Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1 User manual

MR-J5-G-N1
User's Manual
(Communication Function)
-MR-J5-_G-_N1
-MR-J5W_-_G-N1
Mitsubishi Electric AC Servo System

1
SAFETY INSTRUCTIONS
(Please read the instructions carefully before using the equipment.)
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read
through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full
knowledge of the equipment, safety information and instructions.
In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other
information are shown separately in the "POINT" area.
After reading this manual, keep it accessible to the operator.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in
medium or slight injury.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
WARNING
●To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
●To prevent an electric shock, ground the servo amplifier.
●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
●To prevent an electric shock, mount the servo amplifier before wiring.
●To prevent an electric shock, connect the protective earth (PE) terminal (the terminal marked with the
symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
●To prevent an electric shock, do not touch the conductive parts.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
●To prevent an electric shock, do not operate the switches with wet hands.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

3
CONTENTS
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
CHAPTER 1 FUNCTIONS AND CONFIGURATION 5
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
CiA 402 drive profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
CHAPTER 2 EtherCAT COMMUNICATION 8
2.1 Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 EtherCAT State Machine (ESM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Communication state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EtherCAT state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
CHAPTER 3 SUMMARY OF OBJECT DICTIONARY (OD) 11
3.1 Section definition of object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Saving object dictionary data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Store parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
CHAPTER 4 PDO (Process Data Object) COMMUNICATION 13
4.1 PDO communication cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2 PDO setting-related objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.3 PDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
RxPDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
TxPDO default mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.4 Variable PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.5 Objects that require mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
RxPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
TxPDO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
CHAPTER 5 SDO (Service Data Object) COMMUNICATION 19
5.1 SDO communication-related services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2 SDO Abort Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
CHAPTER 6 SYNCHRONIZATION 21
6.1 Availability of synchronous mode in control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.2 Synchronous mode (DC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 7 CiA 402 DRIVE PROFILE 23
7.1 PDS state transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.2 Controlword/Control DI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Bit definition of Controlword. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Bit definition of Control DI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.3 Statusword/Status DO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Bit definition of Statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4
Bit definition of Status DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Selecting control mode (Modes of operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5 Engineering tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Engineering tool list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
CHAPTER 8 STARTUP 42
8.1 Connection with controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.2 Node address setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.3 Network disconnection procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CHAPTER 9 MANUFACTURER-SPECIFIC FUNCTION 44
9.1 Torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

1 FUNCTIONS AND CONFIGURATION
1.1 Outline 5
1
1FUNCTIONS AND CONFIGURATION
1.1 Outline
EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It is open network communication between a
master station and slave stations via real-time Ethernet developed by Beckhoff Automation GmbH. ETG (EtherCAT
Technology Group) manages EtherCAT.
The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE). The device
type corresponds to a power drive system, and supports the CiA 402 drive profile.
CiA 402 drive profile
The servo amplifiers operate as slave stations which support the CAN application protocol over EtherCAT (CoE). The device
type corresponds to a power drive system, and supports the CiA 402 drive profile.

61 FUNCTIONS AND CONFIGURATION
1.1 Outline
Control mode
The servo amplifier supports the following control modes.
Satisfied standards
The servo amplifiers comply with the standards shown below. For the descriptions which are not in this manual, refer to the
following standards.
Control mode Symbol Description
Cyclic synchronous position mode csp This is a control mode to drive servo motors by receiving a position command cyclically via either
synchronous or asynchronous communication with a controller.
Use an absolute position address for the command.
Cyclic synchronous velocity mode csv This is a control mode to drive servo motors by receiving a speed command cyclically via either synchronous
or asynchronous communication with a controller.
Cyclic synchronous torque mode cst This is a control mode to drive servo motors by receiving a torque command cyclically via either synchronous
or asynchronous communication with a controller.
Profile position mode pp This is a positioning mode to drive servo motors by receiving an end position command via either
synchronous or asynchronous communication with a controller.
Use an absolute position address or a relative position address for the command.
Profile velocity mode pv This is a control mode to drive servo motors by receiving a target speed command via either synchronous or
asynchronous communication with a controller.
Profile torque mode tq This is a control mode to drive servo motors by receiving a target torque command via either synchronous or
asynchronous communication with a controller.
Homing mode hm This is a control mode to perform homing with the method specified by the controller.
Standards Version
ETG.1000.2 EtherCAT Specification - Part2
Physical Layer service definition and protocol specification
V1.0.4
ETG.1000.3 EtherCAT Specification - Part3
Data Link Layer service definition
V1.0.4
ETG.1000.4 EtherCAT Specification - Part4
Data Link Layer protocol specification
V1.0.4
ETG.1000.5 EtherCAT Specification - Part5
Application Layer service definition
V1.0.4
ETG.1000.6 EtherCAT Specification - Part6
Application Layer protocol specification
V1.0.4
ETG.1020 EtherCAT Protocol Enhancements V1.2.0
ETG.1300 EtherCAT Indicator and Labeling Specification V1.1.1
ETG.2000 EtherCAT Slave Information (ESI) Specification V1.0.10
ETG.6010 Implementation Directive for CiA 402 Drive Profile V1.1.0
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Edition 2.0
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
Edition 2.0

