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Mitsubishi Electric MELSERVO-J4 Instruction Manual

General-purpose/multi-network interface ac servo/servo amplifier
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Download this manual See also: Instruction Manual, Installation Manual
General-Purpose AC Servo
Multi-network Interface AC Servo
MODEL
MR-J4-_TM_
SERVO AMPLIFIER
INSTRUCTION MANUAL
(EtherCAT)

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Summary of Contents for Mitsubishi Electric MELSERVO-J4

  • Page 1 General-Purpose AC Servo Multi-network Interface AC Servo MODEL MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT)

  • Page 2: Safety Instructions

    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 CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with them.
  • Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF-(H) option) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and servo motor.
  • Page 6 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. Use the servo amplifier with the specified servo motor.
  • Page 7 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 8 Relevant manuals Manual name Manual No. MELSERVO MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL SH(NA)030193 MELSERVO-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109 MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113 MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110...
  • Page 9 MEMO A - 8...

  • Page 10: Table Of Contents

    CONTENTS 1. EtherCAT COMMUNICATION 1- 1 to 1-10 1.1 Summary ............................1- 1 1.2 Function list ............................1- 3 1.3 Communication specifications ......................1- 6 1.4 EtherCAT State Machine (ESM) ....................... 1- 7 1.4.1 Communication status ........................ 1- 7 1.4.2 EtherCAT state ........................... 1- 8 1.4.3 Startup ............................
  • Page 11 5.4.4 Cyclic synchronous velocity mode (csv) ................... 6-15 5.4.5 Cyclic synchronous torque mode (cst) ..................6-17 5.4.6 Profile position mode (pp) ......................6-19 5.4.7 Profile velocity mode (pv) ......................6-22 5.4.8 Profile torque mode (tq) ......................6-25 5.4.9 Homing mode (hm) ........................6-27 5.5 Touch probe .............................

  • Page 12: Summary

    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 13 1. EtherCAT COMMUNICATION (3) Synchronous mode (DC mode) /asynchronous mode (Free-run mode) in each control mode Since the cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic torque mode are designed under the assumption that these modes are used in the cyclic synchronous mode with the DC (Distributed Clock) function specified in the EtherCAT standard, use these modes in the synchronous mode (DC mode).

  • Page 14: Function List

    The home position return operation specified in each network is supported. High-resolution encoder of 4194304 pulses/rev is used for the encoder of the High-resolution encoder rotary servo motor compatible with the MELSERVO-J4 series. Absolute position Setting a home position once makes home position return unnecessary at detection system every power-on.
  • Page 15 1. EtherCAT COMMUNICATION Function Description Reference Alarm history clear This function clears alarm histories. Torque limit Limits the servo motor torque. Speed limit This function limits the servo motor speed. Status display Shows servo status on the 3-digit, 7-segment LED display Output signal selection The output devices including ALM (Malfunction) can be assigned to specified (device settings)
  • Page 16 1. EtherCAT COMMUNICATION Function Description Reference Model adaptive control This function drives the servo motor with PID control without using the model MR-J4- disabled adaptive control. _TM_ Servo Lost motion compensation This function improves the response delay occurred when the machine moving Amplifier function direction is reversed.

  • Page 17: 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 18: 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 19: 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 20: 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 Set up the controller following the manual of the controller used.

  • Page 21: 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 22: Ethercat Network Module (Abcc-M40-Ect)

    2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) POINT The EtherCAT Network module (ABCC-M40-ECT) is only for the Mitsubishi 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 23: 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 explanatio This EtherCAT Network module (ABCC-M40-ECT) chapter ERROR LED Section...

  • Page 24: Led Indication

    2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2.3 LED indication The LEDs of the EtherCAT Network module (ABCC-M40-ECT) function according to the regulations of the EtherCAT standard (ETG.1300 EtherCAT Indicator and Labeling Specification). Under certain condition, such as when a fatal error occurs, the EtherCAT Network module (ABCC-M40-ECT) indicates its status by its own specifications.

