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MELSERVO MR-J5W-G-N1 Series
Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series Manuals
Manuals and User Guides for Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series. We have
3
Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series manuals available for free PDF download: User Manual
Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series User Manual (222 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 1.79 MB
Table of Contents
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
Chapter 1 Summary of Object Dictionary
19
Structure
19
Object Units
20
Using Appropriate Object Numbers
21
Chapter 2 Object Dictionary List
22
Section Definition of Object Dictionary
22
General Objects
23
PDO Mapping Objects
24
Sync Manager Communication Objects
25
Parameter Objects
26
Alarm Objects
27
Monitor Objects
28
Manufacturer Specific Control Object
30
PDS Control Objects
32
2.10 Position Control Function Objects
33
Profile Velocity Mode Objects
33
Profile Torque Mode Objects
34
Profile Position Mode Objects
34
Homing Mode Objects
35
Point Table Mode Objects
35
Factor Group Objects
36
Touch Probe Function Objects
36
Optional Application FE Objects
37
Cyclic Synchronous Position Mode Objects
37
CHAPTER 3 General Objects
38
Device Type (Obj. 1000H)]
38
[Device Type (Obj. 1000H: 00H)]
38
Error Register (Obj. 1001H)]
38
[Error Register (Obj. 1001H: 00H)]
38
Manufacturer Device Name (Obj. 1008H)]
39
[Manufacturer Device Name (Obj. 1008H: 00H)]
39
Manufacturer Hardware Version (Obj. 1009H)]
39
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
39
Manufacturer Software Version (Obj. 100Ah)]
39
[Manufacturer Software Version (Obj. 100Ah: 00H)]
39
Store Parameters (Obj. 1010H)]
40
[Store Parameters (Obj. 1010H: 00H)]
40
[Save All Parameters (Obj. 1010H: 01H)]
40
Restore Default Parameters (Obj. 1011H)]
41
[Restore Default Parameters (Obj. 1011H: 00H)]
41
[Restore All Default Parameters (Obj. 1011H: 01H)]
41
Identity Object (Obj. 1018H)]
42
[Identity Object (Obj. 1018H: 00H)]
42
[Vendor ID (Obj. 1018H: 01H)]
42
[Product Code (Obj. 1018H: 02H)]
42
[Revision Number (Obj. 1018H: 03H)]
43
[Serial Number (Obj. 1018H: 04H)]
43
Error Settings (Obj. 10F1H)]
44
[Error Settings (Obj. 10F1H: 00H)]
44
[Local Error Reaction (Obj. 10F1H: 01H)]
44
[Sync Error Counter Limit (Obj. 10F1H: 02H)]
44
Version Number (Obj. 67Feh)]
45
[Version Number (Obj. 67Feh: 00H)]
45
CHAPTER 4 PDO Mapping Objects
46
1St Receive PDO Mapping (Obj. 1600H)]
46
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
46
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
47
2Nd Receive PDO Mapping (Obj. 1601H)]
48
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
48
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
49
3Rd Receive PDO Mapping (Obj. 1602H)]
50
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
50
[Mapped Object 001 (Obj. 1602H: 01H)] - [Mapped Object 032 (Obj. 1602H: 20H)]
51
4Th Receive PDO Mapping (Obj. 1603H)]
52
[4Th Receive PDO Mapping (Obj. 1603H: 00H)]
52
1St Transmit PDO Mapping (Obj. 1A00H)]
52
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
52
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
53
2Nd Transmit PDO Mapping (Obj. 1A01H)]
54
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
54
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
55
3Rd Transmit PDO Mapping (Obj. 1A02H)]
56
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
56
4Th Transmit PDO Mapping (Obj. 1A03H)]
56
[4Th Transmit PDO Mapping (Obj. 1A03H: 00H)]
56
CHAPTER 5 Sync Manager Communication Objects
57
Sync Manager Communication Type (Obj. 1C00H)]
57
[Sync Manager Communication Type (Obj. 1C00H: 00H)]
57
[Sync Manager 0 (Obj. 1C00H: 01H)]
57
[Sync Manager 1 (Obj. 1C00H: 02H)]
57
[Sync Manager 2 (Obj. 1C00H: 03H)]
58
[Sync Manager 3 (Obj. 1C00H: 04H)]
58
Sync Manager Rxpdo Assign (Obj. 1C12H)]
59
[Sync Manager Rxpdo Assign (Obj. 1C12H: 00H)]
59
[Assigned PDO 001 (Obj. 1C12H: 01H)]
59
[Assigned PDO 002 (Obj. 1C12H: 02H)]
60
[Assigned PDO 003 (Obj. 1C12H: 03H)]
60
[Assigned PDO 004 (Obj. 1C12H: 04H)]
60
Sync Manager Txpdo Assign (Obj. 1C13H)]
61
[Sync Manager Txpdo Assign (Obj. 1C13H: 00H)]
61
[Assigned PDO 001 (Obj. 1C13H: 01H)]
61
[Assigned PDO 002 (Obj. 1C13H: 02H)]
62
[Assigned PDO 003 (Obj. 1C13H: 03H)]
62
[Assigned PDO 004 (Obj. 1C13H: 04H)]
62
SM Output Parameter (Obj. 1C32H)]
63
[SM Output Parameter (Obj. 1C32H: 00H)]
63
[Synchronization Type (Obj. 1C32H: 01H)]
63
[Cycle Time (Obj. 1C32H: 02H)]
64
[Synchronization Types Supported (Obj. 1C32H: 04H)]
65
[Minimum Cycle Time (Obj. 1C32H: 05H)]
65
[Calc and Copy Time (Obj. 1C32H: 06H)]
66
[Delay Time (Obj. 1C32H: 09H)]
66
[Cycle Time too Small (Obj. 1C32H: 0Ch)]
66
SM Input Parameter (Obj. 1C33H)]
67
[SM Input Parameter (Obj. 1C33H: 00H)]
67
[Synchronization Type (Obj. 1C33H: 01H)]
67
[Cycle Time (Obj. 1C33H: 02H)]
68
[Synchronization Types Supported (Obj. 1C33H: 04H)]
