Mitsubishi Electric MELSERVO-JET MR-JET-G Series User manual

MR-JET
User's Manual
(Function)
-MR-JET-_G
-MR-JET-_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]
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 of the servo amplifier to the
protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground.
●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.

3
ABOUT THE MANUAL
e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.
e-Manuals enable the following:
• Searching for desired information in multiple manuals at the same time (manual cross searching)
• Jumping from a link in a manual to another manual for reference
• Browsing for hardware specifications by scrolling over the components shown in product illustrations
• Bookmarking frequently referenced information
• Copying sample programs to engineering tools
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. The
manuals used differ depending on the interface of the servo amplifier. For details, refer to the User's Manual (Introduction).
This manual covers the following servo amplifiers.
• MR-JET-_G/MR-JET-_G-N1
Rotary Servo Motor
Linear Servo Motor
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
This manual is necessary primarily for installing, wiring,
and using options.
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary when looking up details of each
function.
Introduction
Hardware
Communication FunctionThe manual is necessary for using communication functions.
Parameters
The manual is necessary for specifying the causes of alarms
and warnings.

4
Object units
This section explains the pos units, vel units, and acc units used in this manual.
■pos units
The unit is pulse.
■vel units
The unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table.
*1 "0.01 mm/s" is used in the linear servo motor control mode.
■acc units
The unit can be changed using [Pr. PT01.1] as shown in the following table.
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Setting value Unit
00.01 r/min, 0.01 mm/s *1
1pulse/s
Setting value Unit
0ms
1pulse/s2
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]

5
CONTENTS
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CHAPTER 1 FUNCTION 8
1.1 Function explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
CHAPTER 2 CONTROL MODE 12
2.1 Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Control switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Cyclic synchronous position mode (csp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Cyclic synchronous velocity mode (csv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Cyclic synchronous torque mode (cst) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Profile position mode (pp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Profile velocity mode (pv) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Profile torque mode (tq). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Continuous operation to torque control mode (ct) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Homing mode (hm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CHAPTER 3 BASIC FUNCTION 62
3.1 Outline of servo parameter and object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Servo parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.2 Rotation/travel direction selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.3 Stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Explanation of the stroke limit signal names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Servo parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.4 Limit switch release position assessment function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Setting methods of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.5 Command unit selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Speed command unit selection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.6 Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Setting example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
3.7 In-position range setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.8 Assigning I/O devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.9 Regenerative option selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.10 Alarm function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Operation status at alarm occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Operation status at warning occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

6
Returning from an alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Returning from a warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Alarm history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Stop method at occurrence of alarms/warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Timing chart for alarm occurrence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
3.11 Forced stop deceleration function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
3.12 Electromagnetic brake interlock function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Base circuit shut-off delay time function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
3.13 Vertical axis freefall prevention function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
3.14 Acceleration/deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
S-pattern acceleration/deceleration time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Acceleration/deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
3.15 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
3.16 Halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Objects for setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
CHAPTER 4 APPLICABLE FUNCTIONS 106
4.1 Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Vibration tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Instantaneous power failure tough drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.2 Machine diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Friction vibration estimation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.3 Drive recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Specification outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
How to use the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Servo parameter/object dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Standard acquisition waveform list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Waveform recording inapplicable alarm list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
List of auxiliary recording data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.4 Software reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Software reset in MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Software reset via network communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
4.5 Software position limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
4.6 Torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Checking "Limiting torque" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.7 Speed limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Checking "Limiting speed" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

7
CONTENTS
4.8 Infinite feed function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
4.9 Servo amplifier life diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Cumulative energization time function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Relay usage count display function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
4.10 Encoder communication diagnosis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.11 Disconnection/incorrect wiring detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Output open phase detection function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4.12 Overload protection (electronic thermal) function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.13 Command offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
CHAPTER 5 MONITORING 142
5.1 Explanation of monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Name and description of the monitor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Signal block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.2 Checking with MR Configurator2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
"Display all" function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Graph function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
I/O monitor display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
System configuration display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
CHAPTER 6 NETWORK FUNCTION 150
6.1 IP address setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Setting an IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
6.2 Managing accounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Setting an account. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
6.3 FTP server function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Directory structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Steps of accessing the FTP server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
6.4 Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158