1 FUNCTIONS AND CONFIGURATION
1.2 Function list 7
1
1.2 Function list
This list explains the EtherCAT related functions for devices and the whole system.
Category Subcategory Function Description Detailed explanation
Network Open network EtherCAT protocol This protocol supports EtherCAT. Page 8
Communication
specifications
EtherCAT
communication
setting
This setting configures the control mode and network communication. Page 42 STARTUP
Remote
maintenance
File access over
EtherCAT (FoE)
This protocol enables a firmware upload to devices via a network. For
details, contact your local sales office.

Profile ESI This is a setting file on which the information specific to each slave
station (vendor information, product information, profiles, objects, and
other information) is written. Store the ESI file on a controller to use it.

Application
function
Synchronization Distributed clock
(DC)
This function enables DC mode. Page 21
SYNCHRONIZATION

82 EtherCAT COMMUNICATION
2.1 Communication specifications
2EtherCAT COMMUNICATION
2.1 Communication specifications
The communication specifications are shown in the following table.
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Function restrictions" in the
following manual.
MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction)
Item Description Remark
EtherCAT communication specifications IEC 61158 Type12
CAN application protocol over EtherCAT (CoE), IEC
61800-7 CiA 402 Drive Profile

Physical layer 100BASE-TX (IEEE802.3) 
Communication connector Two RJ45 ports (IN port and OUT port) 
Communication
cable
Cable type Category 5e or higher, (double shielded/STP)
straight cable

Standard One of the following standards must be met.
• IEEE802.3 100BASE-TX
• ANSI/TIA/EIA-568-B (Category 5e)
Connector RJ-45 shielded connector
Network topology Line, Tree, Star, or Hybrid of these three topology
types

Communication speed 100 Mbps (Full duplex) 
Transmission distance between stations Max. 100 m 
Number of connection nodes Max. 65535 The number of connection nodes for actual use varies
depending on the specifications of the master controller.
SDO (Mailbox) communication Asynchronous communication
Sending/Receiving: 1 channel each
Maximum data size in sending/receiving:
1486 bytes per channel
PDO (Process Data) communication *1 Cycle time: Select from 0.125 ms, 0.25 ms, 0.5 ms, 1
ms, 2 ms, 4 ms, or 8 ms.
Receive PDO (RxPDO): 1 channel
Send PDO (TxPDO): 1 channel
Multi-axis servo amplifiers do not support a
communication cycle of 0.125 ms.
PDO mapping The servo amplifiers support variable PDO mapping. • Maximum sizes of RxPDO and TxPDO
Page 17 Variable PDO mapping
• Maximum number of object mappings
MR-J5-_G_-_N1: 32
MR-J5W2-_G-N1: 64
MR-J5W3-_G-N1: 96
Distributed clock (DC) DC mode or Free-run mode can be selected. Sync0: Set the same cycle as the PDO communication
cycle
Sync1: Not used
Explicit Device Identification Supported 
LED display RUN, ERROR, LINK/Activity (IN, OUT) 