69
[Minimum Cycle Time (Obj. 1C33H: 05H)]
70
[Calc and Copy Time (Obj. 1C33H: 06H)]
70
[Delay Time (Obj. 1C33H: 09H)]
71
[Cycle Time too Small (Obj. 1C33H: 0Ch)]
71
CHAPTER 6 Parameter Objects
72
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
72
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
72
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
72
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
72
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
72
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
72
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
72
PT01 (Obj. 2481H)] - [PT90 (Obj. 24Dah)]
72
PN01 (Obj. 2581H)] - [PN32 (Obj. 25A0H)]
72
PV Group Parameters (Obj. 2691H)]
73
[PV Group Parameters (Obj. 2691H: 00H)]
73
[PV01 (Obj. 2691H: 01H)] - [PV32 (Obj. 2691H: 20H)]
73
[PV33 (Obj. 2691H: 21H)] - [PV40 (Obj. 2691H: 28H)]
73
CHAPTER 7 Alarm Objects
74
Alarm History Newest (Obj. 2A00H)]
74
[Alarm History Newest (Obj. 2A00H: 00H)]
74
[Alarm No. (Obj. 2A00H: 01H)]
74
[Alarm Time (Hour) (Obj. 2A00H: 02H)]
74
[Alarm2 No. (Obj. 2A00H: 03H)]
75
[Alarm Time (Second) (Obj. 2A00H: 04H)]
75
[Alarm Time (Nanosecond) (Obj. 2A00H: 05H)]
75
[Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
76
[Alarm Time (Summer Time) (Obj. 2A00H: 07H)]
76
Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]
77
Clear Alarm History (Obj. 2A40H)]
77
[Clear Alarm History (Obj. 2A40H: 00H)]
77
Current Alarm (Obj. 2A41H)]
77
[Current Alarm (Obj. 2A41H: 00H)]
77
Point Table Error (Obj. 2A43H)]
78
[Point Table Error (Obj. 2A43H: 00H)]
78
[Point Table Error No. (Obj. 2A43H: 01H)]
78
[Point Table Error Factor (Obj. 2A43H: 02H)]
78
Parameter Error Number (Obj. 2A44H)]
79
[Parameter Error Number (Obj. 2A44H: 00H)]
79
Parameter Error List (Obj. 2A45H)]
80
[Parameter Error List (Obj. 2A45H: 00H)]
80
[Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]
80
Reset Alarm (Obj. 2A46H)]
81
[Reset Alarm (Obj. 2A46H: 00H)]
81
Converter Alarm No. (Obj. 2A47H)]
81
[Converter Alarm No. (Obj. 2A47H: 00H)]
81
Drive Recorder History Newest (Obj. 2A70H)]
82
[Drive Recorder History Newest (Obj. 2A70H: 00H)]
82
[Drive Recorder History Index (Obj. 2A70H: 01H)]
82
[Drive Recorder History Alarm Number (Obj. 2A70H: 02H)]
82
[Drive Recorder History Power on Time (Obj. 2A70H: 03H)]
83
[Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]
83
[Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]
83
[Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
84
[Drive Recorder History (Summer Time) (Obj. 2A70H: 07H)]
84
Drive Recorder History 1 (Obj. 2A71H)] - [Drive Recorder History 15 (Obj. 2A7Fh)]
84
CHAPTER 8 Monitor Objects
85
Cumulative Feedback Pulses (Obj. 2B01H)]
85
[Cumulative Feedback Pulses (Obj. 2B01H: 00H)]
85
Servo Motor Speed (Obj. 2B02H)]
85
[Servo Motor Speed (Obj. 2B02H: 00H)]
85
Droop Pulses (Obj. 2B03H)]
86
[Droop Pulses (Obj. 2B03H: 00H)]
86
Cumulative Command Pulses (Obj. 2B04H)]
86
[Cumulative Command Pulses (Obj. 2B04H: 00H)]
86
Command Pulse Frequency (Obj. 2B05H)]
86
[Command Pulse Frequency (Obj. 2B05H: 00H)]
86
Regenerative Load Ratio (Obj. 2B08H)]
87
[Regenerative Load Ratio (Obj. 2B08H: 00H)]
87
Effective Load Ratio (Obj. 2B09H)]
87
[Effective Load Ratio (Obj. 2B09H: 00H)]
87
Peak Load Ratio (Obj. 2B0Ah)]
87
[Peak Load Ratio (Obj. 2B0Ah: 00H)]
87
Instantaneous Torque (Obj. 2B0Bh)]
88
[Instantaneous Torque (Obj. 2B0Bh: 00H)]
88
Within One-Revolution Position (Obj. 2B0Ch)]
88
[Within One-Revolution Position (Obj. 2B0Ch: 00H)]
88
ABS Counter (Obj. 2B0Dh)]
89
[ABS Counter (Obj. 2B0Dh: 00H)]
89
Load Inertia Moment Ratio (Obj. 2B0Eh)]
89
[Load Inertia Moment Ratio (Obj. 2B0Eh: 00H)]
89
Bus Voltage (Obj. 2B0Fh)]
90
[Bus Voltage (Obj. 2B0Fh: 00H)]
90
Load-Side Cumulative Feedback Pulses (Obj. 2B10H)]
90
[Load-Side Cumulative Feedback Pulses (Obj. 2B10H: 00H)]
90
Load-Side Droop Pulses (Obj. 2B11H)]
90
[Load-Side Droop Pulses (Obj. 2B11H: 00H)]
90
Load-Side Encoder Information 1 Z-Phase Counter (Obj. 2B12H)]
91
[Load-Side Encoder Information 1 Z-Phase Counter (Obj. 2B12H: 00H)]
91
Load-Side Encoder Information 2 (Obj. 2B13H)]
91
[Load-Side Encoder Information 2 (Obj. 2B13H: 00H)]
91
Cumulative Encoder out Pulses (Obj. 2B16H)]
92
[Cumulative Encoder out Pulses (Obj. 2B16H: 00H)]
92
Temperature of Motor Thermistor (Obj. 2B17H)]
92
[Temperature of Motor Thermistor (Obj. 2B17H: 00H)]
92
Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H)]
92
[Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H: 00H)]
92
Electrical Angle (Obj. 2B19H)]
93
[Electrical Angle (Obj. 2B19H: 00H)]
93
Motor-Side/Load-Side Position Deviation (Obj. 2B23H)]
93
[Motor-Side/Load-Side Position Deviation (Obj. 2B23H: 00H)]
93
Motor-Side/Load-Side Speed Deviation (Obj. 2B24H)]
93
[Motor-Side/Load-Side Speed Deviation (Obj. 2B24H: 00H)]
93
Internal Temperature of Encoder (Obj. 2B25H)]
94
[Internal Temperature of Encoder (Obj. 2B25H: 00H)]
94
Settling Time (Obj. 2B26H)]
94
