 Communication status The following table shows the classification of the communication status. Two communication types are provided: One is the PDO (process data object) communication where command data and feedback data are sent and received at a constant period.
Page 22: Ethercat State
1. EtherCAT COMMUNICATION 1.4.2 EtherCAT state EtherCAT states shift under the conditions shown in figure 1.1 and table 1.1. When the state shifts from the Init state through the Pre-Operational and Safe-Operational state to the Operational state, the servo amplifier can be operated. When the Operational state shifts to another state, the servo amplifier executes initialization to clear the internal status.
Page 23: Startup
1. EtherCAT COMMUNICATION 1.4.3 Startup The following describes the setting and startup of the EtherCAT communication. Refer to section 4.1 of "MR- J4-_TM_ Servo Amplifier Instruction Manual" for the startup procedure other than the network setting. (1) Connection with the controller POINT Use the latest ESI file when setting up the controller.
Page 24: Network Disconnection Procedure
1. EtherCAT COMMUNICATION (4) Specifying the slave with the node address The controller can specify the slave with the node address in the following two methods. (a) Specify with AL Status Code (0134h) The value of the node address set in the axis selection rotary switch (SW2/SW3) or [Pr. PN01 Node address setting] can be read.
Page 25: Summary Of Object Dictionary (Od)
1. EtherCAT COMMUNICATION 1.5 Summary of object dictionary (OD) POINT Refer to chapter 7 for details of the object dictionary. Each data set that CAN application protocol over EtherCAT (CoE) devices have such as control parameters, command values, and feedback values is handled as an object composed of an Index value, object name, object type, R/W attribute, and other elements.
Page 26: Ethercat Network Module (Abcc-M40-Ect)
2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) POINT For EtherCAT Network module, be sure to use ABCC-M40-ECT which is a dedicated model for Mitsubishi Electric MELSERVO. For purchasing, contact your local sales office. Refer to "MR-J4-_TM_ Servo Amplifier Instruction Manual" for how to mount the EtherCAT Network module (ABCC-M40-ECT) to the MR-J4-_TM_ servo amplifier.
Page 27: Parts Identification
2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2.2 Parts identification This section describes the EtherCAT Network module (ABCC-M40-ECT) only. Refer to section 1.7 of "MR- J4-_TM_ Servo Amplifier Instruction Manual" for the MR-J4-_TM_ servo amplifier. Detailed Name/Application explanation ERROR LED Section 2.3.2 (2) Indicates an error of the EtherCAT communication.
Page 28: Led Indication List
2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2.3.2 LED indication list (1) RUN LED The RUN LED indicates the EtherCAT communication status (ESM status). The extinguished RUN LED may be affected by the LED status of the Link/Activity LEDs. Refer to section 1.4 for the communication status (ESM status).
Page 29: Connecting Ethernet Cable
2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2.4 Connecting Ethernet cable POINT Use a twisted pair cable (double shielded) with Ethernet Category 5e (100BASE-TX) or higher as the Ethernet cable. The maximum cable length between nodes is 100 m. When connecting an Ethernet cable to an EtherCAT network port, ensure that the connection destination (OUT port (upper side) or IN port (lower side)) is correct.
Page 30: Pdo (Process Data Object) Communication
3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3. PDO (PROCESS DATA OBJECT) COMMUNICATION The PDO (process data object) communication can transfer command data and feedback data between a master (controller) and slaves (servo amplifier) at a constant cycle. PDOs include RxPDOs, which are used by the slaves to receive data from the controller, and TxPDOs, which are used by the slaves to send data to the controller.
Page 31: Pdo Default Mapping
3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3.3 PDO default mapping POINT The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function, which can select objects transferred in the PDO communication. Refer to section 3.4 for changing the PDO mapping. (1) RxPDO default mapping In the default mapping setting, command data is sent from the master (controller) to slaves (servo amplifier) with RxPDO in the following array.
Page 32 3. PDO (PROCESS DATA OBJECT) COMMUNICATION (2) TxPDO default mapping In the default mapping setting, status data of the MR-J4-_TM_ servo amplifier is sent to the master (controller) with TxPDO in the following array. In the MR-J4-_TM_ servo amplifier, the mapping objects of 1A00h to 1A03h can be used as the TxPDO default mapping table.
Page 33: Pdo Variable Mapping
3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3.4 PDO variable mapping POINT The PDO mapping can be changed only in the Pre Operational state. The MR-J4-_TM_ servo amplifier supports the variable PDO mapping function, which can arrange objects in any array for the data transferred with RxPDO or TxPDO. The following table shows the specifications of the PDO variable mapping.
Page 34: Mapping-Necessary Objects
3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3.5 Mapping-necessary objects The following table lists the objects which are required for each mode. (1) RxPDO Function Mode (Note 1) (Note 1) Object name (Index) Touch probe (Note 2) (Note 2) (Note 2) Controlword (6040h) Control DI 1 (2D01h) Gain switching Control DI 2 (2D02h) Proportional control...
Page 35 3. PDO (PROCESS DATA OBJECT) COMMUNICATION (2) TxPDO Function Mode (Note 1) (Note 1) Object name (Index) Touch probe (Note 2) (Note 2) (Note 2) Statusword (6041h) Status DO 1 (2D11h) Status DO 2 (2D12h) Status DO 3 (2D13h) Status DO 5 (2D15h) Status DO 7 (2D17h) Position actual value (6064h) Following error actual value (60F4h)
Page 36: Sdo (Service Data Object) Communication
4. SDO (SERVICE DATA OBJECT) COMMUNICATION 4. SDO (SERVICE DATA OBJECT) COMMUNICATION The SDO (service data object) communication can transfer object data between a master (controller) and slaves (servo amplifier) asynchronously. Object data (SDO Download Expedited) (SDO Download Normal) (Download SDO Segment) Master Slave (controller)
Page 37: Sdo Abort Code
4. SDO (SERVICE DATA OBJECT) COMMUNICATION 4.2 SDO Abort Code When an error occurs in the SDO communication, the following error messages are returned with the Abort SDO Transfer service. SDO Abort Code Meaning Cause 0504 0005h Out of memory. The memory is out of the range.
Page 38: Cia 402 Drive Profile
5. CiA 402 DRIVE PROFILE 5. CiA 402 DRIVE PROFILE 5.1 FSA state The inside state of the MR-J4-_TM_ servo amplifier is controlled based on the FSA state, defined in the CiA 402 drive profile standard. Figure 5.1 and Table 5.1 show the transition conditions between the FSA states. The states are switched when the master sends a command following the table (sets Controlword) with the PDO communication established (the AL state Operational reached).
Page 39 5. CiA 402 DRIVE PROFILE Power on Power off (A): Ready-off, Servo-off Not ready to switch on (15) Switch on Fault disabled (12) (10) (14) Ready to switch on (B): Ready-on, Servo-off Switched on Fault reaction active (16) (C): Ready-on, Servo-on Quick stop Operation (13)
Page 40 5. CiA 402 DRIVE PROFILE Transition Event Remark After processing against the alarm has been (14) Automatic transition completed, servo-off or RA-off is performed and the operation is disabled. Alarms are reset. (15) The state transitions with the Fault Reset command from the master. Alarms that can be reset are reset.
Page 41: Controlword/Control Di
5. CiA 402 DRIVE PROFILE 5.2 Controlword/Control DI The FSA state can be switched and control commands for the functions of the drive can be issued by rewriting the objects of Controlword (6040h) and Control DI (2D01h to 2D03h) from the master (controller). Use 6040h to issue control commands defined with CiA 402.
Page 42: Bit Definition Of Control Di
5. CiA 402 DRIVE PROFILE 5.2.2 Bit definition of Control DI Control DI can control the FSA state and issue control commands. The following table shows the bit definition of Control DI. (1) Control DI 1 Symbol Description The value at reading is undefined. Set "0" at writing. Gain switching C_CDP Turn on C_CDP to use the values of [Pr.
Page 43 5. CiA 402 DRIVE PROFILE (3) Control DI 3 Symbol Description The value at reading is undefined. Set "0" at writing. Home position return completion (for scale measurement) When C_ABS2 is turned on with the scale measurement function, the absolute position erased status of a scale measurement encoder can be canceled.