2 EtherCAT COMMUNICATION
2.2 EtherCAT State Machine (ESM) 9
2
2.2 EtherCAT State Machine (ESM)
The communication states of the MR-J5-G-N1/MR-J5W-G-N1 servo amplifier are classified and managed by EtherCAT State
Machine (ESM) which is defined in the EtherCAT standard.
The communication state transition of multi-axis servo amplifiers is controlled as a single slave station, not as individual axes.
Communication state
Communication states are classified as shown in the table below. There are two types of communication: PDO
communication (process data object) in which command data and feedback data are transmitted and received cyclically, and
SDO communication (service data object) in which object data is transmitted and received asynchronously.
Page 13 PDO (Process Data Object) COMMUNICATION
Page 19 SDO (Service Data Object) COMMUNICATION
ESM state Description
Init The ESM state after turning on the power is the Init state. No SDO communication or PDO communication is possible. The master
station accesses the DL-Information registers and initializes the communication.
Pre-Operational SDO communication is possible. PDO communication is not possible. Initial network settings are configured and the initial transfer
of parameters are made in this state.
Safe-Operational SDO communication is possible. PDO communication is also possible, although all the operations (commands) such as driving
servo motors are disabled. When the DC mode is selected, synchronization is established in this state.
Operational Both the SDO communication and the PDO communication are possible. Commanding via PDO communication is enabled, and
servo motors can be driven.
Bootstrap Mailbox communication via the FoE protocol is possible. This is a state in which the firmware is updated via EtherCAT. (For
manufacturer setting)

10 2 EtherCAT COMMUNICATION
2.2 EtherCAT State Machine (ESM)
EtherCAT state
The servo amplifier can be operated once the state transitions from the Init state through the Pre-Operational and Safe-
Operational state to the Operational state. When the Operational state transitions to other states, initialization of the servo
amplifier is executed to clear internal statuses.
*1 This state is for manufacturer's settings.
Transition No. Description
(1) Turning power on
(2) SDO communication configuration
• The master station sets Sync Manager channels for SDO communication and DL Address registers of the slave.
• The master station requests the slave station to transition to the Pre-Operational state.
• The state transitions to the Pre-Operational state.
(4) PDO communication configuration
• The master station sets configuration parameters (such as PDO mapping) using SDO communication.
• The master station sets Sync Manager channels for PDO communication and FMMU channels of the slave station. FMMU
(Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global address space and the
local address space in EtherCAT communication. The global address space is used for PDO communication, and the local
address space in each slave station stores object data.
• The master station requests the slave to transition to the Safe-Operational state.
• The state transitions to the Safe-Operational state.
(7) Synchronization
• The master station and the slave station synchronize with each other by using Distributed Clocks.
• The master starts to output a valid command value.
• The master requests the slave to transition to the Operational state.
• The state transitions to the Operational state.
(5), (12) When the master station requests the slave station to transition to the Pre-Operational state, the state transitions to the Pre-
Operational state.
(8) When the master station requests the slave station to transition to the Safe-Operational state, the state transitions to the Safe-
Operational state.
(3), (6), (9), (11) In the following case, the state transitions to the Init state.
When the master station requests the slave station to transition to the Init state.
(10) When the master station requests the slave station to transition to the Bootstrap state, the state transitions to the Bootstrap state.
Power on
Pre-Operational
Safe-Operational
Bootstrap
Init
Operational
(1)
(3)
(2)
(4)
(5)
(7)
(8)
(6)
(9)
(12)
(11)(10)
*1

