Doc no.

LEC*-OMY0102

PRODUCT NAME

AC Servo Motor Driver

(Network card type）
MODEL/ Series

LECSN-T□ Series
 LECSN2-T□ Series / Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC),
*1) and other safety regulations.
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218: Manipulating industrial robots -- Safety
.
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
Caution moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Warning death or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
Danger serious injury.

Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring
the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to be
used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or
other applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.

A- 1
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by
Prohibition
Indicates what must be done. For example, grounding is indicated by
Compulsion

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

A- 2
 LECSN2-T□ Series / Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications or a
contract if necessary.
If anything is unclear, contact your nearest sales branch.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.

Limited warranty and Disclaimer

The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.*3)
Also, the product may have specified durability, running distance or replacement parts. Please consult
your nearest sales branch.

For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred
due to the failure of the product.

Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in
the specified catalog for the particular products.

*3) Vacuum pads are excluded from this 1 year warranty.

A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad
or failure due to the deterioration of rubber material are not covered by the limited warranty.

Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry
(Foreign Exchange and Foreign Trade Control Law).

A- 3
1. To prevent electric shock, note the following

WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the driver.
Ground the driver and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, it may cause
an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the s driver. Otherwise, it may cause an
electric shock.
Do not operate the driver with the front cover removed. High-voltage terminals and charging area are
exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the driver even if the power is
off. The driver is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the driver
to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION
Install the driver, servo motor, and regenerative resistor on incombustible material. Installing it directly or
close to combustibles will lead to a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,
L2, and L3) of the driver, in order to configure a circuit that shuts down the power supply on the side of
the driver’s power supply. If a magnetic contactor is not connected, continuous flow of a large current
may cause a fire when the driver malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a
fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the driver and servo motor.
Always connect a molded-case circuit breaker to the power supply of the driver.

3. To prevent injury, note the following

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The driver heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some
time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with them.

A- 4
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the driver. Otherwise, it may drop.
Install the driver and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the driver and the cabinet walls or other equipment.
Do not install or operate the driver and servo motor which have been damaged or have any parts missing.
Do not block the intake and exhaust areas of the driver. Otherwise, it may cause a malfunction.
Do not drop or strike the driver and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Conditions
Environment
Driver Servo motor
[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
In operation
Ambient [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
temperature [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 2000m (6560 ft) above sea level
LECSN2-T5
5.9 or less
LECSN2-T7
(Note) at 10 Hz to 55 Hz
[m/s2] X Y: 49
Vibration (directions of X, Y LECSN2-T8
and Z axes)
LECSN2-T9
series

When handling the driver, be careful about the edged parts such as corners of the driver.
The driver must be installed in the metal cabinet.

A- 5
(2) Wiring

CAUTION
Perform wiring correctly and securely. It may cause unexpected movement of the servo motor.
Do not attach a phase-advancing capacitor, surge killer, or radio noise filter (FR-BIF manufactured by
Mitsubishi Electric Corporation) to the output side of the driver.
Connect the driver and servo motor power phases (U, V, W) correctly, as this may cause the servo motor
to malfunction.
Connect the driver power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Driver
Servo amplifier Servo motor ServoDriver
amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Driver
Servo amplifier Driver
Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM

Control output Control output

RA RA
signal signal

For sink output interface For source output interface

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.
Configure a circuit turn off EM2 or EM1 whenthe main circuitpower supply is turned off to prevernt an
unexpected restart of the driver
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.

(3) Test run and adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not close to moving parts at servo-on status.

A- 6
(4) Usage

CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the driver is off in order to prevent a sudden
restart. Otherwise, it may cause an accident.
Use a noise filter to reduce the effects of electromagnetic interference. Electromagnetic interference may
occur on electronic devices used near the driver.
Do not burn or disassemble the driver, as toxic gas may be generated.

CAUTION
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the driver.
Burning or breaking a driver may cause a toxic gas. Do not burn or break it.
Use the driver with the specified servo motor.
The lock on the servo motor is designed to hold the motor shaft and should not be used for ordinary
braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the lock may not hold the motor shaft. To ensure safety, install a stopper
on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with a lock or external lock to prevent the condition.
Do not use the 24 V DC interface power supply for the lock.
Configure a lock circuit so that it is activated also by an external EMG stop switch.

Contacts must
Contacts mustbebeopened
opened when ALM
when ALM Contacts must be opened
(Malfunction)
(Malfunction) andorMBR
MBR(Electromagnetic
(Electromagnetic w ith the EMG stop sw itch.
brake
brake interlock)
interlock) turns
turns off. off.

Servo motor
RA

B 24 V DC

Electromagnetic
Lock brake
Refer to section 3.9 when wiring for the circuit configuration.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A- 7
(6) Maintenance, inspection and parts replacement

CAUTION
It is recommend that the driver be replaced every 10 years when it is used in general environment.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.

DISPOSAL OF WASTE
Please dispose a driver, battery (primary battery) and other options according to your local laws and
regulations. Please display or notify the final product as necessary.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the driver may malfunction when the EEP-
ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Origin setting in absolute position detection system

STO function of the driver

When using the STO function of the driver, refer to chapter 13.

Compliance with global standards

For the compliance with global standards, refer to appendix 4.

«About the manuals»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the LECSN2-T□ safely.

«Wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [in]
Torque 1 [N•m] 141.6 [oz•in]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•in2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

A- 8
 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-23

1.1 Summary ............................................................................................................................................. 1-2

1.2 Function block diagram ....................................................................................................................... 1-3
1.3 Driver standard specifications ............................................................................................................. 1-7
1.4 Combinations of driver and servo motors ......................................................................................... 1-10
1.5 Function list ....................................................................................................................................... 1-11
1.6 Model designation ............................................................................................................................. 1-14
1.7 Structure ............................................................................................................................................ 1-17
1.7.1 Parts identification ........................................................................................................................ 1-17
1.8 Installation and removal of network card........................................................................................... 1-19
1.9 Configuration including peripheral equipment ................................................................................... 1-22

2. INSTALLATION 2- 1 to 2- 7

2.1 Installation direction and clearances ................................................................................................... 2-3

2.2 Keep out foreign materials .................................................................................................................. 2-5
2.3 Encoder cable stress ........................................................................................................................... 2-5
2.4 Inspection items .................................................................................................................................. 2-5
2.5 Parts having service lives .................................................................................................................... 2-6
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level...
2-7

3. SIGNALS AND WIRING 3- 1 to 3-38

3.1 Input power supply circuit .................................................................................................................... 3-3

3.2 I/O signal connection example ............................................................................................................ 3-7
3.2.1 For sink I/O interface ...................................................................................................................... 3-7
3.2.2 For source I/O interface.................................................................................................................. 3-8
3.3 Explanation of power supply system ................................................................................................... 3-9
3.3.1 Signal explanations ........................................................................................................................ 3-9
3.3.2 Power-on sequence ..................................................................................................................... 3-10
3.3.3 Wiring CNP1, CNP2, and CNP3 .................................................................................................. 3-11
3.4 Connectors and pin assignment........................................................................................................ 3-13
3.5 Signal (device) explanations ............................................................................................................. 3-15
3.5.1 Input device .................................................................................................................................. 3-15
3.5.2 Output device ............................................................................................................................... 3-17
3.5.3 Output signal ................................................................................................................................ 3-19
3.5.4 Power supply ................................................................................................................................ 3-19
3.6 Forced stop deceleration function ..................................................................................................... 3-20
3.6.1 Forced stop deceleration function ................................................................................................ 3-20
3.6.2 Base circuit shut-off delay time function ....................................................................................... 3-22
3.6.3 Vertical axis freefall prevention function ....................................................................................... 3-23
3.6.4 Residual risks of the forced stop function (EM2) .......................................................................... 3-23
3.7 Alarm occurrence timing chart .......................................................................................................... 3-24
3.7.1 When you use the forced stop deceleration function ................................................................... 3-24
3.7.2 When you do not use the forced stop deceleration function ........................................................ 3-25
3.8 Interfaces .......................................................................................................................................... 3-26
3.8.1 Internal connection diagram ......................................................................................................... 3-26
-1-
 3.8.2 Detailed explanation of interfaces ................................................................................................ 3-27
3.8.3 Source I/O interfaces.................................................................................................................... 3-29
3.9 Servo motor with a lock ..................................................................................................................... 3-30
3.9.1 Safety precautions ........................................................................................................................ 3-30
3.9.2 Timing chart.................................................................................................................................. 3-31
3.9.3 Wiring diagrams (LE-□-□ series servo motor) .......................................................................... 3-37
3.10 Grounding........................................................................................................................................ 3-38

4. STARTUP 4- 1 to 4-17

4.1 Switching power on for the first time ................................................................................................... 4-3

4.1.1 Startup procedure ........................................................................................................................... 4-3
4.1.2 Wiring check ................................................................................................................................... 4-4
4.1.3 Surrounding environment ............................................................................................................... 4-5
4.2 Startup ................................................................................................................................................. 4-5
4.3 Switch setting and display of the driver ............................................................................................... 4-7
4.3.1 Switches ......................................................................................................................................... 4-7
4.3.2 Scrolling display.............................................................................................................................. 4-8
4.3.3 Status display of an axis ............................................................................................................... 4-10
4.4 Test operation ................................................................................................................................... 4-12
4.5 Test operation mode ......................................................................................................................... 4-12
4.5.1 Test operation mode in Setup software (MR Configurator2TM) .................................................. 4-13
4.5.2 Motor-less operation in upper side ............................................................................................... 4-17

5. PARAMETERS 5- 1 to 5-102

5.1 Parameter list ...................................................................................................................................... 5-2

5.1.1 Basic setting parameters ([Pr. PA_ _ ]) .......................................................................................... 5-3
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................................................................................... 5-4
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) ................................................................................... 5-6
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) .............................................................................................. 5-8
5.1.5 I/O Extension setting 2 parameters ([Pr. PE_ _ ]) .......................................................................... 5-9
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) .............................................................................. 5-11
5.1.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................... 5-13
5.1.8 Network setting parameters ([Pr. PN_ _ ]) ................................................................................... 5-16
5.2 Detailed list of parameters ................................................................................................................ 5-17
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) ........................................................................................ 5-17
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................................................................................. 5-31
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ................................................................................. 5-44
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ............................................................................................ 5-64
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) .............................................................................. 5-68
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) .............................................................................. 5-72
5.2.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................... 5-74
5.2.8 Network setting parameters ([Pr. PN_ _ ]) ................................................................................... 5-99
5.3 Software limit ..................................................................................................................................... 5-99
5.4 How to set the electronic gear ......................................................................................................... 5-100
5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method . 5-100
5.4.2 Electronic gear setting in the indexer method ............................................................................ 5-102