Page 44: Statusword/Status Do
5. CiA 402 DRIVE PROFILE 5.3 Statusword/Status DO The objects of Statusword or Status DO notify the master (controller) of the FSA state of the MR-J4-_TM_ servo amplifier and other drive status. Use 6041h to notify the status defined with CiA 402. Use 2D11h to 2D13h, 2D15h and 2D17h for the other Vendor-specific statuses.
Page 45: Bit Definition Of Status Do
5. CiA 402 DRIVE PROFILE Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the FSA state (internal state of the MR-J4-_TM_ servo amplifier). Refer to the following table for details. Statusword (bin) FSA state x0xx xxx0 x0xx 0000 Not ready to switch on (Note) x0xx xxx0 x1xx 0000...
Page 46 5. CiA 402 DRIVE PROFILE (2) Status DO 2 Description Symbol Z-phase already passed S_ZPAS 0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up The value at reading is undefined. Zero speed detection S_ZSP When the servo motor speed is at zero speed or slower, S_ZSP turns on. Zero speed can be changed with [Pr.
Page 47 5. CiA 402 DRIVE PROFILE (3) Status DO 3 Symbol Description The value at reading is undefined. During STO S_STO S_STO turns on during STO. The value at reading is undefined. Absolute position undetermined 2 (for scale measurement) When the absolute position is erased from a scale measurement encoder with the scale S_ABSV2 measurement function, S_ABSV2 turns on.
Page 48 5. CiA 402 DRIVE PROFILE (5) Status DO 7 Symbol Description The value at reading is undefined. Position range output When an actual current position is within the range set with [Pr. PT19] to [Pr. PT22], S_POT S_POT turns on. This will be off when a home position return is not completed or base circuit shut-off is in progress.
Page 49: Control Mode
5. CiA 402 DRIVE PROFILE 5.4 Control mode 5.4.1 Selecting control mode (Modes of operation) Specify a control mode with Modes of operation (6060h). Modes of operation (6060h) can be rewritten with PDO or SDO. Note that usable control modes are limited depending on the setting of [Pr. PA01], as shown in the following table.
Page 50: Cyclic Synchronous Position Mode (Csp)
5. CiA 402 DRIVE PROFILE 5.4.3 Cyclic synchronous position mode (csp) The following shows the functions and related objects of the cyclic synchronous position mode (csp). Torque limit value (60E0h, 60E1h) × Torque offset (60B2h) Quick stop deceleration (6085h) Control Quick stop option code (605Ah) effort Position...
Page 51 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Current torque 6077h Torque actual value Unit: 0.1% (rated torque of 100%) Travel distance per revolution of an Feed constant output shaft Travel distance 6092h Feed ARRAY Refer to section 7.3.14 (4).
Page 52 5. CiA 402 DRIVE PROFILE (2) Electronic gear function (unit conversion for position data) The unit system of position data used inside and outside the MR-J4-_TM_ servo amplifier can be mutually converted with the Gear ratio value used as a coefficient. Outside/inside Applicable object example Unit notation...
Page 53: Cyclic Synchronous Velocity Mode (Csv)
5. CiA 402 DRIVE PROFILE 5.4.4 Cyclic synchronous velocity mode (csv) The following shows the functions and related objects of the cyclic synchronous velocity mode (csv). Torque limit value (60E0h, 60E1h) × Torque offset (60B2h) Velocity Quick stop deceleration (6085h) demand value Quick stop option code (605Ah)
Page 54 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Gear ratio Gear ratio Number of revolutions of the servo Motor revolutions 6091h ARRAY motor axis (numerator) (Note 1) Number of revolutions of the drive Shaft revolutions axis (denominator) (Note 1) Polarity selection Bit 7: Position POL...
Page 55: Cyclic Synchronous Torque Mode (Cst)
5. CiA 402 DRIVE PROFILE 5.4.5 Cyclic synchronous torque mode (cst) The following shows the functions and related objects of the cyclic synchronous torque mode (cst). Max torque (6072h) Torque demand value Torque (6074h) Torque Motor limit Torque limit value (60E0h, 60E1h) control ×...
Page 56 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Speed limit value 2D20h Velocity limit value 50000 Unit: Vel unit (0.01 r/min or 0.01 mm/s) SI unit position The value is automatically set 60A8h SI unit position according to the setting of "Position (Note 2) data unit"...
Page 57: Profile Position Mode (Pp)
5. CiA 402 DRIVE PROFILE 5.4.6 Profile position mode (pp) The following shows the functions and related objects of the profile position mode (pp). Torque limit value (60E0h, 60E1h) × Motion profile type (6086h) Control Profile acceleration (6083h) effort (60FAh) Torque Position Velocity...
Page 58 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Speed after acceleration completed 6081h Profile velocity 10000 Unit: Vel unit (0.01 r/min or 0.01 mm/s) Acceleration at start of movement to target position 6083h Profile Acceleration Unit: ms Deceleration at arrival at target position...
Page 59 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Polarity selection Bit 7: Position POL 607Eh Polarity Bit 6: Velocity POL Bit 5: Torque POL (Note 2) Refer to section 5.10. SI unit position The value is automatically set 60A8h SI unit position according to the setting of "Position...
Page 60 5. CiA 402 DRIVE PROFILE (4) Single Set-point Update of positioning parameters during a positioning operation is immediately accepted. (The current positioning operation is cancelled and the next positioning is started.) Actual speed set-point (bit 4) Target position (set-point) Profile velocity Current target position processed...
Page 61: Profile Velocity Mode (Pv)
5. CiA 402 DRIVE PROFILE 5.4.7 Profile velocity mode (pv) The following shows the functions and related objects of the profile velocity mode (pv). Torque limit value (60E0h, 60E1h) × Motion profile type (6086h) Profile acceleration (6083h) Torque Velocity Motor Profile deceleration (6084h) control control...
Page 62 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Velocity demand Speed command (after trajectory 606Bh value generation) Current speed 606Ch Velocity actual value Unit: Vel unit (0.01 r/min or 0.01 mm/s) Current torque 6077h Torque actual value Unit: 0.1% (rated torque of 100%) Travel distance per revolution of an Feed constant...
Page 63 5. CiA 402 DRIVE PROFILE (3) Details on the OMS bit of Statusword (pv mode) Symbol Description 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 Target reached Judgment condition for Target velocity reached...
Page 64: Profile Torque Mode (Tq)
5. CiA 402 DRIVE PROFILE 5.4.8 Profile torque mode (tq) The following shows the functions and related objects of the profile torque mode (tq). Target torque (6071h) Torque slope (6087h) Torque demand Torque profile type (6088h) Trajectry (6074h) generator Controlword (6040h) ×...
Page 65 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Torque limit value (forward) Positive torque limit 60E0h 10000 value Unit: 0.1% (rated torque of 100%) Torque limit value (reverse) Negative torque limit 60E1h 10000 value Unit: 0.1% (rated torque of 100%) Gear ratio Gear ratio Number of revolutions of the servo...
Page 66 5. CiA 402 DRIVE PROFILE (4) tq mode operation sequence Torque demand (6074h) Changed with Torque slope (6087h) Changed with Torque slope (6087h) Target torque (6071h) Halt Controlword (6040h) Bit 8 5 - 29...
Page 67: Homing Mode (Hm)
5. CiA 402 DRIVE PROFILE 5.4.9 Homing mode (hm) The following shows the function and related objects of the homing mode (hm). Controlword (6040h) Homing method (6098h) Statusword (6041h) Homing Homing speeds (6099h) method Homing acceleration (609Ah) Home offset (607Ch) (1) Related object Data Index...
Page 68 5. CiA 402 DRIVE PROFILE (2) Details on the OMS bit of Controlword (hm mode) Symbol Description Homing operation start 0: Do not start homing procedure 1: Start or continue homing procedure (reserved) The value at reading is undefined. Set "0" at writing. (reserved) Halt 0: Bit 4 enable...
Page 69 5. CiA 402 DRIVE PROFILE The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword in the hm mode. Bit 13 Bit 12 Bit 10 Definition Homing procedure is in progress Homing procedure is interrupted or not started Homing is attained, but target is not reached Homing procedure is completed successfully Homing error occurred, velocity is not 0...
Page 70 5. CiA 402 DRIVE PROFILE To specify the home position return type in the homing mode (hm), use Homing Method (6098h). The MR-J4-_TM_ servo amplifier supports Homing method in the following table. Method No. Home position return type Rotation direction Description Deceleration starts at the front end of the proximity dog.