  • Page 25: 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 26: 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 27: Pdo Setting-Related Object

    3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3.2 PDO setting-related object The following table lists the objects related to the PDO setting. Data Index Object Name Access Default Description Type Sync manager2 synchronization Synchronization type Cycle time 4000000 Shift time 222222 1C32h RECORD Refer to section 7.3.3 (4).

  • Page 28: 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 29 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 30: 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 31: Mapping-Necessary Objects

    3. PDO (PROCESS DATA OBJECT) COMMUNICATION Data Index Object Name Access Default Description Type 4th transmit PDO Mapping 1A03h ARRAY Mapping entry 1 Refer to section 7.3.2 (8). 1 to 32 Mapping entry 32 Sync Manager 2 PDO Assignment 1C12h ARRAY Refer to section 7.3.3 (2).
  • Page 32 3. PDO (PROCESS DATA OBJECT) COMMUNICATION (2) TxPDO Function Mode (Note) (Note) Object name (Index) Touch probe Statusword (6041h) Status DI 1 (2D11h) Status DI 2 (2D12h) Status DI 3 (2D13h) Position actual value (6064h) Following error actual value (60F4h) Velocity actual value (606Ch) Torque actual value (6077h) Touch probe status (60B9h)
  • Page 33 3. PDO (PROCESS DATA OBJECT) COMMUNICATION MEMO 3 - 8...

  • Page 34: 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 35: 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 36: 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 37 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 38 5. CiA 402 DRIVE PROFILE Transition No. Event Remark After processing against the alarm has been completed, (14) Automatic transition servo-off or RA-off is performed and the operation is disabled. Alarms are reset. The state transitions with the Fault Reset command from (15) the master.

  • Page 39: 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 40: 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 Gain switching C_CDP Turn on C_CDP to use the values of [Pr.
  • Page 41 5. CiA 402 DRIVE PROFILE (3) Control DI 3 Symbol Description 5 - 6...

  • Page 42: 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 for the other Vendor-specific statuses.

  • Page 43: 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 44 5. CiA 402 DRIVE PROFILE (2) Status DO 2 Symbol Description Z-phase already passed S_ZPAS 0: Z-phase unpassed after start-up 1: Z-phase passed once or more after start-up Under zero speed 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 45 5. CiA 402 DRIVE PROFILE (3) Status DO 3 Symbol Description During STO S_STO S_STO turns on during STO. Transition to tough drive mode in process S_MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive will turn on S_MTTR.

  • Page 46: 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 47: Control Switching

    5. CiA 402 DRIVE PROFILE 5.4.2 Control switching POINT Changes to the OMS bit of Controlword (6040h) are not accepted until control switching is completed. Before inputting commands, check that the control mode has been switched referring to Modes of operation display (6061h). Because control switching has a delay, the controller must keep sending command values corresponding to the control mode before and after the switching.

  • Page 48: 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) Quick Stop Deceleration (6085h) Control effort Quick stop option code (605Ah) Position (60FAh) Position...
  • Page 49 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 50: 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) Quick Stop Deceleration (6085h) Velocity demand Quick stop option code (605Ah) value Velocity (606Bh)
  • Page 51 5. CiA 402 DRIVE PROFILE (2) OMS bit of Controlword (csv mode) Symbol Description (reserved) reserved (reserved) reserved (reserved) reserved (reserved) reserved (reserved) reserved (3) OMS bit of Statusword (csv mode) Symbol Description (reserved) reserved Target 0: Target velocity (60FFh) is being discarded. velocity 1: Target velocity (60FFh) is being used as a speed control loop input.

  • Page 52: 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 Torque limit value (60E0h, 60E1h) limit Motor control...
  • Page 53 5. CiA 402 DRIVE PROFILE (2) OMS bit of Controlword (csv mode) Symbol Description (reserved) reserved (reserved) reserved (reserved) reserved (reserved) reserved (reserved) reserved (3) OMS bit of Statusword (csv mode) Symbol Description (reserved) reserved 0: Target torque is being discarded. Target torque ignored 1: Target torque is being used as a torque control loop input.