3 SUMMARY OF OBJECT DICTIONARY (OD)
3.1 Section definition of object dictionary 11
3
3SUMMARY OF OBJECT DICTIONARY (OD)
For details of the object dictionary, refer to the following manual.
MR-J5-G-N1 User's Manual (Object Dictionary)
The data that a CAN application protocol over EtherCAT (CoE) device holds, 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. The data is exchanged between the master and slave devices. The aggregate of these objects is called an object
dictionary (OD).
3.1 Section definition of object dictionary
With the CoE protocol (CAN application protocol over EtherCAT), objects of an object dictionary are categorized by Index
depending on the descriptions as shown in the following table. Refer to the Reference column for the details of each object.
A multi-axis servo amplifier uses one ESI file for objects of all axes. Therefore, from the second axis onward, the object
addresses (Index) differ from those of the first axis. Indexes 1000h to 1FFFh are used for common objects for all axes, and
Indexes 2000h onward are used for objects for individual axes. An individual axis can be specified by adding offsets to objects
addresses (Index).
Index Description Reference
1000h to 1FFFh Communication profile MR-J5-G-N1 User's Manual (Object Dictionary)
2000h to 5FFFh Objects defined by the manufacturer
6000h to 9FFFh CiA 402 drive profile
Index Description Reference
0000h to 0FFFh Data type area 
1000h to 1FFFh CoE communication area Page 13 PDO (Process Data Object) COMMUNICATION
Page 19 SDO (Service Data Object) COMMUNICATION
MR-J5-G-N1 User's Manual (Object Dictionary)
2000h to 25FFh Servo parameter area (manufacturer specific) (A-axis) MR-J5-G-N1 User's Manual (Object Dictionary)
2A00h to 2FFFh Servo control command/monitor area (manufacturer
specific) (A-axis)
3000h to 35FFh Servo parameter area (manufacturer specific) (B-axis)
3A00h to 3FFFh Servo control command/monitor area (manufacturer
specific) (B-axis)
4000h to 45FFh Servo parameter area (manufacturer specific) (C-axis)
4A00h to 4FFFh Servo control command/monitor area (manufacturer
specific) (C-axis)
6000h to 67FFh CiA 402 drive profile area (A-axis)
6800h to 6FFFh CiA 402 drive profile area (B-axis)
7000h to 77FFh CiA 402 drive profile area (C-axis)

12 3 SUMMARY OF OBJECT DICTIONARY (OD)
3.2 Saving object dictionary data
3.2 Saving object dictionary data
Some of object dictionary data is stored in a non-volatile memory and some is not. Use [Store Parameters (Obj. 1010h)] for
storing the object dictionary data in the non-volatile memory.
For details about objects that can be stored in the non-volatile memory, refer to the following manual.
MR-J5-G-N1 User's Manual (Object Dictionary)
Store parameters
Writing "65766173h" (= reverse order of the ASCII code "save") to [Store parameters (Obj. 1010h: 01h)] enables the setting
value of an object to be stored in the non-volatile memory of the servo amplifier.
It can take up to around 25 s for [Save all parameters (Obj. 1010h: 01h)] to write all the parameters. Do not shut off the power
supply during writing.
Reading [Save all parameters (Obj. 1010h: 01h)] will produce the following values. Bit 0 is "0" during saving and "1" when not
saving.
Precautions
To shut-off the power supply after executing Store parameters, make sure that a save is not in progress (bit 0 is on) before
shutting off the power.
Restore default parameters
Objects can be reset to the factory setting.
Writing "64616F6Ch" (= reverse order of the ASCII code "load") to [Restore all default parameters (Obj. 1011h: 01h)] followed
by cycling the power starts object initialization. Writing a value other than "load" (= 64616F6Ch) triggers an error. Initialization
can take up to around 25 s.
Reading [Restore all default parameters (Obj. 1011h: 01h)] will display "00000001h" (command valid).
Index Sub Object Name Data Type Access Description
1010h 0 ARRAY Store parameters U8 ro Number of entries
1 Save all parameters U32 rw Saves all parameters.
Bit Description
0 0: Object cannot be saved by the command (save in progress)
1: Object can be saved by the command (save not in progress)
1 0: Not automatically saved
Index Sub Object Name Data Type Access Description
1011h 0 ARRAY Restore default parameters U8 ro Number of entries
1 Restore all default parameters U32 rw All parameter initialization

4 PDO (Process Data Object) COMMUNICATION
4.1 PDO communication cycle 13
4
4PDO (Process Data Object) COMMUNICATION
In PDO (Process Data Object) communication, command data and feedback data can be transmitted and received cyclically
between a master station (controller) and a slave station (servo amplifier). PDOs are distinguished into RxPDOs and TxPDOs.
An RxPDO is used when the slave station receives command data from the controller, and a TxPDO is used when the slave
station transmits status data to the controller.
The variable PDO mapping function enables PDO communication to transmit and receive multiple PDOs in any array at a
time.
4.1 PDO communication cycle
RxPDO communication and TxPDO communication are performed at the same cycle on the servo amplifier.
To change the communication cycle time, rewrite [Cycle Time (Obj. 1C32h: 02h)] with SDO download in the Pre-Operational
state via a network.
Master station
(Controller)
Constant cycle
Command data (RxPDO)
Status data (TxPDO)
Slave station
(Servo amplifier)