Page 71 5. CiA 402 DRIVE PROFILE Method No. Home position return type Rotation direction Description Same as the dog cradle type home position return. Homing on negative home Reverse rotation Note that if the stroke end is detected during home position return, switch and index pulse [AL.
Page 72 5. CiA 402 DRIVE PROFILE (5) CiA 402-type homing method (a) Home position return type in CiA 402 type The following shows the CiA 402-type home position return. 1) Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position.
Page 73 5. CiA 402 DRIVE PROFILE 3) Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return.
Page 74 5. CiA 402 DRIVE PROFILE 5) Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start.
Page 75 5. CiA 402 DRIVE PROFILE (b) Operation example of the CiA 402-type Homing method The following shows an operation example of the home position return in the CiA 402-type Homing method. 1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3.
Page 76 5. CiA 402 DRIVE PROFILE 2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.
Page 77 5. CiA 402 DRIVE PROFILE 3) Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12...
Page 78 5. CiA 402 DRIVE PROFILE 4) Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12...
Page 79 5. CiA 402 DRIVE PROFILE 5) Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12...
Page 80 5. CiA 402 DRIVE PROFILE 6) Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12...
Page 81 5. CiA 402 DRIVE PROFILE 7) Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12...
Page 82 5. CiA 402 DRIVE PROFILE 8) Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12...
Page 83 5. CiA 402 DRIVE PROFILE 9) Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34. Statusword bit 10 Target reached Statusword bit 12...
Page 84 5. CiA 402 DRIVE PROFILE (6) Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific home return. (a) Method -1 and -33 1) Dog type home position return The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.
Page 85 5. CiA 402 DRIVE PROFILE Home position return direction Proximity dog Servo motor speed 0 r/min Reverse Home position return start position rotation After retracting to before proximity dog, the home position return starts from here. When a home position return is started from the proximity dog Home position return direction Proximity dog...
Page 86 5. CiA 402 DRIVE PROFILE 2) Torque limit changing dog type home position return POINT Torque limit changing dog type home position return is available with servo amplifiers with software version B2 or later. The following figure shows the operation of Homing method -1 in the indexer method. The operation direction of Homing method -33 is opposite to that of Homing method -1.
Page 87 5. CiA 402 DRIVE PROFILE (b) Method -2 and -34 (Count type home position return) POINT For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in the travel distance after proximity dog.
Page 88 5. CiA 402 DRIVE PROFILE Home position return direction Proximity dog Stroke end (Note) Forward Home position return start position rotation Servo motor speed 0 r/min Reverse rotation The home position return starts from here. Note. The software limit cannot be used with these functions. When the movement is returned at the stroke end (c) Method -3 1) Data set type home position return...
Page 89 5. CiA 402 DRIVE PROFILE (d) Method -4 and -36 (stopper type home position return) POINT Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough. The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to that of Homing method -4.
Page 90 5. CiA 402 DRIVE PROFILE (e) Method -6 and -38 (dog type rear end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
Page 91 5. CiA 402 DRIVE PROFILE (f) Method -7 and -39 (count type front end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
Page 92 5. CiA 402 DRIVE PROFILE (g) Method -8 and -40 (dog cradle type home position return) The following figure shows the operation of Homing method -8. The operation direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12...
Page 93 5. CiA 402 DRIVE PROFILE (h) Method -9 and -41 (dog type last Z-phase reference home position return) The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12...
Page 94 5. CiA 402 DRIVE PROFILE (i) Method -10 and -42 (dog type front end reference home position return) The following figure shows the operation of Homing method -10. The operation direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12...
Page 95 5. CiA 402 DRIVE PROFILE (j) Method -11 and -43 (dogless Z-phase reference home position return) The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11. Statusword bit 10 Target reached Statusword bit 12...
Page 96: Point Table Mode (Pt)
5. CiA 402 DRIVE PROFILE 5.4.10 Point table mode (pt) POINT Point table mode (pt) is available with servo amplifiers with software version B2 or later. The following shows the functions and related objects of the point table mode (pt). Torque limit value (60E0h, 60E1h) ×...
Page 97 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Deceleration at deceleration to a Quick stop stop by Quick stop 6085h deceleration Unit: ms Operation setting for Quick stop Quick stop option 605Ah code Refer to section 5.6. Position actual 6063h Current position (Enc inc)
Page 98 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Number of entries Point table 001 to 255 Point table Position data Point data Unit: pos units Speed Speed Unit: 0.01 r/min or 0.01 mm/s Acceleration time constant 2801h Acceleration Unit: ms...
Page 99 5. CiA 402 DRIVE PROFILE (4) pt mode operation sequence (a) Automatic individual positioning operation While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New set- point)" starts the automatic positioning operation. The following shows a timing chart. (Note) Controlword bit 4 (New set-point)
Page 100 5. CiA 402 DRIVE PROFILE (b) Automatic continuous positioning operation By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation can be performed in accordance with the point tables having consecutive numbers. The following shows a timing chart. (Note) Controlword bit 4 (New set-point)
Page 101: Jog Mode (Jg)
5. CiA 402 DRIVE PROFILE 5.4.11 Jog mode (jg) POINT Jog mode (jg) is available with servo amplifiers with software version B2 or later. The following shows the function and related objects of the Jog mode (jg). Torque limit value2 (2D68h) Torque limit Torque limit value (60E0h, 60E1h)
Page 102 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Software position limit Number of entries Minimum position address (Pos units) Min position limit This cannot be used in the indexer 607Dh ARRAY method. Maximum position address (Pos units) Max position limit This cannot be used in the indexer...
Page 103 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Gear ratio Gear ratio Number of revolutions of the servo motor axis (numerator) Motor revolutions In the indexer method, this means the number of gear teeth on 6091h ARRAY machine side.
Page 104 5. CiA 402 DRIVE PROFILE (3) Details on the OMS bit of Statusword (jg mode) Symbol Description 0 (Halt (Bit 8) = 0): Target position not reached. 0 (Halt (Bit 8) = 1): Axis decelerates 1 (Halt (Bit 8) = 0): Target position reached. 1 (Halt (Bit 8) = 1): Velocity of axis is 0 Target reached Judgment condition for Target position reached...
Page 105 5. CiA 402 DRIVE PROFILE (b) When changing the speed during operation You can change the servo motor speed by changing the "Profile velocity" during operation. However, the servo motor speed cannot be changed during deceleration. The acceleration time constant and the deceleration time constant can be changed only while the servo motor is stopped.
Page 106 5. CiA 402 DRIVE PROFILE (5) jg mode operation sequence in the indexer method (a) Station JOG operation The following timing chart shows that a station JOG operation is performed at a stop of the station No. 0 when servo-on. (Note 1) Controlword bit 4 (Rotation start)
Page 107 5. CiA 402 DRIVE PROFILE (b) JOG operation The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when servo-on. Controlword bit 4 (Rotation start) Controlword bit 5 (Direction) Profile velocity 100.00 r/min 150.00 r/min Forward...
Page 108: Indexer Mode (Idx)
5. CiA 402 DRIVE PROFILE 5.4.12 Indexer mode (idx) POINT Indexer mode (idx) is available with servo amplifiers with software version B2 or later. The following shows the function and related objects of the indexer mode (idx). Torque limit value2 (2D68h) Torque limit Torque limit value (60E0h, 60E1h)
Page 109 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Deceleration at arrival at target position 6084h Profile deceleration Unit: ms Deceleration at deceleration to a Quick stop stop by Quick stop 6085h deceleration Unit: ms Operation setting for Quick stop Quick stop option 605Ah code...
Page 110 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type 2D6Ah M code actual value Fixed to 0 Torque limit value 2 Unit: 0.1% (rated torque of 100%) 2D6Bh Torque limit value2 10000 Set a torque limit value for when the servo motor is stopped.
Page 111 5. CiA 402 DRIVE PROFILE (4) idx mode operation sequence (a) Rotation direction specifying indexer POINT Be sure to perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)" will be disabled. The following timing chart shows that an operation is performed at a stop of the station No.
Page 112 5. CiA 402 DRIVE PROFILE Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0". 3.
Page 113 5. CiA 402 DRIVE PROFILE (b) Shortest rotating indexer POINT Be sure to perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)" will be disabled. When travel distances to a target station position from CCW and from CW are the same, the shaft will rotate to the station No.