[Settling Time (Obj. 2B26H: 00H)]
94
Oscillation Detection Frequency (Obj. 2B27H)]
94
[Oscillation Detection Frequency (Obj. 2B27H: 00H)]
94
Number of Tough Drive Operations (Obj. 2B28H)]
95
[Number of Tough Drive Operations (Obj. 2B28H: 00H)]
95
Internal Temperature of Amplifier (Obj. 2B2Ah)]
95
[Internal Temperature of Amplifier (Obj. 2B2Ah: 00H)]
95
Unit Power Consumption (Obj. 2B2Dh)]
95
[Unit Power Consumption (Obj. 2B2Dh: 00H)]
95
Unit Total Power Consumption (Obj. 2B2Eh)]
96
[Unit Total Power Consumption (Obj. 2B2Eh: 00H)]
96
Current Position (Obj. 2B2Fh)]
96
[Current Position (Obj. 2B2Fh: 00H)]
96
Command Position (Obj. 2B30H)]
96
[Command Position (Obj. 2B30H: 00H)]
96
Remaining Command Distance (Obj. 2B31H)]
97
[Remaining Command Distance (Obj. 2B31H: 00H)]
97
Command No. (Obj. 2B32H)]
97
[Command No. (Obj. 2B32H: 00H)]
97
Error Excessive Alarm Margin (Obj. 2B3Fh)]
97
[Error Excessive Alarm Margin (Obj. 2B3Fh: 00H)]
97
Overload Alarm Margin (Obj. 2B40H)]
98
[Overload Alarm Margin (Obj. 2B40H: 00H)]
98
Overshoot Amount (Obj. 2B41H)]
98
[Overshoot Amount (Obj. 2B41H: 00H)]
98
Torque/Thrust Equivalent to Disturbance (Obj. 2B42H)]
98
[Torque/Thrust Equivalent to Disturbance (Obj. 2B42H: 00H)]
98
Unit Power Consumption 2 (Obj. 2B43H)]
99
[Unit Power Consumption 2 (Obj. 2B43H: 00H)]
99
Converter Regenerative Load Ratio (Obj. 2B49H)]
99
[Converter Regenerative Load Ratio (Obj. 2B49H: 00H)]
99
Converter Effective Load Ratio (Obj. 2B4Ah)]
100
[Converter Effective Load Ratio (Obj. 2B4Ah: 00H)]
100
CHAPTER 9 Manufacturer Specific Control Object
101
Drive Recorder Status (Obj. 2C02H)]
101
[Drive Recorder Status (Obj. 2C02H: 00H)]
101
Clear Drive Recorder History (Obj. 2C03H)]
101
[Clear Drive Recorder History (Obj. 2C03H: 00H)]
101
External Output Pin Display (Obj. 2C11H)]
102
[External Output Pin Display (Obj. 2C11H: 00H)]
102
[External Output Pin Display1 (Obj. 2C11H: 01H)]
103
Power on Cumulative Time (Obj. 2C18H)]
105
[Power on Cumulative Time (Obj. 2C18H: 00H)]
105
Number of Inrush Relay On/Off Times (Obj. 2C19H)]
105
[Number of Inrush Relay On/Off Times (Obj. 2C19H: 00H)]
105
Dynamic Relay ON/OFF Number (Obj. 2C1Ah)]
105
[Dynamic Relay ON/OFF Number (Obj. 2C1Ah: 00H)]
105
Machine Diagnostic Status (Obj. 2C20H)]
106
[Machine Diagnostic Status (Obj. 2C20H: 00H)]
106
Static Friction Torque at Forward Rotation (Obj. 2C21H)]
107
[Static Friction Torque at Forward Rotation (Obj. 2C21H: 00H)]
107
Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H)]
107
[Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H: 00H)]
107
Static Friction Torque at Reverse Rotation (Obj. 2C23H)]
107
[Static Friction Torque at Reverse Rotation (Obj. 2C23H: 00H)]
107
Dynamic Friction Torque at Reverse Rotation (at Rated Speed) (Obj. 2C24H)]
108
[Dynamic Friction Torque at Reverse Rotation (at Rated Speed) (Obj. 2C24H: 00H)]
108
Oscillation Frequency During Motor Stop (Obj. 2C25H)]
108
[Oscillation Frequency During Motor Stop (Obj. 2C25H: 00H)]
108
Vibration Level During Motor Stop (Obj. 2C26H)]
108
[Vibration Level During Motor Stop (Obj. 2C26H: 00H)]
108
Oscillation Frequency During Motor Operating (Obj. 2C27H)]
109
[Oscillation Frequency During Motor Operating (Obj. 2C27H: 00H)]
109
Vibration Level During Motor Operating (Obj. 2C28H)]
109
[Vibration Level During Motor Operating (Obj. 2C28H: 00H)]
109
Fault Prediction Status (Obj. 2C29H)]
110
[Fault Prediction Status (Obj. 2C29H: 00H)]
110
Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)]
111
[Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah: 00H)]
111
Friction Based Fault Prediction Lower Threshold (Obj. 2C2Bh)]
111
[Friction Based Fault Prediction Lower Threshold (Obj. 2C2Bh: 00H)]
111
Friction Based Fault Prediction Prepare Status (Obj. 2C2Ch)]
111
[Friction Based Fault Prediction Prepare Status (Obj. 2C2Ch: 00H)]
111
Vibration Based Fault Prediction Threshold (Obj. 2C2Dh)]
112
[Vibration Based Fault Prediction Threshold (Obj. 2C2Dh: 00H)]
112
Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh)]
112
[Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh: 00H)]
112
Machine Total Distance (Obj. 2C2Fh)]
112
[Machine Total Distance (Obj. 2C2Fh: 00H)]
112
Friction Estimate Status (Obj. 2C31H)]
113
[Friction Estimate Status (Obj. 2C31H: 00H)]
113
Backlash Estimation Value (Obj. 2C32H)]
113
[Backlash Estimation Value (Obj. 2C32H: 00H)]
113
Static Friction Based Fault Prediction Upper Threshold (Obj. 2C33H)]
113
[Static Friction Based Fault Prediction Upper Threshold (Obj. 2C33H: 00H)]
113
Static Friction Based Fault Prediction Lower Threshold (Obj. 2C34H)]
114
[Static Friction Based Fault Prediction Lower Threshold (Obj. 2C34H: 00H)]
114
Static Friction Based Fault Prediction Prepare Status (Obj. 2C35H)]
114
[Static Friction Based Fault Prediction Prepare Status (Obj. 2C35H: 00H)]
114
Tension Estimation Value (Obj. 2C36H)]
115
[Tension Estimation Value (Obj. 2C36H: 00H)]
115
Phase Current (Obj. 2C37H)]
116
[Phase Current (Obj. 2C37H: 00H)]