81 FUNCTION
1.1 Function explanation
1FUNCTION
1.1 Function explanation
This section lists the functions mentioned in this manual. For details of the functions, refer to each section indicated in the
detailed explanation column.
For the functions which are not listed here, refer to "FUNCTION" in the User's Manual (Introduction).
Control mode
Network
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
CiA 402 control
mode
Cyclic synchronous position
mode (csp)
This function operates the servo motor in the cyclic
synchronous position mode.
A4 Page 13 Cyclic
synchronous position
mode (csp)
Cyclic synchronous velocity
mode (csv)
This function operates the servo motor in the cyclic
synchronous velocity mode.
A4 Page 15 Cyclic
synchronous velocity
mode (csv)
Cyclic synchronous torque
mode (cst)
This function operates the servo motor in the cyclic
synchronous torque mode.
A4 Page 17 Cyclic
synchronous torque mode
(cst)
Profile position mode (pp) This function operates the servo motor in the profile
position mode.
B2 Page 19 Profile
position mode (pp)
Profile velocity mode (pv) This function operates the servo motor in the profile
velocity mode.
B2 Page 23 Profile
velocity mode (pv)
Profile torque mode (tq) This function operates the servo motor in the profile
torque mode.
B2 Page 27 Profile torque
mode (tq)
Homing mode (hm) This function either operates the servo motor in the
homing mode or performs homing.
A4 Page 35 Homing
mode (hm)
Thrust/torque
control
Continuous operation to torque
control mode (ct)
This function enables smooth switching to torque
control from the position control mode or speed
control mode without stopping the servo motor. This
eliminates rapid change of speed and torque,
contributing to reduction in load to the machine and
high-quality product molding.
B0 Page 30 Continuous
operation to torque control
mode (ct)
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Remote
maintenance
Firmware update This function updates the firmware of the servo
amplifier.
A4 Page 155 Firmware
update

1 FUNCTION
1.1 Function explanation 9
1
Operation function
I/O, monitor
Option
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Stop function Quick Stop This function stops the servo motor with a specified
method and switches to the servo-off status.
A4 Page 103 Quick stop
Halt This function stops the servo motor while the servo-
on status is maintained.
A4 Page 105 Halt
Stroke limit function This function uses LSP (Forward rotation stroke end)
and LSN (Reverse rotation stroke end) to limit the
travel interval of the servo motor.
A4 Page 69 Stroke limit
function
This function limits the travel interval of the servo
motor using FLS (Upper stroke limit) and RLS
(Lower stroke limit) via a controller.
A4 Page 69 Stroke limit
function
Software position limit This function uses servo parameters to limit the
travel intervals by address. A function equivalent to
the stroke limit function can be set with the servo
parameter.
A4 Page 131 Software
position limit
Command
generation
Rotation direction selection This function sets the rotation direction of the servo
motor without changing the command polarity.
A4 Page 65 Rotation/
travel direction selection
Electronic gear This function performs positioning control with the
value obtained by multiplying the position command
from the upper controller by a set electronic gear
ratio.
A4 Page 77 Electronic
gear function
Acceleration/deceleration
function
This function enables smooth acceleration/
deceleration.
A4 Page 100
Acceleration/deceleration
function
S-pattern acceleration/
deceleration time constant
This function performs smooth acceleration and
deceleration.
B2 Page 101 S-pattern
acceleration/deceleration
time constant
Torque limit This function limits the servo motor torque. A4 Page 132 Torque limit
Speed limit This function limits the servo motor speed in the
torque control mode.
A4 Page 134 Speed limit
Command offset This function compensates the position/speed/
torque commands by adding a desired amount of
offset to the commands.
A4 Page 140 Command
offset
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
DI/DO Input signal selection (device
selection)
This function assigns input devices such as LSP
(Forward rotation stroke end) to certain pins of the
connector.
A4 Page 83 Assigning I/O
devices
Output signal selection (device
setting)
This function assigns output devices such as MBR
(Electromagnetic brake interlock) to certain pins of
the connector.
A4 Page 83 Assigning I/O
devices
Monitor Power monitoring function This function calculates the running power and the
regenerative power from the data in the servo
amplifier such as speed and current. The power
consumption and other values are displayed on MR
Configurator2.
A4 Page 142
MONITORING
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Regenerative
capacity
enhancement
Regenerative option Use this function if the built-in regenerative resistor
of the servo amplifier does not have sufficient
regenerative capacity for the generated regenerative
power.
A4 Page 84
Regenerative option
selection