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-21

-2-
6.1 Different adjustment methods ............................................................................................................. 6-2
6.1.1 Adjustment on a single driver ......................................................................................................... 6-2
6.1.2 Adjustment using setup software (MR Configurator2TM) .............................................................. 6-3
6.2 One-touch tuning ................................................................................................................................. 6-4
6.2.1 One-touch tuning flowchart ............................................................................................................ 6-5
6.2.2 Display transition and operation procedure of one-touch tuning .................................................... 6-6
6.2.3 Caution for one-touch tuning ........................................................................................................ 6-11
6.3 Auto tuning ........................................................................................................................................ 6-12
6.3.1 Auto tuning mode ......................................................................................................................... 6-12
6.3.2 Auto tuning mode basis ................................................................................................................ 6-13
6.3.3 Adjustment procedure by auto tuning ........................................................................................... 6-14
6.3.4 Response level setting in auto tuning mode ................................................................................. 6-15
6.4 Manual mode .................................................................................................................................... 6-16
6.5 2gain adjustment mode ..................................................................................................................... 6-20

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-36

7.1 Filter setting ......................................................................................................................................... 7-2

7.1.1 Machine resonance suppression filter ............................................................................................ 7-2
7.1.2 Adaptive filter II ............................................................................................................................... 7-5
7.1.3 Shaft resonance suppression filter ................................................................................................. 7-7
7.1.4 Low-pass filter ................................................................................................................................ 7-8
7.1.5 Advanced vibration suppression control II ...................................................................................... 7-8
7.1.6 Command notch filter ................................................................................................................... 7-13
7.2 Gain switching function ..................................................................................................................... 7-14
7.2.1 Applications .................................................................................................................................. 7-14
7.2.2 Function block diagram ................................................................................................................ 7-15
7.2.3 Parameter..................................................................................................................................... 7-16
7.2.4 Gain switching procedure ............................................................................................................. 7-19
7.3 Tough drive function .......................................................................................................................... 7-23
7.3.1 Vibration tough drive function ....................................................................................................... 7-23
7.3.2 Instantaneous power failure tough drive function ......................................................................... 7-25
7.4 Compliance with SEMI-F47 standard ................................................................................................ 7-29
7.5 Model adaptive control disabled ........................................................................................................ 7-31
7.6 Lost motion compensation function .................................................................................................. 7-32
7.7 Super trace control ............................................................................................................................ 7-35

8. TROUBLESHOOTING 8- 1 to 8- 66

8.1 Explanations of the lists ...................................................................................................................... 8-2

8.2 Alarm list ............................................................................................................................................. 8-3
8.3 Warning list ....................................................................................................................................... 8-11
8.4 Remedies for alarms ......................................................................................................................... 8-14
8.5 Remedies for warnings ..................................................................................................................... 8-54
8.6 Troubleshooting at power on ............................................................................................................. 8-65
8.7 Trouble which does not trigger an alarm/warning ............................................................................. 8-66

9. OUTLINE DRAWINGS 9- 1 to 9-5

9.1 Driver ................................................................................................................................................... 9-2

9.2 Connector ............................................................................................................................................ 9-5
-3-
10. CHARACTERISTICS 10- 1 to 10-8

10.1 Overload protection characteristics ................................................................................................. 10-2

10.2 Power supply capacity and generated loss ..................................................................................... 10-3
10.3 Dynamic lock characteristics ........................................................................................................... 10-5
10.3.1 Dynamic lock operation .............................................................................................................. 10-5
10.3.2 Permissible load to motor inertia when the dynamic lock is used .............................................. 10-6
10.4 Cable bending life............................................................................................................................ 10-7
10.5 Inrush currents at power-on of main circuit and control circuit ........................................................ 10-8

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-34

11.1 Cable/connector sets ...................................................................................................................... 11-2

11.1.1 Combinations of cable/connector sets ....................................................................................... 11-3
11.1.2 STO cable .................................................................................................................................. 11-6
11.1.3 Encoder cable/connector sets .................................................................................................... 11-7
11.1.4 Motor cables ............................................................................................................................... 11-9
11.1.5 Lock cables .............................................................................................................................. 11-10
11.2 Regenerative options .................................................................................................................... 11-11
11.2.1 Combination and regenerative power ...................................................................................... 11-11
11.2.2 Parameter setting ..................................................................................................................... 11-11
11.2.3 Selection of regenerative option ............................................................................................... 11-12
11.2.4 Dimensions ............................................................................................................................... 11-13
11.3 Setup software (MR Configurator2TM) ......................................................................................... 11-14
11.3.1 Specifications ........................................................................................................................... 11-14
11.3.2 System configuration ................................................................................................................ 11-15
11.3.3 Precautions for using USB communication function ................................................................ 11-16
11.4 Battery (LEC-MR-BAT6V1SET-A) ................................................................................................ 11-17
11.5 Selection example of wires ........................................................................................................... 11-18
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended) ................................ 11-20
11.7 Relay (recommended) ................................................................................................................... 11-20
11.8 Noise reduction techniques ........................................................................................................... 11-21
11.9 Earth-leakage current breaker ...................................................................................................... 11-29
11.10 EMC filter (recommended) .......................................................................................................... 11-31