  • Page 54: 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) Profile Acceleration (6083h) Control Profile deceleration (6084h) Acceleration effort limit...
  • Page 55 5. CiA 402 DRIVE PROFILE Index Object Name Data Type Access Default Description Position actual 6063h Current position (Enc inc) internal value 6064h Position actual value Current position (Pos units) Current speed 606Ch Velocity actual value Unit: Vel unit (0.01 r/min or 0.01 mm/s) Current torque 6077h Torque actual value...
  • Page 56 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 57: 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) Velocity demand Profile deceleration (6084h) Acceleration value limit...
  • Page 58 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Velocity demand Speed command (after trajectory 606Bh value generation) Current speed Velocity actual 606Ch 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 %) Torque limit value (forward) Positive torque limit...
  • Page 59 5. CiA 402 DRIVE PROFILE (4) pv mode operation sequence Velocity Actual Value Decelerates with Profile deceleration (6084h) (606Ch) Accelerates with Profile acceleration (6083h) Target Velocity (60FFh) Velocity window time (606Eh) Target reached Statusword (6041h) bit 10 Velocity threshold time (6070h) Speed Statusword (6041h) bit 12 5 - 24...

  • Page 60: 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) Target slope (6087h) Torque demand Torque profile type (6088h) Trajectry (6074h) Generator Controlword (6040h) Motor Max torque (6072h) Torque...
  • Page 61 5. CiA 402 DRIVE PROFILE Data Index Object Name Access Default Description Type Torque limit value (reverse) Negative torque 60E1h 1000 limit value Unit: 0.1 % (rated torque of 100 %) Gear ratio Gear ratio Number of revolutions of the servo motor Motor revolutions 6091h ARRAY...

  • Page 62: 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 speeds (6099h) Homing Position demand internal value (60FCh) method Homing acceleration (609Ah) or Position demand value (6062h) Home offset (607Ch) (1) Related object...
  • Page 63 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 reserved Halt HALT 0: Bit 4 enable 1: Stop axis according to halt option code (605Dh) (reserved) reserved...
  • Page 64 5. CiA 402 DRIVE PROFILE (4) List of Homing method POINT In the following cases, make sure that the Z-phase has been passed through once before the home position return. When using an incremental linear encoder in the linear servo motor control mode When using an incremental external encoder in the fully closed loop control mode...
  • Page 65 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 positive home Forward rotation Note that if the stroke end is detected during home position return, [AL. switch and index pulse 90 Home position return incomplete warning] occurs.
  • Page 66 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 67 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 68 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 69 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 70 5. CiA 402 DRIVE PROFILE 2) Method 4 (Homing on positive home switch and index pulse) and Method 4 (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 71 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 4. Statusword bit 10 Target reached Statusword bit 12...
  • Page 72 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 73 5. CiA 402 DRIVE PROFILE 5) Method 19 and Method 21 (Homing on home switch and 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 74 5. CiA 402 DRIVE PROFILE 6) Method 20 and Method 22 (Homing on home switch and 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 75 5. CiA 402 DRIVE PROFILE 7) Method 23 and Method 27 (Homing on home switch and 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 76 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 (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 77 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 78 5. CiA 402 DRIVE PROFILE Stroke limit (Note) Home position return direction Proximity dog 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 (Data set type home position return) The following figure shows the operation of Homing method -3.
  • Page 79 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 80 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 a home position return is performed at a creep speed of 100 r/min, the home position has an error of ±(Encoder resolution) ×...
  • Page 81 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 a home position return is performed at a creep speed of 100 r/min, the home position has an error of ±(Encoder resolution) ×...
  • Page 82 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 83 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 84 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 85 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 86 5. CiA 402 DRIVE PROFILE (k) Method 24 and Method 28 (Homing on home switch and 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 87 5. CiA 402 DRIVE PROFILE (l) Method 33 and Method 34 (Homing on home switch and 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 88 5. CiA 402 DRIVE PROFILE (m) Method 35 and Method 37 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 35 and Homing method 37. These methods can be performed in the servo-off status. Statusword bit 10 Target reached Statusword bit 12...