10 1 FUNCTION
1.1 Function explanation
Protective functions
Instantaneous power failure measures
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Alarm Alarm function This function displays an alarm or warning when an
error occurs during operation. When an alarm
occurs, ALM (Malfunction) turns off and stops the
servo motor. When a warning occurs, WNG
(Warning) will turn on. The servo motor may stop or
continue operation depending on the warning.
A4 Page 85 Alarm
function
Alarm history clear This function clears alarm histories. A4 Page 87 Alarm history
Power error
detection
Disconnection detection
function
This function detects a disconnection in the servo
motor power supply output.
A4 Page 138
Disconnection/incorrect
wiring detection function
Coasting distance
reduction
Forced stop deceleration
function
This function decelerates the servo motor to a stop
at EM2 (Forced stop 2) off or when there is an alarm.
A4 Page 91 Forced stop
deceleration function
Drop protection Electromagnetic brake interlock
function
This function operates the electromagnetic brake at
servo off and error occurrence, and prevents the
vertical axis from dropping.
A4 Page 93
Electromagnetic brake
interlock function
Vertical axis freefall prevention
function
This function moves the axis up by the mechanical
backlash amount of the electromagnetic brake to
prevent damage to machines.
A4 Page 99 Vertical axis
freefall prevention function
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Tough drive Tough drive function This function makes the equipment continue
operating even under conditions where an alarm
would normally occur. There are two types of tough
drive function: the vibration tough drive and the
instantaneous power failure tough drive.
A4 Page 107 Tough drive
function

1 FUNCTION
1.1 Function explanation 11
1
Diagnostics
History
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Drive data diagnosis Drive recorder This function continuously monitors the servo status
and records the state transition before and after an
alarm for a fixed period of time. The recorded data
can be checked by the Waveform-Display button on
the drive recorder window of MR Configurator2
being clicked.
A4 Page 116 Drive
recorder
Graph function This function obtains the servo status in the graph. A4 Page 147 Graph
function
Failure diagnosis Encoder communication
diagnosis function
This function diagnoses with MR Configurator2
whether the encoder communication error is caused
by the circuit malfunction of the servo amplifier or by
the malfunction of the cables/encoder.
A4 Page 137 Encoder
communication diagnosis
function
Service life
diagnosis
Servo amplifier life diagnosis
function
This function enables checking of the cumulative
energization time, the number of the inrush relay on/
off times, and the number of dynamic brake usage
times. It gives an indication of the replacement time
for parts on the servo amplifier with a service life
(such as the capacitor and the relay) before they
malfunction. MR Configurator2 is required for this
function.
A4 Page 135 Servo
amplifier life diagnosis
function
Motor life diagnosis function This function predicts failures of the equipment and
the servo motor based on the machine total travel
distance. It gives an indication of the replacement
time for the servo motor.
A4
Machine diagnosis function This function uses the data in the servo amplifier to
estimate the friction and vibrational component of
the drive system in the equipment and to recognize
an error in machine parts such as ball screws and
bearings.
A4 Page 111 Machine
diagnosis
System diagnosis System configuration
information
This function uses MR Configurator2 to monitor the
servo amplifier model, connected servo motor,
encoder, and other information.
A4 Page 149 System
configuration display
Functions Detailed functions Description MR-JET
firmware
version
Detailed explanation
Alarm history This function saves information of the alarm that
occurred in the servo amplifier. The information is
saved in chronological order and used for occasions
such as analyzing the cause of the alarm.
A4 Page 87 Alarm history