Page 114 5. CiA 402 DRIVE PROFILE Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does not operate. 2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0". 3.
Page 115: Touch Probe
5. CiA 402 DRIVE PROFILE 5.5 Touch probe POINT The touch probe function cannot be used in the indexer method. The touch probe function that executes current position latch by sensor input can be used. With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and TPR2 (touch probe 2) or the position feedback of when the encoder zero point was passed through can be stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function (60B8h).
Page 116 5. CiA 402 DRIVE PROFILE (a) Details of Touch probe function (60B8h) Definition 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: Single trigger mode 1: Continuous trigger mode 0: Set input of touch probe 1 as a trigger 1: Set 0 point of the encoder as a trigger (Note 1, 2) (reserved) The value at reading is undefined.
Page 117 5. CiA 402 DRIVE PROFILE (b) Details of Touch probe status (60B9h) Definition 0: Touch probe 1 disabled 1: Touch probe 1 enabled 0: The rising edge position of touch probe 1 has not been stored. 1: The rising edge position of touch probe 1 has been stored. When the position feedback is stored in Touch probe pos1 pos value (60BAh), this bit becomes "1".
Page 118 5. CiA 402 DRIVE PROFILE (2) Timing chart 60B8h Bit 0 Touch probe function Enable Touch Probe 1 60B8h Bit 1 Trigger first event 60B8h Bit 4 Enable Sampling at positive edge 60B8h Bit 5 Enable Sampling at negative edge 60B9h Bit 0 Touch probe status Touch Probe 1 is enabled...
Page 119: Quick Stop
5. CiA 402 DRIVE PROFILE (3) High-precision touch probe TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely startup of TPR2 (touch probe 2) with precision of 2 μs.
Page 120: Halt
5. CiA 402 DRIVE PROFILE 5.7 Halt When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration time constant of Homing acceleration (609Ah), Profile deceleration (6084h) or the point table according to the setting of Halt option code (605Dh).
Page 121: Software Position Limit
5. CiA 402 DRIVE PROFILE 5.8 Software position limit Specify the upper and lower limits of the command position and current position. If a command position exceeding the limit position is specified, the command position is clamped at the limit position. Specify a relative position from the machine home point (position address = 0) as the limit position.
Page 122: Polarity
5. CiA 402 DRIVE PROFILE 5.10 Polarity The rotation direction of a servo motor to position commands, speed commands, and torque commands can be set with Polarity (607Eh). For the Polarity (607Eh) setting to position commands and speed commands, use [Pr. PA14]. For the Polarity (607Eh) setting to torque commands, use [Pr. PA14] and "POL reflection selection at torque mode"...
Page 123 5. CiA 402 DRIVE PROFILE (2) Target object The following shows objects whose polarity is reversed according to the setting of Polarity (607Eh). Object name (Index) Remark Target position (607Ah) Target velocity (60FFh) Target torque (6071h) Position actual value (6064h) Velocity demand value (606Bh) Whether to reverse the polarity using Polarity (607Eh) can be switched with "Internal command speed POL reflection selection"...
Page 124: Degree Function
5. CiA 402 DRIVE PROFILE 5.11 Degree function POINT This is available with servo amplifiers with software version B0 or later. (1) Summary Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with module coordinates (axis of rotation).
Page 125 5. CiA 402 DRIVE PROFILE (3) Sequence The following shows the operation patterns corresponding to the settings of Positioning option code (60F2h). (a) When POL is disabled ([Pr. PA14] = 0) 360 = 0 360 = 0 360 = 0 360 = 0 Bit 7: 0 Bit 7: 0...
Page 126: Torque Offset
5. CiA 402 DRIVE PROFILE 5.12 Torque offset POINT This is available with servo amplifiers with software version B2 or later. Torque changes steeply depending on the set value in the Torque offset (60B2h) when the cyclic synchronous mode (csp/csv/cst) switches to the homing mode (hm), and this may rotate the servo motor.
Page 127 5. CiA 402 DRIVE PROFILE MEMO 5 - 90...
Page 128: Manufacturer Functions
6. MANUFACTURER FUNCTIONS 6. MANUFACTURER FUNCTIONS 6.1 Object for status monitor The monitor data as the manufacturer functions can be checked with the objects in the following table. Data Index Object Name Access Default Description Type Cumulative feedback pulses Monitor 1 2B01h (Unit: pulse) Cumulative feedback pulses...
Page 129 6. MANUFACTURER FUNCTIONS Data Index Object Name Access Default Description Type Monitor 37 Internal temperature of encoder 2B25h Internal temperature of encoder (Unit: °C) Monitor 38 Settling time 2B26h Settling time (Unit: ms) Monitor 39 Oscillation detection frequency 2B27h Oscillation detection frequency (Unit: Hz) Monitor 40 Number of tough drive operations...
Page 130: Incremental Counter
6. MANUFACTURER FUNCTIONS 6.2 Incremental counter To protect the operation when a PDO communication error occurs, the incremental counter can be used in the DC mode. When an incremental counter object has been mapped in the PDO communication, the detection of [AL. 86.2 Network communication error 2] is enabled. Increment the incremental counter (download) on the master (controller) per communication cycle.
Page 131: Definition Of Alarm-Related Objects
6. MANUFACTURER FUNCTIONS 6.4 Definition of alarm-related objects Whether an alarm occurs or not in the slave (servo amplifier) can be detected on the master (controller) with Bit 3 and Bit 7 of Statusword in the PDO communication. The alarm history of the latest alarm and 15 alarms that have occurred can be referred to by acquiring the following related object values in the SDO communication.
Page 132: Parameter Object
6. MANUFACTURER FUNCTIONS 6.5 Parameter object 6.5.1 Definition of parameter objects The parameter of the servo amplifier can be changed on the master (controller) by writing values to the following objects in the SDO communication. However, once the power supply is shut off, the changed setting is not held at the next startup.
Page 133: Enabling Parameters
6. MANUFACTURER FUNCTIONS 6.5.2 Enabling parameters The parameters whose symbols are preceded by "*" are enabled by the following operations. Refer to chapter 5 in "MR-J4-_TM_ Servo Amplifier Instruction Manual" for the parameters with "*". Refer to chapter 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual" for "*" of the parameter symbol. (1) Network communication reset A parameter is enabled when the EtherCAT state shifts from the Operational state to another state.
Page 134: Scale Measurement Function
6. MANUFACTURER FUNCTIONS 6.6 Scale measurement function POINT This is available with servo amplifiers with software version B0 or later. Refer to section 17.1 of "MR-J4-_TM_ Servo Amplifier Instruction Manual" for the scale measurement function. Position information of a scale measurement encoder can be obtained with the following objects. (1) Related object Data Index...
Page 135: One-Touch Tuning
6. MANUFACTURER FUNCTIONS 6.7 One-touch tuning POINT One-touch tuning via a network is available with servo amplifiers with software version B0 or later. Refer to section 6.2 of "MR-J4-_TM_ Servo Amplifier Instruction Manual" for one-touch tuning. Using One- touch tuning mode (2D50h) allows one-touch tuning from a controller. (1) Related object Data Index...
Page 136 6. MANUFACTURER FUNCTIONS (2) Procedure of one-touch tuning via a network Perform one-touch tuning via a network in the following procedure. Start Refer to chapter 4 of "MR-J4-_TM_ Servo Amplifier Instruction Manual" to start the system. Startup of the system Rotate the servo motor with a controller.
Page 137: Machine Diagnosis Function
6. MANUFACTURER FUNCTIONS 6.8 Machine diagnosis function POINT The machine diagnosis function via a network is available with servo amplifiers with software version B0 or later. This function estimates the friction and vibrational component of the drive system in the equipment based on the data in the servo amplifier, and recognizes an error in the machine parts, including a ball screw and bearing.
Page 138 6. MANUFACTURER FUNCTIONS Data Index Object Name Access Default Description Type Machine diagnostic status Machine diagnostic 2C20h status Refer to section 7.3.7 (4). Static friction torque at forward rotation Static friction torque 2C21h Static friction torque at forward at forward rotation rotation is returned in increments of 0.1%.
Page 139: Servo Amplifier Life Diagnosis Function
6. MANUFACTURER FUNCTIONS 6.9 Servo amplifier life diagnosis function POINT The servo amplifier life diagnosis function via a network is available with servo amplifiers with software version B0 or later. You can check the cumulative energization time and the number of on/off times of the inrush relay based on the data in the servo amplifier.