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6

12.1 Summary ......................................................................................................................................... 12-2

12.1.1 Features ..................................................................................................................................... 12-2
12.1.2 Structure ..................................................................................................................................... 12-2
12.1.3 Parameter setting ....................................................................................................................... 12-2
12.1.4 Confirmation of absolute position detection data ....................................................................... 12-3
12.2 Battery ............................................................................................................................................. 12-4
12.3 Battery replacement procedure ....................................................................................................... 12-5

13. USING STO FUNCTION 13- 1 to 13-13

13.1 Introduction...................................................................................................................................... 13-2

13.1.1 Summary .................................................................................................................................... 13-2
13.1.2 Terms related to safety............................................................................................................... 13-2
13.1.3 Cautions ..................................................................................................................................... 13-2
-4-
 13.1.4 Residual risks of the STO function ............................................................................................. 13-3
13.1.5 Specifications ............................................................................................................................. 13-4
13.1.6 Maintenance ............................................................................................................................... 13-5
13.2 STO I/O signal connector (CN8) and signal layouts ....................................................................... 13-5
13.2.1 Signal layouts ............................................................................................................................. 13-5
13.2.2 Signal (device) explanations....................................................................................................... 13-6
13.2.3 How to pull out the STO cable .................................................................................................... 13-6
13.3 Connection example ....................................................................................................................... 13-7
13.3.1 Connection example for CN8 connector .................................................................................... 13-7
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit of Mitsubishi Electric
Corporation ................................................................................................................................. 13-8
13.3.3 External I/O signal connection example using an external safety relay unit ............................ 13-10
13.4 Detailed description of interfaces .................................................................................................. 13-11
13.4.1 Sink I/O interface ...................................................................................................................... 13-11
13.4.2 Source I/O interface ................................................................................................................. 13-13

14. APPLICATION OF FUNCTIONS 14- 1 to 14- 2

14.1 Infinite feed function (setting degree) .............................................................................................. 14-2

15. SERVO MOTOR 15- 1 to 15- 6

15.1 Servo motor with a lock ................................................................................................................... 15-2

15.1.1 Features ..................................................................................................................................... 15-2
15.1.2 Characteristics of servo motor with a lock .................................................................................. 15-4
15.2 Protection from oil and water .......................................................................................................... 15-5
15.3 Cable ............................................................................................................................................... 15-5
15.4 Rated speed of servo motor ............................................................................................................ 15-5
15.5 Mounting connectors ....................................................................................................................... 15-6

16. HOW TO USE THE POINT TABLE 16- 1 to 16- 30

16.1 Specification list ................................................................................................................................ 16-3

16.2 Switching power on for the first time ................................................................................................. 16-4
16.3 Switching power on for the first time Point table mode (pt)............................................................... 16-6
16.3.1 Point table mode (pt) .................................................................................................................... 16-6
16.3.2 Automatic operation using point table .......................................................................................... 16-6
16.4 Jog mode (jg) .................................................................................................................................. 16-24
16.5 Point table setting method .............................................................................................................. 16-26
16.5.1 Point table setting method with Setup software (MR Configurator2TM) .................................... 16-26
16.5.2 Point table setting method with objects ...................................................................................... 16-29

17. HOW TO USE INDEXER 17- 1 to 17- 17

17.1 Specification list............................................................................................................................... 17-3

17.2 Switching power on for the first time ............................................................................................... 17-4
17.3 Indexer mode (idx) .......................................................................................................................... 17-6
17.3.1 Indexer mode (idx) ..................................................................................................................... 17-6
17.3.2 Rotation direction specifying indexer .......................................................................................... 17-7
17.3.3 Shortest rotating indexer operation .......................................................................................... 17-11
17.4 Jog mode (jg) ................................................................................................................................ 17-14
-5-
 17.4.1 Station JOG operation .............................................................................................................. 17-14
17.4.2 JOG operation .......................................................................................................................... 17-16

18. EtherCAT COMMUNICATION 18- 1 to 18- 206

18.1 EtherCAT COMMUNICATION .................................................................................................... 18-3