116
[U Phase Current (Obj. 2C37H: 01H)]
116
[V Phase Current (Obj. 2C37H: 02H)]
116
[W Phase Current (Obj. 2C37H: 03H)]
116
Supported Control DI (Obj. 2D00H)]
117
[Supported Control DI (Obj. 2D00H: 00H)]
117
[Supported Control DI 1 (Obj. 2D00H: 01H)]
117
[Supported Control DI 2 (Obj. 2D00H: 02H)]
117
[Supported Control DI 3 (Obj. 2D00H: 03H)]
118
[Supported Control DI 4 (Obj. 2D00H: 04H)]
118
[Supported Control DI 5 (Obj. 2D00H: 05H)]
118
[Supported Control DI 6 (Obj. 2D00H: 06H)]
119
[Supported Control DI 7 (Obj. 2D00H: 07H)]
119
[Supported Control DI 8 (Obj. 2D00H: 08H)]
119
[Supported Control DI 9 (Obj. 2D00H: 09H)]
120
[Supported Control DI 10 (Obj. 2D00H: 0Ah)]
120
Control DI 1 (Obj. 2D01H)]
121
[Control DI 1 (Obj. 2D01H: 00H)]
121
Control DI 2 (Obj. 2D02H)]
121
[Control DI 2 (Obj. 2D02H: 00H)]
121
Control DI 3 (Obj. 2D03H)]
121
[Control DI 3 (Obj. 2D03H: 00H)]
121
Control DI 4 (Obj. 2D04H)]
122
[Control DI 4 (Obj. 2D04H: 00H)]
122
Control DI 5 (Obj. 2D05H)]
122
[Control DI 5 (Obj. 2D05H: 00H)]
122
Control DI 6 (Obj. 2D06H)]
122
[Control DI 6 (Obj. 2D06H: 00H)]
122
Control DI 7 (Obj. 2D07H)]
123
[Control DI 7 (Obj. 2D07H: 00H)]
123
Control DI 8 (Obj. 2D08H)]
123
[Control DI 8 (Obj. 2D08H: 00H)]
123
Control DI 9 (Obj. 2D09H)]
123
[Control DI 9 (Obj. 2D09H: 00H)]
123
Control DI 10 (Obj. 2D0Ah)]
124
[Control DI 10 (Obj. 2D0Ah: 00H)]
124
Supported Status DO (Obj. 2D10H)]
124
[Supported Status DO (Obj. 2D10H: 00H)]
124
[Supported Status DO 1 (Obj. 2D10H: 01H)]
124
[Supported Status DO 2 (Obj. 2D10H: 02H)]
125
[Supported Status DO 3 (Obj. 2D10H: 03H)]
125
[Supported Status DO 4 (Obj. 2D10H: 04H)]
125
[Supported Status DO 5 (Obj. 2D10H: 05H)]
126
[Supported Status DO 6 (Obj. 2D10H: 06H)]
126
[Supported Status DO 7 (Obj. 2D10H: 07H)]
126
[Supported Status DO 8 (Obj. 2D10H: 08H)]
127
[Supported Status DO 9 (Obj. 2D10H: 09H)]
127
[Supported Status DO 10 (Obj. 2D10H: 0Ah)]
127
Status DO 1 (Obj. 2D11H)]
128
[Status DO 1 (Obj. 2D11H: 00H)]
128
Status DO 2 (Obj. 2D12H)]
128
[Status DO 2 (Obj. 2D12H: 00H)]
128
Status DO 3 (Obj. 2D13H)]
128
[Status DO 3 (Obj. 2D13H: 00H)]
128
Status DO 4 (Obj. 2D14H)]
129
[Status DO 4 (Obj. 2D14H: 00H)]
129
Status DO 5 (Obj. 2D15H)]
129
[Status DO 5 (Obj. 2D15H: 00H)]
129
Status DO 6 (Obj. 2D16H)]
129
[Status DO 6 (Obj. 2D16H: 00H)]
129
Status DO 7 (Obj. 2D17H)]
130
[Status DO 7 (Obj. 2D17H: 00H)]
130
Status DO 8 (Obj. 2D18H)]
130
[Status DO 8 (Obj. 2D18H: 00H)]
130
Status DO 9 (Obj. 2D19H)]
130
[Status DO 9 (Obj. 2D19H: 00H)]
130
Status DO 10 (Obj. 2D1Ah)]
131
[Status DO 10 (Obj. 2D1Ah: 00H)]
131
Velocity Limit Value (Obj. 2D20H)]
131
[Velocity Limit Value (Obj. 2D20H: 00H)]
131
Motor Rated Speed (Obj. 2D28H)]
132
[Motor Rated Speed (Obj. 2D28H: 00H)]
132
Manufacturer Device Name 2 (Obj. 2D30H)]
132
[Manufacturer Device Name 2 (Obj. 2D30H: 00H)]
132
Serial Number 2 (Obj. 2D33H)]
132
[Serial Number 2 (Obj. 2D33H: 00H)]
132
Encoder Status (Obj. 2D35H)]
133
[Encoder Status (Obj. 2D35H: 00H)]
133
[Encoder Status 1 (Obj. 2D35H: 01H)]
133
[Encoder Status 2 (Obj. 2D35H: 02H)]
134
Scale Cycle Counter (Obj. 2D36H)]
135
[Scale Cycle Counter (Obj. 2D36H: 00H)]
135
Scale ABS Counter (Obj. 2D37H)]
135
[Scale ABS Counter (Obj. 2D37H: 00H)]
135
Scale Measurement Encoder Resolution (Obj. 2D38H)]
136
[Scale Measurement Encoder Resolution (Obj. 2D38H: 00H)]
136
Scale Measurement Encoder Reception Status (Obj. 2D3Ch)]
136
[Scale Measurement Encoder Reception Status (Obj. 2D3Ch: 00H)]
136
Servo Motor Serial Number (Obj. 2D46H)]
137
[Servo Motor Serial Number (Obj. 2D46H: 00H)]
137
Motor Data 2 (Obj. 2D48H)]
137
[Motor Data 2 (Obj. 2D48H: 00H)]
137
[Motor ID 1 (Obj. 2D48H: 01H)]
137
[Motor ID 2 (Obj. 2D48H: 02H)]
138
[Encoder ID 1 (Obj. 2D48H: 03H)]
138
[Encoder ID 2 (Obj. 2D48H: 04H)]
138
One-Touch Tuning Mode (Obj. 2D50H)]
139
[One-Touch Tuning Mode (Obj. 2D50H: 00H)]
139
One-Touch Tuning Status (Obj. 2D51H)]
139
[One-Touch Tuning Status (Obj. 2D51H: 00H)]
139
One-Touch Tuning Stop (Obj. 2D52H)]
140
[One-Touch Tuning Stop (Obj. 2D52H: 00H)]
140
One-Touch Tuning Clear (Obj. 2D53H)]
140
[One-Touch Tuning Clear (Obj. 2D53H: 00H)]
140
One-Touch Tuning Error Code (Obj. 2D54H)]
141
[One-Touch Tuning Error Code (Obj. 2D54H: 00H)]
141
Software Reset (Obj. 2D5Fh)]
141
[Software Reset (Obj. 2D5Fh: 00H)]
141
CHAPTER 10 PDS Control Objects
142
Error Code (Obj. 603Fh)]
142
[Error Code (Obj. 603Fh: 00H)]
142
Controlword (Obj. 6040H)]
142
[Controlword (Obj. 6040H: 00H)]
142
Statusword (Obj. 6041H)]
146
[Statusword (Obj. 6041H: 00H)]
146
Quick Stop Option Code (Obj. 605Ah)]
149
[Quick Stop Option Code (Obj. 605Ah: 00H)]
149
Halt Option Code (Obj. 605Dh)]
151
[Halt Option Code (Obj. 605Dh: 00H)]
151
Modes of Operation (Obj. 6060H)]
152
[Modes of Operation (Obj. 6060H: 00H)]
152
Modes of Operation Display (Obj. 6061H)]
153
[Modes of Operation Display (Obj. 6061H: 00H)]
153
Supported Drive Modes (Obj. 6502H)]
154
[Supported Drive Modes (Obj. 6502H: 00H)]
154