Page 140: Object Dictionary
7. OBJECT DICTIONARY 7. OBJECT DICTIONARY POINT In ARRAY data type objects, SubIndex names displayed on the controller are "SubIndex xxx" (xxx indicates the SubIndex number). 7.1 Store Parameters POINT Before shutting off the power after executing Store Parameters, always check that parameters are not being saved (bit 0 is on).
Page 141: Supported Object Dictionary List
7. OBJECT DICTIONARY 7.2 Supported object dictionary list Group Name Index General Objects Device Type 1000h Error Register 1001h Pre-defined error field 1003h Manufacturer Device Name 1008h Manufacturer Hardware Version 1009h Manufacturer Software Version 100Ah Store parameters 1010h Restore default parameters 1011h Identity Object 1018h...
Page 142: Object Dictionary
7. OBJECT DICTIONARY Group Name Index Monitor Objects Motor-side/load-side speed deviation 2B24h Internal temperature of encoder 2B25h Settling time 2B26h Oscillation detection frequency 2B27h Number of tough drive operations 2B28h Unit power consumption 2B2Dh Unit total power consumption 2B2Eh Current position 2B2Fh Command position 2B30h...
Page 143 7. OBJECT DICTIONARY Group Name Index Manufacturer Specific Control Objects Oscillation frequency during motor stop 2C25h Vibration level during motor stop 2C26h Oscillation frequency during motor operating 2C27h Vibration level during motor operating 2C28h Control DI 1 2D01h Control DI 2 2D02h Control DI 3 2D03h...
Page 144 7. OBJECT DICTIONARY Group Name Index Profile Torque Mode Objects Target torque 6071h Max torque 6072h Torque demand value 6074h Torque actual value 6077h Torque slope 6087h Torque profile type 6088h Positive torque limit value 60E0h Negative torque limit value 60E1h Profile Position Mode Objects Target position...
Page 145: General Objects
7. OBJECT DICTIONARY 7.3 Object dictionary This section describes the details of the object dictionary for each group. The following is shown in the "Access" column. "ro": Only reading is available. "rw": Reading and writing are available. "Impossible": The data is not saved to the EEP-ROM. The value of the data written from the controller returns to the value of "Default"...
Page 146 7. OBJECT DICTIONARY (3) Pre-defined error field (1003h) Index Name Data Type Access PDO Mapping Pre-defined error field UNSIGNED8 Standard error field 1 Standard error field 2 1003h Impossible Standard error field 3 UNSIGNED32 Standard error field 4 Standard error field 5 Index Default Range...
Page 147 7. OBJECT DICTIONARY (5) Manufacturer Hardware Version (1009h) Index Name Data Type Access PDO Mapping 1009h Manufacturer Hardware Version VISIBLE STRING Impossible Index Default Range Units EEP-ROM Parameter 1009h Impossible The hardware version of the EtherCAT network module is returned. Refer to Manufacturer Hardware Version 2 (2D31h) for the hardware version of the MR-J4-_TM_ servo amplifier.
Page 148 7. OBJECT DICTIONARY (7) Store parameters (1010h) Index Name Data Type Access PDO Mapping Store parameters UNSIGNED8 Save all parameters (Not sup- Save communication parameters ported) 1010h Impossible (Note) UNSIGNED32 (Not sup- Save application parameters ported) (Note) Index Default Range Units EEP-ROM Parameter...
Page 149 7. OBJECT DICTIONARY (8) Restore default parameters (1011h) Index Name Data Type Access PDO Mapping Restore default parameters UNSIGNED8 1011h Impossible Restore all default parameters UNSIGNED32 Index Default Range Units EEP-ROM Parameter 1011h Impossible 00000001h Refer to the text. The following set values of the servo amplifier can be rewritten with the factory setting. When "64616F6Ch"...
Page 150 7. OBJECT DICTIONARY (10) Error Settings (10F1h) Index Name Data Type Access PDO Mapping Error Settings UNSIGNED8 10F1h Reserved Impossible UNSIGNED32 Sync Error Counter Limit Index Default Range Units EEP-ROM Parameter Impossible 10F1h 00000000h 00000000h to 00007FFFh Refer to the text. Possible (Note) PN02 (Note) Note.
Page 151: Pdo Mapping Objects
7. OBJECT DICTIONARY 7.3.2 PDO Mapping Objects (1) Receive PDO Mapping (1600h) Index Name Data Type Access PDO Mapping Receive PDO Mapping UNSIGNED8 Mapped Object 001 1600h Impossible UNSIGNED32 Mapped Object 032 Index Default Range Units EEP-ROM Parameter 00h to 20h (32) 60600008h 1600h Impossible...
Page 152 7. OBJECT DICTIONARY (3) Receive PDO Mapping (1602h) Index Name Data Type Access PDO Mapping Receive PDO Mapping UNSIGNED8 Mapped Object 001 1602h Impossible UNSIGNED32 Mapped Object 032 Index Default Range Units EEP-ROM Parameter 00h to 20h (32) 00000000h 1602h Impossible 00000000h to FFFFFFFFh 00000000h...
Page 153 7. OBJECT DICTIONARY (5) Transmit PDO Mapping (1A00h) Index Name Data Type Access PDO Mapping Transmit PDO Mapping UNSIGNED8 Mapped Object 001 1A00h Impossible UNSIGNED32 Mapped Object 032 Index Default Range Units EEP-ROM Parameter 00h to 20h (32) 60610008h 1A00h Impossible 00000000h to FFFFFFFFh 00000000h...
Page 154 7. OBJECT DICTIONARY (7) Transmit PDO Mapping (1A02h) Index Name Data Type Access PDO Mapping Transmit PDO Mapping UNSIGNED8 Mapped Object 001 1A02h Impossible UNSIGNED32 Mapped Object 032 Index Default Range Units EEP-ROM Parameter 00h to 20h (32) 00000000h 1A02h Impossible 00000000h to FFFFFFFFh 00000000h...
Page 155: Sync Manager Communication Objects
7. OBJECT DICTIONARY 7.3.3 Sync Manager Communication Objects (1) Sync Manager Communication Type (1C00h) Index Name Data Type Access PDO Mapping Sync Manager Communication Type Sync Manager 0 1C00h Sync Manager 1 UNSIGNED8 Impossible Sync Manager 2 Sync Manager 3 Index Default Range...
Page 156 7. OBJECT DICTIONARY (3) Sync Manager TxPDO assign (1C13h) Index Name Data Type Access PDO Mapping Sync Manager TxPDO assign UNSIGNED8 Assigned PDO 001 1C13h Assigned PDO 002 Impossible UNSIGNED16 Assigned PDO 003 Assigned PDO 004 Index Default Range Units EEP-ROM Parameter 00h to 04h...
Page 157 7. OBJECT DICTIONARY Set Sync Manager 2 (RxPDO). The description of each Sub Index is as follows. Name Description SM output parameter The number of entries is returned. Set the synchronous mode. 0000h: Free Run (Note 1) 0001h: Synchronous (Not supported) (Note 2) 0002h: DC Sync0 Synchronization Type 0003h: DC Sync1 (Not supported) (Note 2)
Page 158 7. OBJECT DICTIONARY (5) SM input parameter (1C33h) Index Name Data Type Access PDO Mapping SM input parameter UNSIGNED8 Synchronization Type UNSIGNED16 Cycle Time UNSIGNED32 Shift Time rw (Note) 1C33h Synchronization Types supported UNSIGNED16 Impossible Minimum Cycle Time Calc and Copy Time UNSIGNED32 Delay Time Cycle Time Too Small...
Page 159 7. OBJECT DICTIONARY Set Sync Manager 3 (TxPDO). The description of each Sub Index is as follows. Name Description SM output parameter The number of entries is returned. Set the synchronous mode. 0000h: Free Run (Note 1) 0001h: Synchronous (Not supported) (Note 2) 0002h: DC Sync0 Synchronization Type 0003h: DC Sync1 (Not supported) (Note 2)
Page 160: Parameter Objects
7. OBJECT DICTIONARY 7.3.4 Parameter Objects (1) Parameter Objects PA (2001h to 2020h) Index Name Data Type Access PDO Mapping 2001h PA01 INTEGER32 Impossible 2020h PA32 Index Default Range Units EEP-ROM Parameter 2001h PA01 Refer to "MR-J4-_TM_ Servo Amplifier Possible Instruction Manual".