14 4 PDO (Process Data Object) COMMUNICATION
4.2 PDO setting-related objects
4.2 PDO setting-related objects
Objects related to PDO settings are shown in the following table.
Index Sub Object Name Data Type Access Description
1C32h 0 RECORD SM output
parameter
U8 ro MR-J5-G-N1 User's Manual (Object
Dictionary)
1 Synchronization Type U16 rw
2 Cycle time U32 rw
4 Synchronization types supported U16 ro
5 Minimum cycle time U32 ro
6 Calc and copy time U32 ro
9 Delay time U32 ro
12 Cycle time too small U16 ro
1C33h 0 RECORD SM input
parameter
U8 ro
1 Synchronization type U16 rw
2 Cycle time U32 rw
4 Synchronization types supported U16 ro
5 Minimum cycle time U32 ro
6 Calc and copy time U32 ro
9 Delay time U32 ro
12 Cycle time too small U16 ro

4 PDO (Process Data Object) COMMUNICATION
4.3 PDO default mapping 15
4
4.3 PDO default mapping
The servo amplifier supports the variable PDO mapping function, which can select objects transmitted and
received in PDO communication. For changing the PDO mapping, refer to the following.
Page 17 Variable PDO mapping
RxPDO default mapping
With the RxPDO default mapping, a master station (controller) transmits command data to a slave station (servo amplifier)
using an RxPDO in the array shown in the following table.
Map No. Initial mapping settings Applications expected to be used for initial
mapping
1st RxPDO map
A-axis: 1600h
B-axis: 1610h
C-axis: 1620h
Modes of operation (Obj. 6060h)
Padding (1 byte)
Controlword (Obj. 6040h)
Control DI 1 (Obj. 2D01h)
Control DI 2 (Obj. 2D02h)
Control DI 3 (Obj. 2D03h)
Target position (Obj. 607Ah)
Target velocity (Obj. 60FFh)
Velocity limit value (Obj. 2D20h)
Target torque (Obj. 6071h)
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
This initial mapping is for an application in which the
modes above are switched and used.
The following function can be used together.
• Speed limit function (in cst)
Map size: 26 bytes
2nd RxPDO map
A-axis: 1601h
B-axis: 1611h
C-axis: 1621h
Modes of operation (Obj. 6060h)
Padding (1 byte)
Controlword (Obj. 6040h)
Control DI 1 (Obj. 2D01h)
Control DI 2 (Obj. 2D02h)
Control DI 3 (Obj. 2D03h)
Target position (Obj. 607Ah)
Target velocity (Obj. 60FFh)
Velocity limit value (Obj. 2D20h)
Target torque (Obj. 6071h)
Profile velocity (Obj. 6081h)
Profile acceleration (Obj. 6083h)
Profile deceleration (Obj. 6084h)
Torque slope (Obj. 6087h)
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
This initial mapping is for an application in which the
modes above are switched and used.
The following function can be used together.
• Speed limit function (in tq)
Map size: 42 bytes
3rd RxPDO map
A-axis: 1602h
B-axis: 1612h
C-axis: 1622h
Unassigned 
4th RxPDO map
A-axis: 1603h
B-axis: 1613h
C-axis: 1623h
Unassigned 