CHAPTER 11 Position Control Function Objects
155
Position Demand Value (Obj. 6062H)]
155
[Position Demand Value (Obj. 6062H: 00H)]
155
Position Actual Internal Value (Obj. 6063H)]
155
[Position Actual Internal Value (Obj. 6063H: 00H)]
155
Position Actual Value (Obj. 6064H)]
155
[Position Actual Value (Obj. 6064H: 00H)]
155
Following Error Window (Obj. 6065H)]
156
[Following Error Window (Obj. 6065H: 00H)]
156
Following Error Time out (Obj. 6066H)]
156
[Following Error Time out (Obj. 6066H: 00H)]
156
Position Window (Obj. 6067H)]
157
[Position Window (Obj. 6067H: 00H)]
157
Position Window Time (Obj. 6068H)]
157
[Position Window Time (Obj. 6068H: 00H)]
157
Positioning Option Code (Obj. 60F2H)]
158
[Positioning Option Code (Obj. 60F2H: 00H)]
158
Following Error Actual Value (Obj. 60F4H)]
159
[Following Error Actual Value (Obj. 60F4H: 00H)]
159
Control Effort (Obj. 60Fah)]
159
[Control Effort (Obj. 60Fah: 00H)]
159
CHAPTER 12 Profile Velocity Mode Objects
160
Velocity Demand Value (Obj. 606Bh)]
160
[Velocity Demand Value (Obj. 606Bh: 00H)]
160
Velocity Actual Value (Obj. 606Ch)]
160
[Velocity Actual Value (Obj. 606Ch: 00H)]
160
Velocity Window (Obj. 606Dh)]
161
[Velocity Window (Obj. 606Dh: 00H)]
161
Velocity Window Time (Obj. 606Eh)]
161
[Velocity Window Time (Obj. 606Eh: 00H)]
161
Velocity Threshold (Obj. 606Fh)]
162
[Velocity Threshold (Obj. 606Fh: 00H)]
162
Velocity Threshold Time (Obj. 6070H)]
162
[Velocity Threshold Time (Obj. 6070H: 00H)]
162
Target Velocity (Obj. 60Ffh)]
163
[Target Velocity (Obj. 60Ffh: 00H)]
163
Advertisement
Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series User Manual (150 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 11.1 MB
Table of Contents
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
Chapter 1 Summary of Object Dictionary
18
Structure
18
Object Units
19
Using Appropriate Object Numbers
20
CHAPTER 2 General Objects
21
Device Type (Obj. 1000H)]
21
[Device Type (Obj. 1000H: 00H)]
21
Error Register (Obj. 1001H)]
21
[Error Register (Obj. 1001H: 00H)]
21
Manufacturer Device Name (Obj. 1008H)]
21
[Manufacturer Device Name (Obj. 1008H: 00H)]
21
Manufacturer Hardware Version (Obj. 1009H)]
22
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
22
Manufacturer Software Version (Obj. 100Ah)]
22
[Manufacturer Software Version (Obj. 100Ah: 00H)]
22
Store Parameters (Obj. 1010H)]
22
[Store Parameters (Obj. 1010H: 00H)]
22
[Save All Parameters (Obj. 1010H: 01H)]
22
Restore Default Parameters (Obj. 1011H)]
23
[Restore Default Parameters (Obj. 1011H: 00H)]
23
[Restore All Default Parameters (Obj. 1011H: 01H)]
23
Identity Object (Obj. 1018H)]
24
[Identity Object (Obj. 1018H: 00H)]
24
[Vendor ID (Obj. 1018H: 01H)]
24
[Product Code (Obj. 1018H: 02H)]
24
[Revision Number (Obj. 1018H: 03H)]
24
[Serial Number (Obj. 1018H: 04H)]
24
Error Settings (Obj. 10F1H)]
25
[Error Settings (Obj. 10F1H: 00H)]
25
[Local Error Reaction (Obj. 10F1H: 01H)]
25
[Sync Error Counter Limit (Obj. 10F1H: 02H)]
25
Version Number (Obj. 67Feh)]
26
[Version Number (Obj. 67Feh: 00H)]
26
CHAPTER 3 PDO Mapping Objects
27
1St Receive PDO Mapping (Obj. 1600H)]
27
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
27
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
28
2Nd Receive PDO Mapping (Obj. 1601H)]
29
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
29
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
30
3Rd Receive PDO Mapping (Obj. 1602H)]
31
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
31
4Th Receive PDO Mapping (Obj. 1603H)]
31
[4Th Receive PDO Mapping (Obj. 1603H: 00H)]
31
1St Transmit PDO Mapping (Obj. 1A00H)]
31
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
31
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
32
2Nd Transmit PDO Mapping (Obj. 1A01H)]
33
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
33
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
34
3Rd Transmit PDO Mapping (Obj. 1A02H)]
35
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
35
4Th Transmit PDO Mapping (Obj. 1A03H)]
35
[4Th Transmit PDO Mapping (Obj. 1A03H: 00H)]
35
CHAPTER 4 Sync Manager Communication Objects
36
Sync Manager Communication Type (Obj. 1C00H)]
36
[Sync Manager Communication Type (Obj. 1C00H: 00H)]
36
[Sync Manager 0 (Obj. 1C00H: 01H)]
36
[Sync Manager 1 (Obj. 1C00H: 02H)]
36
[Sync Manager 2 (Obj. 1C00H: 03H)]
36
[Sync Manager 3 (Obj. 1C00H: 04H)]
36
Sync Manager Rxpdo Assign (Obj. 1C12H)]
37
[Sync Manager Rxpdo Assign (Obj. 1C12H: 00H)]
37
[Assigned PDO 001 (Obj. 1C12H: 01H)]
37
[Assigned PDO 002 (Obj. 1C12H: 02H)]
37
[Assigned PDO 003 (Obj. 1C12H: 03H)]
37
[Assigned PDO 004 (Obj. 1C12H: 04H)]
37
Sync Manager Txpdo Assign (Obj. 1C13H)]
38
[Sync Manager Txpdo Assign (Obj. 1C13H: 00H)]
38
[Assigned PDO 001 (Obj. 1C13H: 01H)]
38
[Assigned PDO 002 (Obj. 1C13H: 02H)]
38
[Assigned PDO 003 (Obj. 1C13H: 03H)]
38
[Assigned PDO 004 (Obj. 1C13H: 04H)]
38
SM Output Parameter (Obj. 1C32H)]
39
[SM Output Parameter (Obj. 1C32H: 00H)]