18.1.1 Summary................................................................................................................................ 18-3
18.1.2 Function list ............................................................................................................................ 18-6
18.1.3 Communication specifications ............................................................................................... 18-9
18.1.4 Communication specifications ............................................................................................. 18-10
18.1.4.1 Communication status .................................................................................................... 18-10
18.1.4.2 EtherCAT state................................................................................................................ 18-11
18.1.4.3 Startup ............................................................................................................................. 18-12
18.1.4.4 Network disconnection procedure ................................................................................... 18-13
18.1.5 Summary of object dictionary (OD) ...................................................................................... 18-14
18.1.5.1 Section definition of object dictionary .............................................................................. 18-14
18.1.5.2 Saving object dictionary data to EEP-ROM..................................................................... 18-14
18.2 EtherCAT NETWORK CARD (LEC-S-NE) ............................................................................... 18-15
18.2.1 Specifications ....................................................................................................................... 18-15
18.2.2 Parts identification................................................................................................................ 18-16
18.2.3 LED indication ...................................................................................................................... 18-16
18.2.3.1 LED indication definition .................................................................................................. 18-16
18.2.3.2 LED indication list ............................................................................................................ 18-17
18.2.4 Connecting Ethernet cable ................................................................................................. 18-18
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION ........................................................... 18-19
18.3.1 PDO communication cycle ................................................................................................... 18-19
18.3.2 PDO setting-related object ................................................................................................... 18-19
18.3.3 PDO default mapping........................................................................................................... 18-20
18.3.4 PDO variable mapping ......................................................................................................... 18-22
18.3.5 Mapping-necessary objects ................................................................................................. 18-23
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION............................................................. 18-25
18.4.1 SDO communication-related service ................................................................................... 18-25
18.4.2 SDO Abort Code .................................................................................................................. 18-26
18.5 CiA 402 DRIVE PROFILE ......................................................................................................... 18-26
18.5.1 FSA state ............................................................................................................................. 18-26
18.5.2 Controlword/Control DI ........................................................................................................ 18-29
18.5.2.1 Bit definition of Controlword ............................................................................................ 18-29
18.5.2.2 Bit definition of Control DI ............................................................................................... 18-30
18.5.3 Statusword/Status DO ......................................................................................................... 18-32
18.5.3.1 Bit definition of Statusword .............................................................................................. 18-32
18.5.3.2 Bit definition of Status DO ............................................................................................... 18-33
18.5.4 Control mode ....................................................................................................................... 18-37
18.5.4.1 Selecting control mode (Modes of operation) ................................................................. 18-37
18.5.4.2 Control switching ............................................................................................................. 18-37
18.5.4.3 Cyclic synchronous position mode (csp) ......................................................................... 18-38
18.5.4.4 Cyclic synchronous velocity mode (csv).......................................................................... 18-41
18.5.4.5 Cyclic synchronous torque mode (cst) ............................................................................ 18-43
18.5.4.6 Profile position mode (pp) ............................................................................................... 18-45
18.5.4.7 Profile velocity mode (pv) ................................................................................................ 18-49
18.5.4.8 Profile torque mode (tq) .................................................................................................. 18-53

-6-
 18.5.4.9 Homing mode (hm) ......................................................................................................... 18-56
18.5.4.10 Point table mode (pt) ..................................................................................................... 18-84
18.5.4.11 Jog mode (jg) ................................................................................................................ 18-89
18.5.4.12 Indexer mode (idx) ........................................................................................................ 18-96
18.5.5 Touch probe ....................................................................................................................... 18-103
18.5.6 Quick stop .......................................................................................................................... 18-107
18.5.7 Halt ..................................................................................................................................... 18-108
18.5.8 Software position limit ........................................................................................................ 18-109
18.5.9 Torque limit ........................................................................................................................ 18-109
18.5.10 Polarity ............................................................................................................................. 18-110
18.5.11 Degree function................................................................................................................ 18-112
18.5.12 Torque offset .................................................................................................................... 18-114
18.6 MANUFACTURER FUNCTIONS ........................................................................................... 18-115
18.6.1 Object for status monitor.................................................................................................... 18-115
18.6.2 Incremental counter ........................................................................................................... 18-117
18.6.3 Stroke end.......................................................................................................................... 18-117
18.6.4 Definition of alarm-related objects ..................................................................................... 18-118
18.6.5 Parameter object ............................................................................................................... 18-119
18.6.5.1 Definition of parameter objects ..................................................................................... 18-119
18.6.5.2 Enabling parameters ..................................................................................................... 18-120
18.6.7 One-touch tuning ............................................................................................................... 18-121
18.6.8 Machine diagnosis function................................................................................................ 18-123
18.6.9 Driver life diagnosis function .............................................................................................. 18-124
18.7 OBJECT DICTIONARY .......................................................................................................... 18-125
18.7.1 Store Parameters ............................................................................................................... 18-125
18.7.2 Supported object dictionary list .......................................................................................... 18-126
18.7.3 Object dictionary ................................................................................................................ 18-130
18.7.3.1 General Objects ............................................................................................................ 18-130
18.7.3.2 PDO Mapping Objects .................................................................................................. 18-136
18.7.3.3 Sync Manager Communication Objects ........................................................................ 18-140
18.7.3.4 Parameter Objects ........................................................................................................ 18-145
18.7.3.5 Alarm Objects ............................................................................................................... 18-148
18.7.3.6 Monitor Objects ............................................................................................................. 18-151
18.7.3.7 Manufacturer Specific Control Objects ......................................................................... 18-164
18.7.3.8 PDS Control Objects ..................................................................................................... 18-175
18.7.3.9 Position Control Function Objects ................................................................................. 18-179
18.7.3.10 Profile Velocity Mode Objects ..................................................................................... 18-182
18.7.3.11 Profile Torque Mode Objects ...................................................................................... 18-184
18.7.3.12 Profile Position Mode Objects ..................................................................................... 18-186
18.7.3.13 Homing Mode Objects ................................................................................................ 18-190
18.7.3.14 Factor Group Objects .................................................................................................. 18-196
18.7.3.15 Touch Probe Function Objects ................................................................................... 18-199
18.7.3.16 Optional application FE Objects .................................................................................. 18-200
18.7.3.17 Point Table Mode Objects ........................................................................................... 18-203
18.7.3.18 Cyclic synchronous position mode Objects................................................................. 18-206