Page 161 7. OBJECT DICTIONARY (4) Parameter Objects PD (2181h to 21B0h) Index Name Data Type Access PDO Mapping 2181h PD01 INTEGER32 Impossible 21B0h PD48 Index Default Range Units EEP-ROM Parameter 2181h PD01 Refer to "MR-J4-_TM_ Servo Amplifier Possible Instruction Manual". 21B0h PD48 The value of the I/O setting parameters ([Pr.
Page 162 7. OBJECT DICTIONARY (7) Parameter Objects PL (2401h to 2430h) Index Name Data Type Access PDO Mapping 2401h PL01 INTEGER32 Impossible 2430h PL48 Index Default Range Units EEP-ROM Parameter 2401h PL01 Refer to "MR-J4-_TM_ Servo Amplifier Possible Instruction Manual". 2430h PL48 The value of the linear servo motor/DD motor setting parameters ([Pr.
Page 163: Alarm Objects
7. OBJECT DICTIONARY 7.3.5 Alarm Objects (1) Alarm history newest (2A00h) Index Name Data Type Access PDO Mapping Alarm history newest UNSIGNED8 2A00h Alarm No. Impossible UNSIGNED32 Alarm time (Hour) Index Default Range Units EEP-ROM Parameter 02h to 02h 2A00h 00000000h to FFFFFFFFh Possible 00000000h to FFFFFFFFh...
Page 164 7. OBJECT DICTIONARY (4) Current alarm (2A41h) Index Name Data Type Access PDO Mapping 2A41h Current alarm UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 2A41h 00000000h to FFFFFFFFh Impossible The number of the current alarm is returned. When no alarm has occurred, "00000000h" is returned. The description of the values is as follows.
Page 165 7. OBJECT DICTIONARY (6) Parameter error list (2A45h) Index Name Data Type Access PDO Mapping Parameter error list UNSIGNED8 No. 1 2A45h Impossible UNSIGNED16 No. 16 Index Default Range Units EEP-ROM Parameter 10h to 10h (16) 2A45h Impossible 0000h to FFFFh A list of parameter No.
Page 166: Monitor Objects
7. OBJECT DICTIONARY 7.3.6 Monitor Objects (1) Cumulative feedback pulses (2B01h) Index Name Data Type Access PDO Mapping 2B01h Cumulative feedback pulses INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B01h 80000000h to FFFFFFFFh pulse Impossible The cumulative feedback pulses are returned. Writing "00001EA5h" clears the cumulative feedback pulses.
Page 167 7. OBJECT DICTIONARY (6) Regenerative load ratio (2B08h) Index Name Data Type Access PDO Mapping 2B08h Regenerative load ratio UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 2B08h 0000h to FFFFh Impossible The regenerative load ratio is returned. (7) Effective load ratio (2B09h) Index Name Data Type...
Page 168 7. OBJECT DICTIONARY (11) ABS counter (2B0Dh) Index Name Data Type Access PDO Mapping 2B0Dh ABS counter INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B0Dh 80000000h to 7FFFFFFFh Impossible The ABS counter is returned. (12) Load to motor inertia ratio (2B0Eh) Index Name Data Type...
Page 169 7. OBJECT DICTIONARY (16) Load-side encoder information 1 Z-phase counter (2B12h) Index Name Data Type Access PDO Mapping 2B12h Load-side encoder information 1 Z-phase counter INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B12h 80000000h to 7FFFFFFFh pulse Impossible The load-side encoder information 1 is returned. (17) Load-side encoder information 2 (2B13h) Index Name...
Page 170 7. OBJECT DICTIONARY (21) Motor-side/load-side position deviation (2B23h) Index Name Data Type Access PDO Mapping 2B23h Motor-side/load-side position deviation INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B23h 80000000h to 7FFFFFFFh pulse Impossible The servo motor-side/load-side position deviation is returned. (22) Motor-side/load-side speed deviation (2B24h) Index Name...
Page 171 7. OBJECT DICTIONARY (26) Number of tough drive operations (2B28h) Index Name Data Type Access PDO Mapping 2B28h Number of tough drive operations UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 2B28h 0000h to FFFFh number of times Impossible The number of tough drive operations is returned. (27) Unit power consumption (2B2Dh) Index Name...
Page 172 7. OBJECT DICTIONARY (31) Remaining command distance (2B31h) Index Name Data Type Access PDO Mapping 2B31h Remaining command distance INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B31h 80000000h to 7FFFFFFFh pos units Impossible The command remaining distance is returned. This object is available with servo amplifiers with software version B2 or later.
Page 173 7. OBJECT DICTIONARY (36) Alarm Monitor 4 Cumulative command pulses (2B84h) Index Name Data Type Access PDO Mapping 2B84h Alarm Monitor 4 Cumulative command pulses INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B84h 80000000h to 7FFFFFFFh pulse Impossible The cumulative command pulses (encoder unit) at alarm occurrence are returned. (37) Alarm Monitor 5 Command pulse frequency (2B85h) Index Name...
Page 174 7. OBJECT DICTIONARY (41) Alarm Monitor 11 Instantaneous torque (2B8Bh) Index Name Data Type Access PDO Mapping 2B8Bh Alarm Monitor 11 Instantaneous torque INTEGER16 Possible Index Default Range Units EEP-ROM Parameter 2B8Bh 8000h to 7FFFh Impossible The instantaneous torque at alarm occurrence is returned. (42) Alarm Monitor 12 Within one-revolution position (2B8Ch) Index Name...
Page 175 7. OBJECT DICTIONARY (46) Alarm Monitor 16 Load-side cumulative feedback pulses (2B90h) Index Name Data Type Access PDO Mapping 2B90h Alarm Monitor 16 Load-side cumulative feedback pulses INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2B90h 80000000h to 7FFFFFFFh pulse Impossible The load-side cumulative feedback pulses at alarm occurrence are returned.
Page 176 7. OBJECT DICTIONARY (51) Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) (2B98h) Index Name Data Type Access PDO Mapping Alarm Monitor 24 Motor-side cumu. feedback pulses 2B98h INTEGER32 Possible (before gear) Index Default Range Units EEP-ROM Parameter 2B98h 80000000h to 7FFFFFFFh pulse Impossible...
Page 177 7. OBJECT DICTIONARY (56) Alarm Monitor 38 Settling time (2BA6h) Index Name Data Type Access PDO Mapping 2BA6h Alarm Monitor 38 Settling time INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2BA6h 80000000h to 7FFFFFFFh Impossible The settling time at alarm occurrence is returned. (57) Alarm Monitor 39 Oscillation detection frequency (2BA7h) Index Name...
Page 178 7. OBJECT DICTIONARY (61) Alarm Monitor 47 Current position (2BAFh) Index Name Data Type Access PDO Mapping 2BAFh Alarm Monitor 47 Current position INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2BAFh 80000000h to 7FFFFFFFh pos units Impossible The current position at alarm occurrence is returned. In the indexer method, the value is fixed to 0. This object is available with servo amplifiers with software version B2 or later.
Page 179: Manufacturer Specific Control Objects
7. OBJECT DICTIONARY 7.3.7 Manufacturer Specific Control Objects (1) External Output pin display (2C11h) Index Name Data Type Access PDO Mapping Number of entries UNSIGNED8 2C11h Impossible External Output pin display1 INTEGER32 Index Default Range Units EEP-ROM Parameter 02h to 02h 2C11h Impossible 00000000h to 0000000Fh...
Page 180 7. OBJECT DICTIONARY (4) Machine diagnostic status (2C20h) Index Name Data Type Access PDO Mapping 2C20h Machine diagnostic status UNSIGNED16 Impossible Index Default Range Units EEP-ROM Parameter 2C20h Refer to the text. Impossible The machine diagnostic status is returned. The description is as follows. This object is available with servo amplifiers with software version B0 or later.
Page 181 7. OBJECT DICTIONARY (6) Dynamic friction torque at forward rotation (at rated speed) (2C22h) Index Name Data Type Access PDO Mapping 2C22h Dynamic friction torque at forward rotation (at rated speed) INTEGER16 Impossible Index Default Range Units EEP-ROM Parameter 2C22h 8000h to 7FFFh 0.1% Impossible...