39
[Synchronization Type (Obj. 1C32H: 01H)]
39
[Cycle Time (Obj. 1C32H: 02H)]
39
[Synchronization Types Supported (Obj. 1C32H: 04H)]
40
[Minimum Cycle Time (Obj. 1C32H: 05H)]
40
[Calc and Copy Time (Obj. 1C32H: 06H)]
40
[Delay Time (Obj. 1C32H: 09H)]
41
[Cycle Time too Small (Obj. 1C32H: 0Ch)]
41
SM Input Parameter (Obj. 1C33H)]
41
[SM Input Parameter (Obj. 1C33H: 00H)]
41
[Synchronization Type (Obj. 1C33H: 01H)]
41
[Cycle Time (Obj. 1C33H: 02H)]
42
[Synchronization Types Supported (Obj. 1C33H: 04H)]
42
[Minimum Cycle Time (Obj. 1C33H: 05H)]
43
[Calc and Copy Time (Obj. 1C33H: 06H)]
43
[Delay Time (Obj. 1C33H: 09H)]
43
[Cycle Time too Small (Obj. 1C33H: 0Ch)]
43
CHAPTER 5 Parameter Objects
44
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
44
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
44
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
44
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
44
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
44
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
44
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
44
PT01 (Obj. 2481H)] - [PT90 (Obj. 24Dah)]
44
PN01 (Obj. 2581H)] - [PN32 (Obj. 25A0H)]
44
PV Group Parameters (Obj. 2691H)]
45
[PV Group Parameters (Obj. 2691H: 00H)]
45
[PV01 (Obj. 2691H: 01H)] - [PV32 (Obj. 2691H: 20H)]
45
CHAPTER 6 Alarm Objects
46
Alarm History Newest (Obj. 2A00H)]
46
[Alarm History Newest (Obj. 2A00H: 00H)]
46
[Alarm No. (Obj. 2A00H: 01H)]
46
[Alarm Time (Hour) (Obj. 2A00H: 02H)]
46
[Alarm2 No. (Obj. 2A00H: 03H)]
46
[Alarm Time (Second) (Obj. 2A00H: 04H)]
47
[Alarm Time (Nanosecond) (Obj. 2A00H: 05H)]
47
[Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
47
[Alarm Time (Summer Time) (Obj. 2A00H: 07H)]
47
Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]
48
Clear Alarm History (Obj. 2A40H)]
48
[Clear Alarm History (Obj. 2A40H: 00H)]
48
Current Alarm (Obj. 2A41H)]
48
[Current Alarm (Obj. 2A41H: 00H)]
48
Parameter Error Number (Obj. 2A44H)]
48
[Parameter Error Number (Obj. 2A44H: 00H)]
48
Parameter Error List (Obj. 2A45H)]
49
[Parameter Error List (Obj. 2A45H: 00H)]
49
[Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]
49
Reset Alarm (Obj. 2A46H)]
50
[Reset Alarm (Obj. 2A46H: 00H)]
50
Drive Recorder History Newest (Obj. 2A70H)]
50
[Drive Recorder History Newest (Obj. 2A70H: 00H)]
50
[Drive Recorder History Index (Obj. 2A70H: 01H)]
50
[Drive Recorder History Alarm Number (Obj. 2A70H: 02H)]
50
[Drive Recorder History Power on Time (Obj. 2A70H: 03H)]
51
[Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]
51
[Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]
51
[Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
51
[Drive Recorder History (Summer Time) (Obj. 2A70H: 07H)]
51
Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]
52
CHAPTER 7 Monitor Objects
53
Cumulative Feedback Pulses (Obj. 2B01H)]
53
[Cumulative Feedback Pulses (Obj. 2B01H: 00H)]
53
[Number of Tough Drive Operations (Obj. 2B28H: 00H)]
59
Internal Temperature of Amplifier (Obj. 2B2Ah)]
59
[Internal Temperature of Amplifier (Obj. 2B2Ah: 00H)]
59
Unit Power Consumption (Obj. 2B2Dh)]
59
[Unit Power Consumption (Obj. 2B2Dh: 00H)]
59
Unit Total Power Consumption (Obj. 2B2Eh)]
59
[Unit Total Power Consumption (Obj. 2B2Eh: 00H)]
59
Error Excessive Alarm Margin (Obj. 2B3Fh)]
60
[Error Excessive Alarm Margin (Obj. 2B3Fh: 00H)]
60
Overload Alarm Margin (Obj. 2B40H)]
60
[Overload Alarm Margin (Obj. 2B40H: 00H)]
60
Overshoot Amount (Obj. 2B41H)]
60
[Overshoot Amount (Obj. 2B41H: 00H)]
60
Torque/Thrust Equivalent to Disturbance (Obj. 2B42H)]
60
[Torque/Thrust Equivalent to Disturbance (Obj. 2B42H: 00H)]
60
Unit Power Consumption 2 (Obj. 2B43H)]
61
[Unit Power Consumption 2 (Obj. 2B43H: 00H)]
61
CHAPTER 8 Manufacturer Specific Control Object
62
Drive Recorder Status (Obj. 2C02H)]
62
[Drive Recorder Status (Obj. 2C02H: 00H)]
62
Clear Drive Recorder History (Obj. 2C03H)]
62
[Clear Drive Recorder History (Obj. 2C03H: 00H)]
62
External Output Pin Display (Obj. 2C11H)]
63
[External Output Pin Display (Obj. 2C11H: 00H)]
63
[External Output Pin Display1 (Obj. 2C11H: 01H)]
63
Power on Cumulative Time (Obj. 2C18H)]
64
[Power on Cumulative Time (Obj. 2C18H: 00H)]
64
Number of Inrush Relay On/Off Times (Obj. 2C19H)]
64
[Number of Inrush Relay On/Off Times (Obj. 2C19H: 00H)]
64
Dynamic Relay ON/OFF Number (Obj. 2C1Ah)]
64
[Dynamic Relay ON/OFF Number (Obj. 2C1Ah: 00H)]
64
Machine Diagnostic Status (Obj. 2C20H)]
65
[Machine Diagnostic Status (Obj. 2C20H: 00H)]
65
Static Friction Torque at Forward Rotation (Obj. 2C21H)]
66
[Static Friction Torque at Forward Rotation (Obj. 2C21H: 00H)]
66
Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H)]
66
[Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H: 00H)]
66
Static Friction Torque at Reverse Rotation (Obj. 2C23H)]
66
[Static Friction Torque at Reverse Rotation (Obj. 2C23H: 00H)]
66
Dynamic Friction Torque at Reverse Rotation (at Rated Speed) (Obj. 2C24H)]