12 2 CONTROL MODE
2.1 Control mode
2CONTROL MODE
2.1 Control mode
The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are
shown in the following.
*1 Available on servo amplifiers with firmware version B0 or later.
*2 Available on servo amplifiers with firmware version B2 or later.
Control switching
In the motion mode, the control mode can be switched with [Modes of operation (Obj. 6060h)]. Switching the control modes
with [Modes of operation (Obj. 6060h)] applies to the cyclic modes (csp, csv, and cst), profile modes (pp, pv, and tq), homing
mode (hm), and continuous operation to torque control mode (ct).
Category Control mode Symbol Description
CiA 402 control mode Cyclic synchronous position
mode
csp This is a control mode to drive servo motors by receiving a position
command at a constant period in the synchronous 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 at a constant period in the synchronous communication with a
controller.
Cyclic synchronous torque mode cst This is a control mode to drive servo motors by receiving a torque
command at a constant period in the synchronous communication with a
controller.
Profile position mode *2 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 *2 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 *2 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.
Thrust/torque control Continuous operation to torque
control mode *1
ct This function enables smooth switching to torque control from the position
control mode or speed control mode without stopping the servo motor.
This eliminates rapid change of speed and torque, contributing to
reduction in load to the machine and high-quality product molding.

2 CONTROL MODE
2.1 Control mode 13
2
Cyclic synchronous position mode (csp)
The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following.
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub Object Name Description
607Ah VAR Target position Command position
Unit: pos units
607Bh 0 ARRAY Position range limit Number of entries
1 Min position range limit Minimum value of the position range limit
Unit: pos units
2 Max position range limit Maximum value of the position range limit
Unit: pos units
607Dh 0 ARRAY Software position limit Number of entries
1 Min position limit Minimum position address
Unit: pos units
2 Max position limit Maximum position address
Unit: pos units
6085h VAR Quick stop deceleration Deceleration at deceleration to a stop with Quick stop
Unit: acc units
605Ah VAR Quick stop option code Operation setting for Quick stop
Page 103 Quick stop
6080h VAR Max motor speed Servo motor maximum speed
Unit: r/min, mm/s
6063h VAR Position actual internal value Current position
Unit: Enc inc
6064h VAR Position actual value Current position
Unit: pos units
606Ch VAR Velocity actual value Current speed
Unit: vel units
6077h VAR Torque actual value Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft
1 Feed Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60F4h VAR Following error actual value Droop pulses
Unit: pos units
60FAh VAR Control effort Position control loop output (speed command)
Unit: vel units
Position
trajectry
Generator
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Torque offset (Obj. 60B2h)]
[Velocity offset (Obj. 60B1h)]
[Position offset (Obj. 60B0h)]
[Target position (Obj. 607Ah)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value
(Obj. 60F4h)]
[Position actual value
(Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
[pos units] +
×
×
××
×
×
×
×
×
-
[pos units]
[Enc inc]
[Control effort
(Obj. 60FAh)]
[Position actual internal value
(Obj. 6063h)]
Position
limit
function
Position
control
Velocity
control
Torque
control Motor
Encoder
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Software position limit (Obj. 607Dh)]
[pos units]
×
×
+
+
+
+
+
+

14 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csp)
■Statusword OMS Bit (csp)
60E0h VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 77 Electronic gear function
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 77 Electronic gear function
607Eh VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 65 Rotation/travel direction selection
60A8h VAR SI unit position SI unit position
00000000h (1 pulse)
60A9h VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B0h VAR Position offset Position offset
Unit: pos units
60B1h VAR Velocity offset Velocity offset
Unit: vel units
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Drive follows the command
value
0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.
13 Following error 0: No following error
1: Following error
When the time set in [Following error time out (Obj. 6066h)] elapses in a state where the value of [Following error
actual value (Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit becomes "1".
Index Sub Object Name Description