Page 182 7. OBJECT DICTIONARY (11) Oscillation frequency during motor operating (2C27h) Index Name Data Type Access PDO Mapping 2C27h Oscillation frequency during motor operating INTEGER16 Impossible Index Default Range Units EEP-ROM Parameter 2C27h 8000h to 7FFFh Impossible Vibration frequency during operation is returned in increments of 1 Hz. This object is available with servo amplifiers with software version B0 or later.
Page 183 7. OBJECT DICTIONARY (16) Status DO 1 (2D11h) Index Name Data Type Access PDO Mapping 2D11h Status DO 1 UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 2D11h Refer to the text. Impossible The servo status is returned. Refer to section 5.3.2 (1) for details. (17) Status DO 2 (2D12h) Index Name...
Page 184 7. OBJECT DICTIONARY (21) Velocity limit value (2D20h) Index Name Data Type Access PDO Mapping 2D20h Velocity limit value UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 00000000h to instantaneous permissible 2D20h 50000 vel units Possible PT67 speed Set the speed limit value of the cyclic synchronous torque mode (cst) and the profile torque mode (tq). Unit: [0.01 r/min] ([0.01 mm/s] when a linear servo motor is used) (22) Watch dog counter DL (2D23h) Index...
Page 185 7. OBJECT DICTIONARY (26) Manufacturer Hardware Version 2 (2D31h) Index Name Data Type Access PDO Mapping 2D31h Manufacturer Hardware Version 2 VISIBLE STRING Impossible Index Default Range Units EEP-ROM Parameter 2D31h Impossible The hardware version of the MR-J4-_TM_ servo amplifier is returned. (27) Manufacturer Software Version 2 (2D32h) Index Name...
Page 186 7. OBJECT DICTIONARY (30) Encoder status (2D35h) Index Name Data Type Access PDO Mapping Encoder status UNSIGNED8 2D35h Encoder status1 Impossible UNSIGNED32 Encoder status2 Index Default Range Units EEP-ROM Parameter 02h to 02h 2D35h 00000000h to 00000001h Impossible 00000000h to 00000007h The status of the encoder is returned.
Page 187 7. OBJECT DICTIONARY (32) Scale ABS counter (2D37h) Index Name Data Type Access PDO Mapping 2D37h Scale ABS counter INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 2D37h 80000000h to 7FFFFFFFh Impossible The ABS counter of the scale measurement encoder is returned. Returned values differ depending on the scale measurement encoder type.
Page 188 7. OBJECT DICTIONARY (35) One-touch tuning mode (2D50h) Index Name Data Type Access PDO Mapping 2D50h One-touch tuning mode UNSIGNED8 Impossible Index Default Range Units EEP-ROM Parameter 2D50h 00h to 03h Impossible Setting a value of "1" to "3" starts one-touch tuning. After one-touch tuning is completed, the setting value automatically changes to "0".
Page 189 7. OBJECT DICTIONARY (38) One-touch tuning Clear (2D53h) Index Name Data Type Access PDO Mapping 2D53h One-touch tuning Clear UNSIGNED16 Impossible Index Default Range Units EEP-ROM Parameter 2D53h 0000h to 0001h Impossible The parameter changed in one-touch tuning can be returned to the value before the change. The description of the setting values is as follows.
Page 190: Pds Control Objects
7. OBJECT DICTIONARY 7.3.8 PDS Control Objects (1) Error code (603Fh) Index Name Data Type Access PDO Mapping 603Fh Error code UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 603Fh 0000h to FFFFh Impossible The number of the latest error that occurred after the power on is returned. The description of the error number is the same as that of Pre-defined error field (1003h).
Page 191 7. OBJECT DICTIONARY (5) Halt option code (605Dh) Index Name Data Type Access PDO Mapping 605Dh Halt option code INTEGER16 Impossible Index Default Range Units EEP-ROM Parameter 605Dh 0001h to 0001h Possible PT68 Set how to decelerate the servo motor to a stop at Halt reception. The description of the setting values is as follows.
Page 192 7. OBJECT DICTIONARY (7) Modes of operation display (6061h) Index Name Data Type Access PDO Mapping 6061h Modes of operation display INTEGER8 Possible Index Default Range Units EEP-ROM Parameter 6061h Refer to the text. Impossible The current control mode is returned. The description is as follows. Setting Description value...
Page 193 7. OBJECT DICTIONARY (8) Supported drive modes (6502h) Index Name Data Type Access PDO Mapping 6502h Supported drive modes UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 6502h Refer to the text. Refer to the text. Impossible The supported control mode is returned. The description is as follows. Description Defined value Profile position mode (pp)
Page 194: Position Control Function Objects
7. OBJECT DICTIONARY 7.3.9 Position Control Function Objects (1) Position actual internal value (6063h) Index Name Data Type Access PDO Mapping 6063h Position actual internal value INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 6063h 80000000h to 7FFFFFFFh Impossible The current position is returned. (2) Position actual value (6064h) Index Name...
Page 195 7. OBJECT DICTIONARY (5) Position window (6067h) Index Name Data Type Access PDO Mapping 6067h Position window UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 6067h Refer to the text. pos units Possible PC70 The description of this object is as follows. Setting value Description In the profile position mode (pp), point table mode (pt) or Jog mode (jg), when the time...
Page 196 7. OBJECT DICTIONARY (7) Positioning option code (60F2h) Index Name Data Type Access PDO Mapping 60F2h Positioning option code UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 60F2h 0000h 0000h to 00C0h Possible PT03 Set the profile position mode (pp). The description of this object is as follows. Description Defined value 00b: The positioning is performed with the relative position from the internal absolute...
Page 197: Profile Velocity Mode Objects
7. OBJECT DICTIONARY 7.3.10 Profile Velocity Mode Objects (1) Velocity demand value (606Bh) Index Name Data Type Access PDO Mapping 606Bh Velocity demand value INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 606Bh 80000000h to 7FFFFFFFh vel units Impossible The speed command is returned. Unit: [0.01 r/min] ([0.01 mm/s] when a linear servo motor is used) (2) Velocity actual value (606Ch) Index...
Page 198 7. OBJECT DICTIONARY (5) Velocity threshold (606Fh) Index Name Data Type Access PDO Mapping 606Fh Velocity threshold UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter 606Fh 5000 0000h to FFFFh vel units Possible PC65 In the profile velocity mode (pv), when the time set with Velocity threshold time (6070h) has elapsed with the current speed higher than the setting value of this object, Bit 12 of Statusword (6041h) is turned off.
Page 199: Profile Torque Mode Objects
7. OBJECT DICTIONARY 7.3.11 Profile Torque Mode Objects (1) Target torque (6071h) Index Name Data Type Access PDO Mapping 6071h Target torque INTEGER16 Possible Index Default Range Units EEP-ROM Parameter per thousand of 6071h 8000h to 7FFFh Impossible rated torque Set the torque command used in the cyclic synchronous torque mode (cst) and the profile torque mode (tq).
Page 200 7. OBJECT DICTIONARY (5) Torque slope (6087h) Index Name Data Type Access PDO Mapping 6087h Torque slope UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter per thousand of 6087h 00000000h 00000000h to 00989680h (10000000) rated torque per Possible PT53 second Set the variation per second of the torque command used in the profile torque mode (tq).
Page 201: Profile Position Mode Objects
7. OBJECT DICTIONARY (8) Negative torque limit value (60E1h) Index Name Data Type Access PDO Mapping 60E1h Negative torque limit value UNSIGNED16 Possible Index Default Range Units EEP-ROM Parameter PA12 (POL per thousand of 60E1h 10000 0000h to 2710h (10000) Possible disabled) PA11 rated torque...
Page 202 7. OBJECT DICTIONARY (2) Position range limit (607Bh) Index Name Data Type Access PDO Mapping Position range limit UNSIGNED8 Impossible 607Bh Min position range limit INTEGER32 Possible Max position range limit Index Default Range Units EEP-ROM Parameter 00h to 02h 607Bh Impossible Refer to the text.
Page 203 7. OBJECT DICTIONARY (4) Max profile velocity (607Fh) Index Name Data Type Access PDO Mapping 607Fh Max profile velocity UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 607Fh 2000000 00000000h to 001E8480h (2000000) vel units Possible PT66 Set the speed limit value for the profile position mode (pp), profile velocity mode (pv), Jog mode (jg) and indexer mode (idx).