19. EtherNet/IP COMMUNICATION 19- 1 to 19- 182

19.1 EtherNet/IP COMMUNICATION ................................................................................................. 19-3

19.1.1 Summary................................................................................................................................ 19-3

-7-
 19.1.2 Function list ............................................................................................................................ 19-4
19.1.3 Communication specifications ............................................................................................... 19-6
19.1.4 Establishing and disconnecting the communication .............................................................. 19-7
19.1.4.1 Communication status ...................................................................................................... 19-7
19.1.4.2 Startup ............................................................................................................................... 19-8
19.1.4.3 Network disconnection procedure ..................................................................................... 19-9
19.1.5 Summary of object library ...................................................................................................... 19-9
19.1.5.1 Section definition of Drive Configuration Object (64h) ...................................................... 19-9
19.2 EtherNet/IP NETWORK CARD (LEC-S-N9) ............................................................................ 19-10
19.2.1 Specifications ....................................................................................................................... 19-10
19.2.2 Parts identification................................................................................................................ 19-10
19.2.3 LED indication ...................................................................................................................... 19-11
19.2.3.1 LED indication definition .................................................................................................. 19-11
19.2.3.2 LED indication list ............................................................................................................ 19-11
19.2.4 Connecting Ethernet cables ................................................................................................. 19-12
19.3 I/O COMMUNICATION ............................................................................................................. 19-13
19.3.1 I/O communication cycle ...................................................................................................... 19-13
19.3.2 I/O communication mapping ................................................................................................ 19-15
19.4 Explicit Message COMMUNICATION ...................................................................................... 19-17
19.4.1 Explicit Message communication-related service ................................................................ 19-17
19.4.2 Common service .................................................................................................................. 19-18
19.4.2.1 Set_Attribute_Single........................................................................................................ 19-18
19.4.2.2 Get_Attribute_Single ....................................................................................................... 19-18
19.4.2.3 Get_Attributes_All ........................................................................................................... 19-18
19.4.2.4 Reset ............................................................................................................................... 19-19
19.5 DRIVE PROFILE ...................................................................................................................... 19-19
19.5.1 FSA state ............................................................................................................................. 19-19
19.5.2 Controlword/Control DI ........................................................................................................ 19-22
19.5.2.1 Bit definition of Controlword ............................................................................................ 19-22
19.5.2.2 Bit definition of Control DI ............................................................................................... 19-23
19.5.3 Statusword/Status DO ......................................................................................................... 19-26
19.5.3.1 Bit definition of Statusword .............................................................................................. 19-26
19.5.3.2 Bit definition of Status DO ............................................................................................... 19-27
19.5.4 Control mode ....................................................................................................................... 19-33
19.5.4.1 Selecting control mode (Modes of operation) ................................................................. 19-33
19.5.4.2 Control switching ............................................................................................................. 19-33
19.5.4.3 Profile position mode (pp) ............................................................................................... 19-34
19.5.4.4 Profile velocity mode (pv) ................................................................................................ 19-38
19.5.4.5 Profile torque mode (tq) .................................................................................................. 19-42
19.5.4.6 Homing mode (hm) ......................................................................................................... 19-45
19.5.5 Touch probe ......................................................................................................................... 19-72
19.5.6 Quick stop ............................................................................................................................ 19-76
19.5.7 Halt ....................................................................................................................................... 19-77
19.5.8 Software position limit .......................................................................................................... 19-78
19.5.9 Torque limit .......................................................................................................................... 19-78
19.5.10 Polarity ............................................................................................................................... 19-79
19.5.11 Degree function.................................................................................................................. 19-81
19.6 MANUFACTURER FUNCTIONS ............................................................................................. 19-83
19.6.1 Object for status monitor...................................................................................................... 19-83
19.6.2 Instruction code.................................................................................................................... 19-85
-8-
 19.6.2.1 Summary ......................................................................................................................... 19-85
19.6.2.2 Reading instruction codes ............................................................................................... 19-85
19.6.2.3 Writing instruction code ................................................................................................... 19-86
19.6.2.4 Variable mapping ............................................................................................................ 19-88
19.6.2.5 Respond code ................................................................................................................. 19-89
19.6.3 Stroke end............................................................................................................................ 19-90
19.6.4 Definition of alarm-related objects ....................................................................................... 19-91
19.6.5 Parameter object ................................................................................................................. 19-92
19.6.5.1 Definition of parameter objects ....................................................................................... 19-92
19.6.5.2 Enabling parameters ....................................................................................................... 19-93
19.6.6 One-touch tuning ................................................................................................................. 19-94
19.6.7 Machine diagnosis function.................................................................................................. 19-96
19.6.8 Driver life diagnosis function ................................................................................................ 19-97
19.6.9 Positioning function by operation start-up signal ................................................................. 19-97
19.6.9.1 Summary ......................................................................................................................... 19-97
19.6.9.2 Specification list .............................................................................................................. 19-97
19.6.9.3 Settings ........................................................................................................................... 19-97
19.6.9.4 Status obtainable in the network communication ............................................................ 19-98
19.6.9.5 Operation method ........................................................................................................... 19-99
19.7 OBJECT LIBRARY ................................................................................................................. 19-102
19.7.1 Store Parameters ............................................................................................................... 19-102
19.7.2 Supported object library list ................................................................................................ 19-103
19.7.3 Object library ...................................................................................................................... 19-107
19.7.3.1 General Objects ............................................................................................................ 19-108
19.7.3.2 Communication Setting Objects .................................................................................... 19-112
19.7.3.3 Assembly Objects ......................................................................................................... 19-123
19.7.3.4 Parameter Objects (Class ID: 64h) ............................................................................... 19-125
19.7.3.5 Alarm Objects (Class ID: 64h) ...................................................................................... 19-128
19.7.3.6 Monitor Objects (Class ID: 64h) .................................................................................... 19-132
19.7.3.7 Manufacturer Specific Control Objects (Class ID: 64h) ................................................ 19-143
19.7.3.8 PDS Control Objects (Class ID: 64h) ............................................................................ 19-155
19.7.3.9 Position Control Function Objects (Class ID: 64h) ........................................................ 19-159
19.7.3.10 Profile Velocity Mode Objects (Class ID: 64h) ............................................................ 19-162
19.7.3.11 Profile Torque Mode Objects (Class ID: 64h) ............................................................. 19-164
19.7.3.12 Profile Position Mode Objects (Class ID: 64h) ............................................................ 19-166
19.7.3.13 Homing Mode Objects (Class ID: 64h) ....................................................................... 19-171
19.7.3.14 Factor Group Objects .................................................................................................. 19-175
19.7.3.15 Touch Probe Function Objects (Class ID: 64h) .......................................................... 19-178
19.7.3.16 Optional application FE Objects (Class ID: 64h) ......................................................... 19-180