  • Page 89: Touch Probe

    5. CiA 402 DRIVE PROFILE 5.5 Touch probe 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) can be memorized and stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function (60B8h).
  • Page 90 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 (Unsupported) (Note) (Reserved) 0: Stop sampling at the rising edge of touch probe 1...
  • Page 91 5. CiA 402 DRIVE PROFILE (2) Timing chart 0x60B8 Bit 0 Touch probe function Enable Touch Probe 1 0x60B8 Bit 1 Trigger first event 0x60B8 Bit 4 Enable Sampling at positive edge 0x60B8 Bit 5 Enable Sampling at negative edge 0x60B9 Bit 0 Touch probe status Touch Probe 1 is enabled...

  • Page 92: 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 time of TPR2 (touch probe 2) with precision of 2 μs.

  • Page 93: 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) or Profile deceleration (6084h) according to the setting of Halt option code (605Dh).

  • Page 94: 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 95 5. CiA 402 DRIVE PROFILE MEMO 5 - 60...

  • Page 96: 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 Default Description Type Cumulative feedback pulses Monitor 1 2B01h (Unit: pulse) Cumulative feedback pulses...
  • Page 97 6. MANUFACTURER FUNCTIONS Data Index Object Name Default Description Type Monitor 37 Encoder inside temperature 2B25h Encoder inside temperature (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 2B28h...

  • Page 98: 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 99: 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 100: 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 101: 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 "*". (1) Network communication reset A parameter is enabled when the EtherCAT state shifts from the Operational state to another state. Refer to section 1.4.4 for the procedure of network disconnection.

  • Page 102: Object Dictionary

    7. OBJECT DICTIONARY 7. OBJECT DICTIONARY 7.1 Store Parameter For the objects that can be saved, write "65766173h" (= reverse order of the ASCII code of "save") to the corresponding sub object of Store Parameter object (1010h) to store the object in the EEP-ROM of the servo amplifier.

  • Page 103: 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 104 7. OBJECT DICTIONARY Group Name Index Monitor Objects Motor-side/load-side position deviation 2B23h Motor-side/load-side speed deviation 2B24h Encoder inside temperature 2B25h Settling time 2B26h Oscillation detection frequency 2B27h Number of tough drive operations 2B28h Unit power consumption 2B2Dh Unit total power consumption 2B2Eh Alarm Monitor 1 Cumulative feedback pulses 2B81h...
  • Page 105 7. OBJECT DICTIONARY Group Name Index PDS Control Objects Error code 603Fh Controlword 6040h Statusword 6041h Quick stop option code 605Ah Halt option code 605Dh Modes of operation 6060h Modes of operation display 6061h Supported drive modes 6502h Position Control Function Objects Position actual internal value 6063h Position actual value...

  • Page 106: 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. 7.3.1 General Objects (1) Device Type (1000h) Index Name...
  • Page 107 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 Default Range Units...
  • Page 108 7. OBJECT DICTIONARY (7) Store parameters (1010h) Index Name Data Type Access PDO Mapping Store parameters UNSIGNED8 Save all parameters (Not Save communication parameters supported) 1010h Impossible (Note) UNSIGNED32 (Not Save application parameters supported) (Note) Default Range Units EEP-ROM Parameter Fixed to 0x03.
  • Page 109 7. OBJECT DICTIONARY (9) Identity Object (1018h) Index Name Data Type Access PDO Mapping Identity Object UNSIGNED8 Vendor ID 1018h Product Code Impossible UNSIGNED32 Revision Number Serial Number Default Range Units EEP-ROM Parameter Fixed to 0x04. 00000A1Eh Fixed to 0x00000A1E. Impossible 00000201h Fixed to 0x00000201.