Page 204 7. OBJECT DICTIONARY (7) Profile acceleration (6083h) Index Name Data Type Access PDO Mapping 6083h Profile acceleration UNSIGNED32 Possible Index Default Range Units EEP-ROM Parameter 6083h Refer to the text. Possible PT49 Set the acceleration time constant for the profile position mode (pp), profile velocity mode (pv), Jog mode (jg) and indexer mode (idx).
Page 205: Homing Mode Objects
7. OBJECT DICTIONARY (10) Motion profile type (6086h) Index Name Data Type Access PDO Mapping 6086h Motion profile type INTEGER16 Possible Index Default Range Units EEP-ROM Parameter 6086h FFFFh to FFFFh (-1) Impossible Set the acceleration/deceleration pattern in the profile position mode (pp). The description is as follows. Setting Description value...
Page 206 7. OBJECT DICTIONARY (3) Homing speeds (6099h) Index Name Data Type Access PDO Mapping Homing speeds UNSIGNED8 Impossible 6099h Speed during search for switch UNSIGNED32 Possible Speed during search for zero Index Default Range Units EEP-ROM Parameter 02h to 02h Impossible 6099h 10000...
Page 207 7. OBJECT DICTIONARY (5) Supported homing method (60E3h) (a) In the cyclic synchronous mode/profile mode/point table method Index Name Data Type Access PDO Mapping Supported homing method UNSIGNED8 1st supported homing method 2nd supported homing method 3rd supported homing method 4th supported homing method 5th supported homing method 6th supported homing method...
Page 208 7. OBJECT DICTIONARY Index Default Range Units EEP-ROM Parameter 27h (39) 25h (37) 23h (35) 22h (34) 21h (33) 1Ch (28) 1Bh (27) 18h (24) 17h (23) 16h (22) 15h (21) 14h (20) 13h (19) 0Ch (12) 0Bh (11) 08h (8) 07h (7) 06h (6) 05h (5)
Page 209 7. OBJECT DICTIONARY (b) Indexer method Index Name Data Type Access PDO Mapping Supported homing method UNSIGNED8 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...
Page 210 7. OBJECT DICTIONARY Index Default Range Units EEP-ROM Parameter 27h (39) 25h (37) 23h (35) FFh (-1) FDh (-3) DFh (-33) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0) 0h (0)
Page 211: Factor Group Objects
7. OBJECT DICTIONARY 7.3.14 Factor Group Objects (1) Polarity (607Eh) Index Name Data Type Access PDO Mapping 607Eh Polarity UNSIGNED8 Possible Index Default Range Units EEP-ROM Parameter PA14 607Eh Refer to the text. Possible PC29 The rotation direction selection can be set. Description reserved reserved...
Page 212 7. OBJECT DICTIONARY (3) Gear ratio (6091h) Index Name Data Type Access PDO Mapping Gear ratio UNSIGNED8 Impossible 6091h Motor revolutions UNSIGNED32 Possible Shaft revolutions Index Default Range Units EEP-ROM Parameter 02h to 02h Impossible 6091h PA06 00000001h to 00FFFFFFh (16777215) Possible PA07 Set the electronic gear.
Page 213 7. OBJECT DICTIONARY Position actual value (6064h) is calculated from Gear ratio (6091h) and Feed constant (6092h), as follows. Position actual internal value (6063h) × Feed constant (6092h) Position actual value (6064h) = Position encoder resolution (608Fh) × Gear ratio (6091h) When the unit is degree, the operation result will be limited within 0 to 359999.
Page 214: Touch Probe Function Objects
7. OBJECT DICTIONARY (6) SI unit velocity (60A9h) Index Name Data Type Access PDO Mapping 60A9h SI unit velocity UNSIGNED32 Impossible Index Default Range Units EEP-ROM Parameter FB010300h (0.01 mm/s) 60A9h vel units Impossible FEB44700h (0.01 r/min) The SI unit velocity is returned. No value can be written because SI unit velocity (60A9h) is set automatically with the control mode.
Page 215: Optional Application Fe Objects
7. OBJECT DICTIONARY (5) Touch probe pos2 pos value (60BCh) Index Name Data Type Access PDO Mapping 60BCh Touch probe pos2 pos value INTEGER32 Possible Index Default Range Units EEP-ROM Parameter 60BCh 80000000h to 7FFFFFFFh pos units Impossible The position latched at the rising edge of touch probe 2 is returned. (6) Touch probe pos2 neg value (60BDh) Index Name...
Page 216 7. OBJECT DICTIONARY Status LSP/LSN Input device Reading reading output changing connector pin Initial device selection reversing Description parameter parameter parameter (Note 2) (Note 3) (Note 4) Negative limit switch [Pr. PA14] = 0 0: LSN (Reverse rotation stroke end) off PC76 1: LSN (Reverse rotation stroke end) on (Note 1)
Page 217 7. OBJECT DICTIONARY (2) Digital outputs (60FEh) Index Name Data Type Access PDO Mapping Number of entries UNSIGNED8 Impossible 60FEh Physical outputs UNSIGNED32 Possible Bit mask Index Default Range Units EEP-ROM Parameter 02h to 02h 60FEh Impossible 00000000h to 000E0000h Set the ON/OFF states of the output devices connected to the servo amplifier.
Page 218: Point Table Mode Objects
7. OBJECT DICTIONARY 7.3.17 Point Table Mode Objects (1) Target point table (2D60h) Index Name Data Type Access PDO Mapping 2D60h Target point table INTEGER16 Possible Index Default Range Units EEP-ROM Parameter 2D60h Refer to the text. Impossible In the point table mode (pt), specify the point table No. to execute. In the indexer mode (idx), set the next station No to execute.
Page 219 7. OBJECT DICTIONARY (4) Point table 001 (2801h) to Point table 255 (28FFh) Index Name Data Type Access PDO Mapping Point table 001 to Point table 255 UNSIGNED8 Point data Speed 2801h Acceleration Impossible Deceleration INTEGER32 28FFh Dwell Auxiliary M code Index Default Range...
Page 220 7. OBJECT DICTIONARY (5) Point table error (2A43h) Index Name Data Type Access PDO Mapping Point table error UNSIGNED8 2A43h Point table error No. Impossible UNSIGNED32 Point table error factor Index Default Range Units EEP-ROM Parameter 02h to 02h 2A43h 00000000h to 000000FFh (0 to 255) Impossible 00000000h to 000000FDh...
Page 221: Cyclic Synchronous Position Mode Objects
7. OBJECT DICTIONARY 7.3.18 Cyclic synchronous position mode Objects (1) Torque offset (60B2h) Index Name Data Type Access PDO Mapping 60B2h Torque offset INTEGER16 Possible Index Default Range Units EEP-ROM Parameter per thousand of 60B2h 8000h to 7FFFh Impossible rated torque Set the torque offset used in the cyclic synchronous position mode (csp), the cyclic synchronous velocity mode (csv) and the cyclic synchronous torque mode (cst).
Page 222 REVISION *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision Jun. 2015 SH(NA)030208ENG-A First edition Apr. 2016 SH(NA)030208ENG-B Torque POL is added. The degree function is added. The scale measurement function is added. The one-touch tuning, machine diagnosis function, and servo amplifier life diagnosis function via a network are added.
Page 223 Revision Date *Manual Number Revision Apr. 2016 SH(NA)030208ENG-B Section 7.3.9 Partially changed. Section 7.3.10 Partially changed. Section 7.3.11 Partially changed. Section 7.3.12 Partially added. Partially changed. Section 7.3.13 Partially changed. Section 7.3.14 Partially added. Partially changed. Section 7.3.15 Partially changed. Section 7.3.16 Newly added.
Page 224 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.
Page 225 MEMO...
Page 226 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. ® Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
Page 227 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.
Page 228 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030208ENG-E(1811)MEE Printed in Japan Specifications are subject to change without notice.

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Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

1 Ethercat COMMUNICATION 1- 1 to

2 Ethercat NETWORK MODULE (ABCC-M40-ECT)

3 Pdo (Process Data Object) Communication

4 Sdo (Service Data Object) Communication

5 Cia 402 DRIVE PROFILE

6 Manufacturer Functions

7 Object Dictionary

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