20. PROFINET COMMUNICATION 20- 1 to 20- 176

20.1 PROFINET COMMUNICATION ................................................................................................. 20-3

20.1.1 Description ............................................................................................................................. 20-3
20.1.2 Communication specifications ............................................................................................... 20-5
20.1.3 Startup ................................................................................................................................... 20-6
20.1.4 Network disconnection procedure ......................................................................................... 20-7
20.1.5 Object dictionary (OD) ............................................................................................................. 20-7
20.1.5.1 Section definition of object dictionary ................................................................................ 20-7
20.2 PROFINET NETWORK CARD (LEC-S-NP) .............................................................................. 20-8

-9-
 20.2.1 Specifications ......................................................................................................................... 20-8
20.2.2 Parts identification.................................................................................................................. 20-8
20.2.3 LED display ............................................................................................................................ 20-9
20.2.3.1 Network Status LED .......................................................................................................... 20-9
20.2.3.2 Card Status LED ............................................................................................................... 20-9
20.2.3.3 Link/Activity LED ............................................................................................................... 20-9
20.2.4 Ethernet cable connection.................................................................................................. 20-10
20.3 PROCESS DATA (CYCLIC DATA EXCHANGE) ..................................................................... 20-11
20.4 ACYCLIC DATA EXCHANGE .................................................................................................. 20-15
20.4.1 Acyclic data exchange communication format..................................................................... 20-15
20.4.2 Error number ........................................................................................................................ 20-16
20.4.3 PROFIdrive parameters (PROFIdrive-specific) ................................................................... 20-16
20.4.3.1 Telegram Selection (P922) ............................................................................................. 20-17
20.4.3.2 Operating mode (P930) .................................................................................................... 20-17
20.4.3.3 Fault message counter (P944) ......................................................................................... 20-17
20.4.3.4 Fault number (P947) ......................................................................................................... 20-18
20.4.3.5 Drive Unit identification (P964) ......................................................................................... 20-18
20.4.3.6 Profile identification number (P965) .................................................................................. 20-18
20.4.3.7 DO identification (P975) .................................................................................................... 20-19
20.4.3.8 Parameter Database Handling and Identification (P980).................................................. 20-19
20.4.4 Identification & Maintenance (I&M) ...................................................................................... 20-20
20.4.5 Reset To Factory ................................................................................................................. 20-21
20.5 STATE TRANSITION ............................................................................................................... 20-22
20.5.1 Basic State Machine ............................................................................................................ 20-22
20.5.2 FSA state ............................................................................................................................. 20-25
20.5.3 Controlword/Statusword ....................................................................................................... 20-27
20.5.3.1 Controlword ..................................................................................................................... 20-27
20.5.3.2 Statusword ...................................................................................................................... 20-30
20.6 CONTROL MODE .................................................................................................................... 20-36
20.6.1 Selection of control mode .................................................................................................... 20-36
20.6.2 Control switching .................................................................................................................. 20-37
20.6.3 Profile position mode (pp) .................................................................................................... 20-37
20.6.4 Profile velocity mode (pv) ..................................................................................................... 20-42
20.6.5 Profile torque mode (tq) ......................................................................................................... 20-48
20.6.6 Homing mode (hm) ................................................................................................................ 20-51
20.6.7 Point table mode (pt) ............................................................................................................. 20-79
20.6.8 Indexer mode (idx) ................................................................................................................. 20-84
20.6.9 Jog mode (jg) ......................................................................................................................... 20-91
20.7 WEB SERVER .......................................................................................................................... 20-97
20.8 MANUFACTURER FUNCTIONS ............................................................................................. 20-98
20.8.1 PROFIdrive parameters for status monitor ............................................................................ 20-98
20.8.2 Stroke end ........................................................................................................................... 20-100
20.8.3 Software limit ....................................................................................................................... 20-101
20.8.4 Torque limit .......................................................................................................................... 20-102
20.8.5 Polarity ................................................................................................................................. 20-103
20.8.6 Touch probe......................................................................................................................... 20-104
20.8.7 One-touch tuning ................................................................................................................. 20-109
20.8.8 Driver life diagnosis function ................................................................................................ 20-110
20.8.9 Machine diagnosis ............................................................................................................... 20-111
20.8.10 Quick stop .......................................................................................................................... 20-112
- 10 -
 20.8.11 Halt .................................................................................................................................... 20-113
20.8.12 Ramp Stop ......................................................................................................................... 20-113
20.8.13 PROFIdrive parameter definitions related to alarms ......................................................... 20-114
20.8.14 Parameter .......................................................................................................................... 20-115
20.8.14.1 Parameter enabling ..................................................................................................... 20-116
20.8.15 Degree function ................................................................................................................. 20-117
20.9 OBJECT DICTIONARY .......................................................................................................... 20-119
20.9.1 Store parameters ............................................................................................................... 20-119
20.9.2 PROFIdrive parameter (Manufacturer-specific) list ........................................................... 20-120
20.9.3 PROFIdrive parameter (Manufacturer-specific) .................................................................. 20-124
20.9.3.1 General Objects ............................................................................................................ 20-124
20.9.3.2 Servo Parameter Objects .............................................................................................. 20-125
20.9.3.3 Alarm Objects ............................................................................................................... 20-128
20.9.3.4 Monitor Objects ............................................................................................................. 20-130
20.9.3.5 Manufacturer Specific Control Objects ......................................................................... 20-143
20.9.3.6 PDS Control Objects ..................................................................................................... 20-151
20.9.3.7 Position Control Function Objects ................................................................................. 20-154
20.9.3.8 Profile Velocity Mode Objects ....................................................................................... 20-156
20.9.3.9 Profile Torque Mode Objects ........................................................................................ 20-158
20.9.3.10 Profile Position Mode Objects ..................................................................................... 20-160
20.9.3.11 Homing Mode Objects ................................................................................................ 20-164
20.9.3.12 Point Table Mode Objects ........................................................................................... 20-168
20.9.3.13 Factor Group Objects .................................................................................................. 20-171
20.9.3.14 Optional application FE Objects .................................................................................. 20-173
20.9.3.15 Touch Probe Function Objects ................................................................................... 20-175