  • Page 110: 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 Mapped Object 002 Impossible UNSIGNED32 Mapped Object 031 Mapped Object 032 Default Range Units EEP-ROM Parameter...
  • Page 111 7. OBJECT DICTIONARY (3) Receive PDO Mapping (1602h) Index Name Data Type Access PDO Mapping Receive PDO Mapping UNSIGNED8 Mapped Object 001 1602h Mapped Object 002 Impossible UNSIGNED32 Mapped Object 031 Mapped Object 032 Default Range Units EEP-ROM Parameter 0x00 to 0x20 (32) 00000000h 00000000h Impossible...
  • Page 112 7. OBJECT DICTIONARY (5) Transmit PDO Mapping (1A00h) Index Name Data Type Access PDO Mapping Transmit PDO Mapping UNSIGNED8 Mapped Object 001 1A00h Mapped Object 002 Impossible UNSIGNED32 Mapped Object 031 Mapped Object 032 Default Range Units EEP-ROM Parameter 0x00 to 0x20 (32) 60610008h 60410010h Impossible...
  • Page 113 7. OBJECT DICTIONARY (7) Transmit PDO Mapping (1A02h) Index Name Data Type Access PDO Mapping Transmit PDO Mapping UNSIGNED8 Mapped Object 001 1A02h Mapped Object 002 Impossible UNSIGNED32 Mapped Object 031 Mapped Object 032 Default Range Units EEP-ROM Parameter 0x00 to 0x20 (32) 00000000h 00000000h Impossible...

  • Page 114: 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 Default Range Units...
  • Page 115 7. OBJECT DICTIONARY (3) Sync Manager TxPDO assign (1C13h) Index Name Data Type Access PDO Mapping Sync Manager Tx PDO assign UNSIGNED8 Assigned PDO 001 1C13h Assigned PDO 002 Impossible UNSIGNED16 Assigned PDO 003 Assigned PDO 004 Default Range Units EEP-ROM Parameter 0x00 to 0x04...
  • Page 116 7. OBJECT DICTIONARY Set Sync Manager2 (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. 00h: Free Run (Note 1) 01h: Synchronous (Not supported) (Note 2) 02h: DC Sync0 Synchronization Type 03h: DC Sync1 (Not supported) (Note 2)
  • Page 117 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 1C33h Impossible Synchronization Types supported UNSIGNED16 Minimum Cycle Time UNSIGNED32 Calc and Copy Time Cycle Time Too Small UNSIGNED16 Default...
  • Page 118 7. OBJECT DICTIONARY Set Sync Manager3 (TxPDO). The description of each Sub Index is as follows. Name Description Index SM output parameter The number of entries is returned. Set the synchronous mode. 00h: Free Run (Note 1) 01h: Synchronous (Not supported) (Note 2) 02h: DC Sync0 Synchronization Type 03h: DC Sync1 (Not supported) (Note 2)

  • Page 119: 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 Default Range Units EEP-ROM Parameter PA01 Refer to "MR-J4-_TM_ Servo Amplifier Instruction Possible Manual". PA32 The value of the basic setting parameters ([Pr.
  • Page 120 7. OBJECT DICTIONARY (4) Parameter Objects PD (2181h to 21B0h) Index Name Data Type Access PDO Mapping 2181h PD01 INTEGER32 Impossible 21B0h PD48 Default Range Units EEP-ROM Parameter PD01 Refer to "MR-J4-_TM_ Servo Amplifier Instruction Possible Manual". PD48 The value of the I/O setting parameters ([Pr. PD_ _ ]) can be obtained and set. (5) Parameter Objects PE (2201h to 2240h) Index Name...
  • Page 121 7. OBJECT DICTIONARY (7) Parameter Objects PL (2401h to 2430h) Index Name Data Type Access PDO Mapping 2401h PL01 INTEGER32 Impossible 2430h PL48 Default Range Units EEP-ROM Parameter PL01 Refer to "MR-J4-_TM_ Servo Amplifier Instruction Possible Manual". PL48 The value of the linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) can be obtained and set. (8) Parameter Objects PT (2481h to 24D0h) Index Name...

  • Page 122: 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) Default Range Units EEP-ROM Parameter 0x02 to 0x02 0x00000000 to 0xFFFFFFFF Possible 0x00000000 to 0xFFFFFFFF hour...
  • Page 123 7. OBJECT DICTIONARY (4) Current alarm (2A41h) Index Name Data Type Access PDO Mapping 2A41h Current alarm UNSIGNED32 Possible Default Range Units EEP-ROM Parameter 0x00000000 to 0xFFFFFFFF Impossible The number of the current alarm is returned. When no alarm has occurred, 0000000h is returned. The description of the values is as follows.