66
[Dynamic Friction Torque at Reverse Rotation (at Rated Speed) (Obj. 2C24H: 00H)]
66
Oscillation Frequency During Motor Stop (Obj. 2C25H)]
67
[Oscillation Frequency During Motor Stop (Obj. 2C25H: 00H)]
67
Vibration Level During Motor Stop (Obj. 2C26H)]
67
[Oscillation Frequency During Motor Stop (Obj. 2C26H: 00H)]
67
Oscillation Frequency During Motor Operating (Obj. 2C27H)]
67
[Oscillation Frequency During Motor Operating (Obj. 2C27H: 00H)]
67
Vibration Level During Motor Operating (Obj. 2C28H)]
67
[Vibration Level During Motor Operating (Obj. 2C28H: 00H)]
67
Fault Prediction Status (Obj. 2C29H)]
68
[Fault Prediction Status (Obj. 2C29H: 00H)]
68
Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah)]
69
[Friction Based Fault Prediction Upper Threshold (Obj. 2C2Ah: 00H)]
69
Friction Based Fault Prediction Lower Threshold (Obj. 2C2Bh)]
69
[Friction Based Fault Prediction Lower Threshold (Obj. 2C2Bh: 00H)]
69
Friction Based Fault Prediction Prepare Status (Obj. 2C2Ch)]
69
[Friction Based Fault Prediction Prepare Status (Obj. 2C2Ch: 00H)]
69
Vibration Based Fault Prediction Threshold (Obj. 2C2Dh)]
69
[Vibration Based Fault Prediction Threshold (Obj. 2C2Dh: 00H)]
69
Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh)]
70
[Vibration Based Fault Prediction Prepare Status (Obj. 2C2Eh: 00H)]
70
Machine Total Distance (Obj. 2C2Fh)]
70
[Machine Total Distance (Obj. 2C2Fh: 00H)]
70
Friction Estimate Status (Obj. 2C31H)]
70
[Friction Estimate Status (Obj. 2C31H: 00H)]
70
Backlash Estimation Value (Obj. 2C32H)]
70
[Backlash Estimation Value (Obj. 2C32H: 00H)]
70
Static Friction Based Fault Prediction Upper Threshold (Obj. 2C33H)]
71
[Static Friction Based Fault Prediction Upper Threshold (Obj. 2C33H: 00H)]
71
Static Friction Based Fault Prediction Lower Threshold (Obj. 2C34H)]
71
[Static Friction Based Fault Prediction Lower Threshold (Obj. 2C34H: 00H)]
71
Static Friction Based Fault Prediction Prepare Status (Obj. 2C35H)]
71
[Static Friction Based Fault Prediction Prepare Status (Obj. 2C35H: 00H)]
71
Tension Estimation Value (Obj. 2C36H)]
71
[Tension Estimation Value (Obj. 2C36H: 00H)]
71
Phase Current (Obj. 2C37H)]
72
[Phase Current (Obj. 2C37H: 00H)]
72
[U Phase Current (Obj. 2C37H: 01H)]
72
[V Phase Current (Obj. 2C37H: 02H)]
72
[W Phase Current (Obj. 2C37H: 03H)]
72
Supported Control DI (Obj. 2D00H)]
73
[Supported Control DI (Obj. 2D00H: 00H)]
73
[Supported Control DI 1 (Obj. 2D00H: 01H)]
73
[Supported Control DI 2 (Obj. 2D00H: 02H)]
73
[Supported Control DI 3 (Obj. 2D00H: 03H)]
73
[Supported Control DI 4 (Obj. 2D00H: 04H)]
73
[Supported Control DI 5 (Obj. 2D00H: 05H)]
74
[Supported Control DI 6 (Obj. 2D00H: 06H)]
74
[Supported Control DI 7 (Obj. 2D00H: 07H)]
74
[Supported Control DI 8 (Obj. 2D00H: 08H)]
74
[Supported Control DI 9 (Obj. 2D00H: 09H)]
74
[Supported Control DI 10 (Obj. 2D00H: 0Ah)]
75
Control DI 1 (Obj. 2D01H)]
76
[Control DI 1 (Obj. 2D01H: 00H)]
76
Control DI 2 (Obj. 2D02H)]
76
[Control DI 2 (Obj. 2D02H: 00H)]
76
Control DI 3 (Obj. 2D03H)]
76
[Control DI 3 (Obj. 2D03H: 00H)]
76
Control DI 4 (Obj. 2D04H)]
77
[Control DI 4 (Obj. 2D04H: 00H)]
77
[Serial Number 2 (Obj. 2D33H: 00H)]
85
Encoder Status (Obj. 2D35H)]
86
[Encoder Status (Obj. 2D35H: 00H)]
86
[Encoder Status 1 (Obj. 2D35H: 01H)]
86
[Encoder Status 2 (Obj. 2D35H: 02H)]
86
Scale Cycle Counter (Obj. 2D36H)]
87
[Scale Cycle Counter (Obj. 2D36H: 00H)]
87
Scale ABS Counter (Obj. 2D37H)]
87
[Scale ABS Counter (Obj. 2D37H: 00H)]
87
Scale Measurement Encoder Resolution (Obj. 2D38H)]
88
[Scale Measurement Encoder Resolution (Obj. 2D38H: 00H)]
88
Scale Measurement Encoder Reception Status (Obj. 2D3Ch)]
88
[Scale Measurement Encoder Reception Status (Obj. 2D3Ch: 00H)]
88
Servo Motor Serial Number (Obj. 2D46H)]
88
[Servo Motor Serial Number (Obj. 2D46H: 00H)]
88
Motor Data 2 (Obj. 2D48H)]
89
[Motor Data 2 (Obj. 2D48H: 00H)]
89
[Motor ID 1 (Obj. 2D48H: 01H)]
89
[Motor ID 2 (Obj. 2D48H: 02H)]
89
[Encoder ID 1 (Obj. 2D48H: 03H)]
89
[Encoder ID 2 (Obj. 2D48H: 04H)]
90
One-Touch Tuning Mode (Obj. 2D50H)]
91
[One-Touch Tuning Mode (Obj. 2D50H: 00H)]
91
One-Touch Tuning Status (Obj. 2D51H)]
91
[One-Touch Tuning Status (Obj. 2D51H: 00H)]
91
One-Touch Tuning Stop (Obj. 2D52H)]
91
[One-Touch Tuning Stop (Obj. 2D52H: 00H)]
91
One-Touch Tuning Clear (Obj. 2D53H)]
92
[One-Touch Tuning Clear (Obj. 2D53H: 00H)]
92
One-Touch Tuning Error Code (Obj. 2D54H)]
92
[One-Touch Tuning Error Code (Obj. 2D54H: 00H)]
92
CHAPTER 9 PDS Control Objects
93
Error Code (Obj. 603Fh)]
93
[Error Code (Obj. 603Fh: 00H)]
93
Controlword (Obj. 6040H)]
93
[Controlword (Obj. 6040H: 00H)]
93
Statusword (Obj. 6041H)]
95
[Statusword (Obj. 6041H: 00H)]
95
Quick Stop Option Code (Obj. 605Ah)]
97
[Quick Stop Option Code (Obj. 605Ah: 00H)]
97
Halt Option Code (Obj. 605Dh)]
98
[Halt Option Code (Obj. 605Dh: 00H)]
98
Modes of Operation (Obj. 6060H)]
99
[Modes of Operation (Obj. 6060H: 00H)]
99
Modes of Operation Display (Obj. 6061H)]