2 CONTROL MODE
2.1 Control mode 15
2
Cyclic synchronous velocity mode (csv)
The functions and related objects of the cyclic synchronous velocity mode (csv) are shown in the following.
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub Object Name Description
60FFh VAR Target velocity Command speed
Unit: vel units
6085h VAR Quick stop deceleration Deceleration at deceleration to a stop with Quick stop
Unit: acc units
605Ah VAR Quick stop option code Operation setting for Quick stop
Page 103 Quick stop
6080h VAR Max motor speed Servo motor maximum speed
Unit: r/min, mm/s
606Bh VAR Velocity demand value Command speed (after limit)
Unit: vel units
6063h VAR Position actual internal value Current position
Unit: Enc inc
6064h VAR Position actual value Current position
Unit: pos units
606Ch VAR Velocity actual value Current speed
Unit: vel units
6077h VAR Torque actual value Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft
1 Feed Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60E0h VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 77 Electronic gear function
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 77 Electronic gear function
607Eh VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 65 Rotation/travel direction selection
Velocity
limit
function
×
×
×
××
×
[Position actual internal value (Obj. 6063h)]
Velocity
control
Torque
control
[Velocity demand value
(Obj. 606Bh)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Quick stop deceleration (Obj. 6085h)]
[Torque offset (Obj. 60B2h)]
[Quick stop option code (Obj. 605Ah)]
[Target velocity (Obj. 60FFh)]
[Position actual value (Obj. 6064h)]
[Gear ratio (Obj. 6091h)]
[Velocity offset (Obj. 60B1h)]
[Polarity (Obj. 607Eh)]
[Velocity actual value (Obj. 606Ch)]
[Max motor speed (Obj. 6080h)]
[Torque actual value (Obj. 6077h)]
Encoder
Motor
×
+
+
+
+

16 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csv)
■Statusword OMS Bit (csv)
60A8h VAR SI unit position SI unit position
00000000h (1 pulse)
60A9h VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B1h VAR Velocity offset Velocity offset
Unit: vel units
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Drive follows the command
value
0: [Target velocity (Obj. 60FFh)] is being discarded.
1: [Target velocity (Obj. 60FFh)] is being used as a speed control loop input.
13 (reserved) The value at reading is undefined.
Index Sub Object Name Description

2 CONTROL MODE
2.1 Control mode 17
2
Cyclic synchronous torque mode (cst)
The functions and related objects of the cyclic synchronous torque mode (cst) are shown in the following.
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub Object Name Description
6071h VAR Target torque Command torque
Unit: 0.1 % (with rated torque being 100 %)
6072h VAR Max torque Maximum torque
Unit: 0.1 % (with rated torque being 100 %)
6074h VAR Torque demand value Command torque (after limit)
Unit: 0.1 % (with rated torque being 100 %)
6063h VAR Position actual internal value Current position
Unit: Enc inc
6064h VAR Position actual value Current position
Unit: pos units
606Ch VAR Velocity actual value Current speed
Unit: vel units
6077h VAR Torque actual value Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft
1 Feed Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60E0h VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 77 Electronic gear function
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 77 Electronic gear function
607Eh VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 65 Rotation/travel direction selection
2D20h VAR Velocity limit value Speed limit value
Unit: vel units
60A8h VAR SI unit position SI unit position
00000000h (1 pulse)
Torque
limit
function
×
×
× × [Position actual internal value (Obj. 6063h)]
Torque
control
[Torque demand value (Obj. 6074h)]
[Max torque (Obj. 6072h)]
[Target torque (Obj. 6071h)]
[Torque offset (Obj. 60B2h)]
[Position actual value (Obj. 6064h)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Velocity actual value (Obj. 606Ch)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Torque actual value (Obj. 6077h)]
Encoder
Motor
×
+
+

18 2 CONTROL MODE
2.1 Control mode
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (cst)
■Statusword OMS Bit (cst)
60A9h VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
00000300h (pulse/s)
60B2h VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" when writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
Bit Symbol Description
10 (reserved) The value at reading is undefined.
12 Drive follows the command
value
0: Target torque is being discarded.
1: Target torque is being used as a torque control loop input.
13 (reserved) The value at reading is undefined.
Index Sub Object Name Description