  • Page 124: Monitor Objects

    7. OBJECT DICTIONARY (6) Parameter error list (2A45h) Index Name Data Type Access PDO Mapping Parameter error list UNSIGNED8 No.1 No.2 2A45h No.3 Impossible UNSIGNED16 No.252 No.253 No.254 Default Range Units EEP-ROM Parameter 0xFE to 0xFE (254) Impossible 0x0000 to 0xFFFF When [AL.
  • Page 125 7. OBJECT DICTIONARY (2) Servo motor speed (2B02h) Index Name Data Type Access PDO Mapping 2B02h Servo motor speed INTEGER32 Possible Default Range Units EEP-ROM Parameter Refer to the 0x80000000 to 0x7FFFFFFF Impossible text. The servo motor speed is returned. Unit: Linear servo motor [mm/s], other than linear servo motor [r/min] (3) Droop pulses (2B03h) Index...
  • Page 126 7. OBJECT DICTIONARY (7) Effective load ratio (2B09h) Index Name Data Type Access PDO Mapping 2B09h Effective load ratio UNSIGNED16 Possible Default Range Units EEP-ROM Parameter 0x0000 to 0xFFFF Impossible The effective load ratio is returned. (8) Peak load ratio (2B0Ah) Index Name Data Type...
  • Page 127 7. OBJECT DICTIONARY (13) Bus voltage (2B0Fh) Index Name Data Type Access PDO Mapping 2B0Fh Bus voltage UNSIGNED16 Possible Default Range Units EEP-ROM Parameter 0x0000 to 0xFFFF Impossible The bus voltage is returned. (14) Load-side cumulative feedback pulses (2B10h) Index Name Data Type Access...
  • Page 128 7. OBJECT DICTIONARY (19) Motor-side cumu. feedback pulses (before gear) (2B18h) Index Name Data Type Access PDO Mapping 2B18h Motor-side cumu. feedback pulses (before gear) INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pulse Impossible The cumulative feedback pulses are returned. (20) Electrical angle (2B19h) Index Name...
  • Page 129 7. OBJECT DICTIONARY (25) Oscillation detection frequency (2B27h) Index Name Data Type Access PDO Mapping 2B27h Oscillation detection frequency INTEGER16 Possible Default Range Units EEP-ROM Parameter 0x8000 to 0x7FFF Impossible The oscillation detection frequency is returned. (26) Number of tough drive operations (2B28h) Index Name Data Type...
  • Page 130 7. OBJECT DICTIONARY (31) Alarm Monitor 3 Droop pulses (2B83h) Index Name Data Type Access PDO Mapping 2B83h Alarm Monitor 3 Droop pulses INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pulse Impossible The droop pulses at alarm occurrence are returned. (32) Alarm Monitor 4 Cumulative command pulses (2B84h) Index Name...
  • Page 131 7. OBJECT DICTIONARY (37) Alarm Monitor 11 Instantaneous torque (2B8Bh) Index Name Data Type Access PDO Mapping 2B8Bh Alarm Monitor 11 Instantaneous torque INTEGER16 Possible Default Range Units EEP-ROM Parameter 0x8000 to 0x7FFF Impossible The instantaneous torque at alarm occurrence is returned. (38) Alarm Monitor 12 Within one-revolution position (2B8Ch) Index Name...
  • Page 132 7. OBJECT DICTIONARY (43) Alarm Monitor 17 Load-side droop pulses (2B91h) Index Name Data Type Access PDO Mapping 2B91h Alarm Monitor 17 Load-side droop pulses INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pulse Impossible The load-side droop pulses (load-side encoder unit) at alarm occurrence are returned. (44) Alarm Monitor 18 Load-side encoder information 1 Z-phase counter (2B92h) Index Name...
  • Page 133 7. OBJECT DICTIONARY (48) Alarm Monitor 25 Electrical angle (2B99h) Index Name Data Type Access PDO Mapping 2B99h Alarm Monitor 25 Electrical angle INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pulse Impossible The electrical angle at alarm occurrence is returned. (49) Alarm Monitor 35 Motor-side/load-side position deviation (2BA3h) Index Name...
  • Page 134 7. OBJECT DICTIONARY (53) Alarm Monitor 39 Oscillation detection frequency (2BA7h) Index Name Data Type Access PDO Mapping 2BA7h Alarm Monitor 39 Oscillation detection frequency INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF Impossible The oscillation detection frequency at alarm occurrence is returned. (54) Alarm Monitor 40 Number of tough drive operations (2BA8h) Index Name...