16 4 PDO (Process Data Object) COMMUNICATION
4.3 PDO default mapping
TxPDO default mapping
With the TxPDO default mapping, status data is transmitted to a master station (controller) using a TxPDO in the array shown
in the following table.
Map No. Initial mapping settings Applications expected to be used for initial
mapping
1st TxPDO map
A-axis: 1A00h
B-axis: 1A10h
C-axis: 1A20h
Modes of operation display (Obj. 6061h)
Padding (1 byte)
Statusword (Obj. 6041h)
Status DO 1 (Obj. 2D11h)
Status DO 2 (Obj. 2D12h)
Status DO 3 (Obj. 2D13h)
Position actual value (Obj. 6064h)
Velocity actual value (Obj. 606Ch)
Following error actual value (Obj. 60F4h)
Torque actual value (Obj. 6077h)
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Homing mode (hm)
This initial mapping is for an application in which the
modes above are switched and used.
This mapping is also for an application in which the
following modes are switched and used.
• Profile position mode (pp)
• Profile velocity mode (pv)
• Profile torque mode (tq)
• Homing mode (hm)
Map size: 26 bytes
2nd TxPDO map
A-axis: 1A01h
B-axis: 1A11h
C-axis: 1A21h
Unassigned 
3rd TxPDO map
A-axis: 1A02h
B-axis: 1A12h
C-axis: 1A22h
Unassigned 
4th TxPDO map
A-axis: 1A03h
B-axis: 1A13h
C-axis: 1A23h
Unassigned 

4 PDO (Process Data Object) COMMUNICATION
4.4 Variable PDO mapping 17
4
4.4 Variable PDO mapping
PDO mappings can be changed in the Pre-Operational state.
The servo amplifier supports the variable PDO mapping function, which can arrange desired objects in any array for the data
transmitted and received with RxPDO and TxPDO.
Variable PDO mapping specifications are shown in the following table.
The total bytes of objects that can be assigned to PDOs are limited depending on the communication cycle. The table below
shows the relations between the communication cycles and PDO sizes.
PDO mapping objects are shown in the following table.
Communication Maximum number of objects Maximum size [byte] Number of mapping settings
RxPDO 1-axis servo amplifier: 32
2-axis servo amplifier: 64
3-axis servo amplifier: 96
Refer to the following. 4 (1600h to 1603h/1610h to 1613h/
1620h to 1623h)
TxPDO 4 (1A00h to 1A03h/1A10h to 1A13h/
1A20h to 1A23h)
Communication cycle
[ms]
1-axis servo amplifier 2-axis servo amplifier 3-axis servo amplifier
RxPDO [byte] TxPDO [byte] RxPDO [byte] TxPDO [byte] RxPDO [byte] TxPDO [byte]
0.125 64 64 
0.25 64 64 108 120 120 120
0.5 to 8 64 64 108 120 144 162
Index Sub Object Name Data Type Access Description
1600h 0 RECORD 1st receive PDO Mapping U8 rw MR-J5-G-N1 User's Manual (Object
Dictionary)
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1601h 0 RECORD 2nd receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1602h 0 RECORD 3rd receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1603h 0 RECORD 4th receive PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1A00h 0 RECORD 1st transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1A01h 0 RECORD 2nd Transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1A02h 0 RECORD 3rd transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1A03h 0 RECORD 4th transmit PDO Mapping U8 rw
1 to 32 Mapped Object 001 to Mapped
Object 032
U32 rw
1C12h 0 ARRAY Sync Manager 2 PDO Assignment U8 rw
1 PDO Mapping object index of
assigned RxPDO
U16 rw
2
3
1C13h 0 ARRAY Sync Manager 3 PDO Assignment U8 rw
1 PDO Mapping object index of
assigned TxPDO
U16 rw
2
3

18 4 PDO (Process Data Object) COMMUNICATION
4.5 Objects that require mapping
4.5 Objects that require mapping
Objects required for each mode are shown in the following table.
RxPDO
*1 : Mapping required
: Mapping recommended
: Mapping not required
TxPDO
*1 : Mapping required
: Mapping recommended
: Mapping not required
Object name (Index) Mode *1
csp csv cst pp pv tq hm
Controlword (6040h) 
Control DI 1 (2D01h) Gain switching 
Control DI 2 (2D02h) Proportional control 
Control DI 3 (2D03h) 
Target position (607Ah) 
Target velocity (60FFh) 
Target torque (6071h) 
Profile velocity (6081h) 
Profile acceleration (6083h) 
Profile deceleration (6084h) 
Torque slope (6087h) 
Velocity limit value (2D20h) 
Object name (Index) Mode *1
csp csv cst pp pv tq hm
Statusword (6041h) 
Status DO 1 (2D11h) 
Status DO 2 (2D12h) 
Status DO 3 (2D13h) 
Position actual value (6064h) 
Following error actual value (60F4h) 
Velocity actual value (606Ch) 
Torque actual value (6077h) 