100
[Modes of Operation Display (Obj. 6061H: 00H)]
100
Supported Drive Modes (Obj. 6502H)]
101
[Supported Drive Modes (Obj. 6502H: 00H)]
101
CHAPTER 10 Position Control Function Objects
102
Position Demand Value (Obj. 6062H)]
102
[Position Demand Value (Obj. 6062H: 00H)]
102
Position Actual Internal Value (Obj. 6063H)]
102
[Position Actual Internal Value (Obj. 6063H: 00H)]
102
Position Actual Value (Obj. 6064H)]
102
[Position Actual Value (Obj. 6064H: 00H)]
102
Following Error Window (Obj. 6065H)]
102
[Following Error Window (Obj. 6065H: 00H)]
102
Following Error Time out (Obj. 6066H)]
103
[Following Error Time out (Obj. 6066H: 00H)]
103
Position Window (Obj. 6067H)]
103
[Position Window (Obj. 6067H: 00H)]
103
Position Window Time (Obj. 6068H)]
103
[Position Window Time (Obj. 6068H: 00H)]
103
Positioning Option Code (Obj. 60F2H)]
104
[Positioning Option Code (Obj. 60F2H: 00H)]
104
Following Error Actual Value (Obj. 60F4H)]
104
[Following Error Actual Value (Obj. 60F4H: 00H)]
104
Control Effort (Obj. 60Fah)]
105
[Control Effort (Obj. 60Fah: 00H)]
105
CHAPTER 11 Profile Velocity Mode Objects
106
Velocity Demand Value (Obj. 606Bh)]
106
[Velocity Demand Value (Obj. 606Bh: 00H)]
106
Velocity Actual Value (Obj. 606Ch)]
106
[Velocity Actual Value (Obj. 606Ch: 00H)]
106
Velocity Window (Obj. 606Dh)]
107
[Velocity Window (Obj. 606Dh: 00H)]
107
Velocity Window Time (Obj. 606Eh)]
107
[Velocity Window Time (Obj. 606Eh: 00H)]
107
Velocity Threshold (Obj. 606Fh)]
107
[Velocity Threshold (Obj. 606Fh: 00H)]
107
Velocity Threshold Time (Obj. 6070H)]
108
[Velocity Threshold Time (Obj. 6070H: 00H)]
108
Target Velocity (Obj. 60Ffh)]
108
[Target Velocity (Obj. 60Ffh: 00H)]
108
CHAPTER 12 Profile Torque Mode Objects
109
Positive/Negative Torque Limit 2 (Obj. 2D6Dh)]
109
[Positive/Negative Torque Limit 2 Setting (Obj. 2D6Dh: 00H)]
109
[Positive/Negative Torque Limit 2 Select (Obj. 2D6Dh: 01H)]
109
[Positive Torque Limit Value 2 (Obj. 2D6Dh: 02H)]
109
[Negative Torque Limit Value 2 (Obj. 2D6Dh: 03H)]
110
Target Torque (Obj. 6071H)]
110
[Target Torque (Obj. 6071H: 00H)]
110
Max Torque (Obj. 6072H)]
110
[Max Torque (Obj. 6072H: 00H)]
110
Torque Demand Value (Obj. 6074H)]
110
[Torque Demand Value (Obj. 6074H: 00H)]
110
Torque Actual Value (Obj. 6077H)]
111
[Torque Actual Value (Obj. 6077H: 00H)]
111
Current Actual Value (Obj. 6078H)]
111
[Current Actual Value (Obj. 6078H: 00H)]
111
Torque Slope (Obj. 6087H)]
111
[Torque Slope (Obj. 6087H: 00H)]
111
Torque Profile Type (Obj. 6088H)]
111
[Torque Profile Type (Obj. 6088H: 00H)]
111
Positive Torque Limit Value (Obj. 60E0H)]
112
[Positive Torque Limit Value (Obj. 60E0H: 00H)]
112
Negative Torque Limit Value (Obj. 60E1H)]
112
[Negative Torque Limit Value (Obj. 60E1H: 00H)]
112
Mitsubishi Electric MELSERVO MR-J5W-G-N1 Series User Manual (128 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 4.26 MB
Table of Contents
Safety Instructions
3
About the Manual
4
Disposal of Waste
4
U.s. Customary Units
6
Table of Contents
7
Chapter 1 Specifications
12
Outline
12
Model Designation
12
Drive Unit/Motor Combinations
13
1.4 Drive Unit Standard Specifications
14
Mr-J5D1-_G_-N1
14
Mr-J5D2-_G_-N1
15
Mr-J5D3-_G_-N1
16
Positioning Mode
17
Functional Safety
18
Environment
19
Function Block Diagram
20
Mr-J5D1-_G_-N1
20
Mr-J5D2-_G_-N1/Mr-J5D3-_G_-N1
21
Configuration Including Peripheral Equipment
22
Special Specifications
23
Drive Units Without the Dynamic Brake (-ED)
23
Chapter 2 Function
24
Restrictions on the MR-J5_-_G
24
Function List
24
Security
33
Chapter 3 Structure
34
Parts Identification
34
Switch Setting and Display of the Drive Unit
37
Switches
37
7-Segment LED
38
Status Leds
41
LED Display
42
Chapter 4 Startup
43
Turning on Drive Unit for the First Time
51
Test Operation of the Servo Motor Alone in Test Operation Mode
52
Equipment Configuration Setting
53
Controller-Related Setting
53
Operation by Controller Command
54
Instructions on Startup
55
Troubleshooting at Startup
55
Duplicate Setting
56
Duplication Using MR Configurator2
56
Test Operation
56
Execution Method
56
Test Operation Mode
57
Motor Driving by Test Operation
58
Motor-Less Operation
62
Output Signal (DO) Forced Output
63
Drive Unit Setting Initialization
64
Initialization Procedure by MR Mode Change
64
Chapter 5 Maintenance, Inspection and Parts Replacement
65
Inspection Items
65
Periodic Inspection
65
Parts with a Service Life
65
Replacing Fan Unit
66
Chapter 6 Compliance with Global Standards
67
Compliance with Global Standards
67
Handling of AC Servo Amplifier Batteries for the United Nations Recommendations on the Transport of Dangerous Goods
67
Target Model
67
Purpose
68
Handling During Transportation
68
Package at Our Shipment
69
Transportation Precaution for Customers
69
Symbol for the New EU Battery Directive
70
Compliance with China Compulsory Certification (CCC)
71
Compliance with the China Rohs Directive
72
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