  • Page 135: Manufacturer Specific Control Objects

    7. OBJECT DICTIONARY 7.3.7 Manufacturer Specific Control Objects (1) Control DI 1 (2D01h) Index Name Data Type Access PDO Mapping 2D01h Control DI 1 UNSIGNED16 Possible Default Range Units EEP-ROM Parameter Refer to the text. Impossible Set control commands to control the servo amplifier. Refer to section 5.2.2 (1) for details. (2) Control DI 2 (2D02h) Index Name...
  • Page 136 7. OBJECT DICTIONARY (6) Status DO 3 (2D13h) Index Name Data Type Access PDO Mapping 2D13h Status DO 3 UNSIGNED16 Possible Default Range Units EEP-ROM Parameter Refer to the text. Impossible The servo status is returned. Refer to section 5.3.2 (3) for details. (7) Velocity limit value (2D20h) Index Name...
  • Page 137 7. OBJECT DICTIONARY (11) Manufacturer Device Name 2 (2D30h) Index Name Data Type Access PDO Mapping VISIBLE 2D30h Manufacturer Device Name 2 Impossible STRING Default Range Units EEP-ROM Parameter Impossible The model name of the MR-J4-_TM_ servo amplifier is returned. The description is the same as that of Manufacturer Device Name (1008h).
  • Page 138 7. OBJECT DICTIONARY (15) User parameter configuration (2D34h) Index Name Data Type Access PDO Mapping 2D34h User parameter configuration UNSIGNED16 Impossible Default Range Units EEP-ROM Parameter Refer to the text. Impossible The parameters whose symbols are preceded by * are not automatically enabled. Writing "1EA5" to this object enables the parameters.

  • Page 139: 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 Default Range Units EEP-ROM Parameter 0x0000 to 0xFFFF Impossible The number of the latest error that occurred after the power on is returned. Refer to Pre-defined error field (1003h) for details of the error numbers.
  • Page 140 7. OBJECT DICTIONARY (5) Halt option code (605Dh) Index Name Data Type Access PDO Mapping 605Dh Halt option code INTEGER16 Impossible Default Range Units EEP-ROM Parameter 0x0001 to 0x0001 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 141 7. OBJECT DICTIONARY (7) Modes of operation display (6061h) Index Name Data Type Access PDO Mapping 6061h Modes of operation display INTEGER8 Possible Default Range Units EEP-ROM Parameter Refer to the text. Refer to the text. Impossible The current control mode is returned. The description is as follows. Setting Description value...

  • Page 142: 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 Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF Impossible The current position is returned. (2) Position actual value (6064h) Index Name...
  • Page 143 7. OBJECT DICTIONARY (5) Position window (6067h) Index Name Data Type Access PDO Mapping 6067h Position window UNSIGNED32 Possible Default Range Units EEP-ROM Parameter 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), when the time set with Position windows time (6068h) has...

  • Page 144: Profile Velocity Mode Objects

    7. OBJECT DICTIONARY (8) Following error actual value (60F4h) Index Name Data Type Access PDO Mapping 60F4h Following error actual value INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pos units Impossible The droop pulses are returned. (9) Control effort (60FAh) Index Name Data Type...
  • Page 145 7. OBJECT DICTIONARY (3) Velocity window (606Dh) Index Name Data Type Access PDO Mapping 606Dh Velocity window UNSIGNED16 Possible Default Range Units EEP-ROM Parameter 2000 0x0000 to 0xFFFF vel units Possible PC72 In the profile velocity mode (pv), when the time set with Velocity window time (606Eh) has elapsed with the current speed equal to or lower than the setting value of this object, Bit 10 of Statusword (6041h) is turned on.

  • Page 146: 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 Default Range Units EEP-ROM Parameter per thousand of 0x0000 to 0xFFFF Impossible rated torque Set the torque command used in the cyclic synchronous torque mode (cst) and the profile torque mode (tq).
  • Page 147 7. OBJECT DICTIONARY (5) Torque slope (6087h) Index Name Data Type Access PDO Mapping 6087h Torque slope UNSIGNED32 Possible Default Range Units EEP-ROM Parameter per thousand of 0x00000000 00000000h rated torque per Possible PT53 to 0x00989680 (10000000) second Set the variation per second of the torque command used in the profile torque mode. When 0 is set, the setting value is invalid and the torque command is input with step input.

  • Page 148: Profile Position Mode Objects

    7. OBJECT DICTIONARY 7.3.12 Profile Position Mode Objects (1) Target position (607Ah) Index Name Data Type Access PDO Mapping 607Ah Target position INTEGER32 Possible Default Range Units EEP-ROM Parameter Refer to the text. pos units Impossible Set the position command used in the cyclic synchronous position mode (csp) and the profile position mode (pp).
  • Page 149 7. OBJECT DICTIONARY (4) Max motor speed (6080h) Index Name Data Type Access PDO Mapping 6080h Max motor speed UNSIGNED32 Possible Default Range Units EEP-ROM Parameter Refer to the 0x00000000 to 0xFFFFFFFF Impossible text. The maximum speed of the servo motor is returned. Operation cannot be performed at a speed exceeding the speed set with this object.

  • Page 150: Homing Mode Objects

    7. OBJECT DICTIONARY (8) Quick stop deceleration (6085h) Index Name Data Type Access PDO Mapping 6085h Quick stop deceleration UNSIGNED32 Possible Default Range Units EEP-ROM Parameter 0 to 20000 Possible PC24 Set a deceleration time constant for the Quick stop function. Set a time for the servo motor to stop from the rated speed.
  • Page 151 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 Default Range Units EEP-ROM Parameter 0x02 to 0x02 Impossible 10000 PT05 0 to permissible speed...
  • Page 152 7. OBJECT DICTIONARY (5) Supported homing method (60E3h) 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 153 7. OBJECT DICTIONARY Default Range Units EEP-ROM Parameter 0x28 (40) 0x25 (37) 0x23 (35) 0x22 (34) 0x21 (33) 0x1C (28) 0x1B (27) 0x18 (24) 0x17 (23) 0x16 (22) 0x15 (21) 0x14 (20) 0x13 (19) 0x0C (12) 0x0B (11) 0x08 (8) 0x07 (7) 0x06 (6) 0x05 (5)

  • Page 154: 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 Default Range Units EEP-ROM Parameter 0x00 or 0xC0 Possible PA14 The rotation direction selection can be set. Description reserved reserved reserved reserved...

  • Page 155: Touch Probe Function Objects

    7. OBJECT DICTIONARY 7.3.15 Touch Probe Function Objects (1) Touch probe function (60B8h) Index Name Data Type Access PDO Mapping 60B8h Touch probe function UNSIGNED16 Possible Default Range Units EEP-ROM Parameter 0x0000 to 0xFFFF Impossible Set the command for the touch probe function. Refer to section 5.5 (1) (a) for details. (2) Touch probe status (60B9h) Index Name...
  • Page 156 7. OBJECT DICTIONARY (6) Touch probe pos2 neg value (60BDh) Index Name Data Type Access PDO Mapping 60BDh Touch probe pos2 neg value INTEGER32 Possible Default Range Units EEP-ROM Parameter 0x80000000 to 0x7FFFFFFF pos units Impossible The position latched at the falling edge of touch probe 2 is returned. 7 - 55...
  • Page 157 7. OBJECT DICTIONARY MEMO 7 - 56...
  • Page 158 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 159 MEMO...
  • Page 160 : +61-2-9684-7777 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 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.
  • Page 161 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 162 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030208-A (1506) MEE Printed in Japan Specifications are subject to change without notice.

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