APPENDIX App.- 1 to App.-29

App. 1 Peripheral equipment manufacturer (for reference) ................................................................. App.-2

App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of
Dangerous Goods ................................................................................................................................ App.-2
App. 3 Symbol for the new EU Battery Directive .................................................................................. App.-4
App. 4 Compliance with global standards ............................................................................................ App.-5
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function) ....................................................... App.-5
App. 4.2 About safety ......................................................................................................................... App.-5
App. 4.2.1 Professional engineer ..................................................................................................... App.-5
App. 4.2.2 Applications of the devices .............................................................................................. App.-5
App. 4.2.3 Correct use ...................................................................................................................... App.-5
App. 4.2.4 General cautions for safety protection and protective measures .................................... App.-8
App. 4.2.5 Residual risk .................................................................................................................... App.-8
App. 4.2.6 Disposal........................................................................................................................... App.-8
App. 4.2.7 Lithium battery transportation .......................................................................................... App.-9
App. 4.3 Mounting/dismounting .......................................................................................................... App.-9
App. 4.4 Electrical Installation and configuration diagram ................................................................ App.-10
App. 4.5 Signal ................................................................................................................................. App.-11
App. 4.5.1 Signal ............................................................................................................................ App.-11
App. 4.5.2 I/O device ...................................................................................................................... App.-11
App. 4.6 Maintenance and service ................................................................................................... App.-12
App. 4.6.1 Inspection items ............................................................................................................ App.-12
App. 4.6.2 Parts having service lives .............................................................................................. App.-13

- 11 -
 App. 4.7 Transportation and storage ................................................................................................ App.-14
App. 4.8 Technical data .................................................................................................................... App.-15
App. 4.8.1 LECSN2-T□ driver ...................................................................................................... App.-15
App. 4.8.2 Driver dimensions ......................................................................................................... App.-15
App. 4.8.3 Mounting hole ................................................................................................................ App.-15
App. 4.9 Check list for user documentation ..................................................................................... App.-16
App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation ............................................. App.-16
App. 5.1 Terms related to safety ...................................................................................................... App.-16
App. 5.1.1 Stop function for IEC/EN 61800-5-2.............................................................................. App.-16
App. 5.1.2 Emergency operation for IEC/EN 60204-1 .................................................................... App.-16
App. 5.2 Cautions ............................................................................................................................. App.-17
App. 5.3 Residual risk ...................................................................................................................... App.-17
App. 7 Analog monitor ........................................................................................................................ App.-18
App. 8 Encoder output pulse setting method ..................................................................................... App.-21
App .9 Recommended parameter values for each actuator .............................................................. App.-22

- 12 -
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION ...........................................................................................................2

1.1 Summary ..........................................................................................................................................................2
1.2 Function block diagram ....................................................................................................................................3
1.3 Driver standard specifications ..........................................................................................................................7
1.4 Combinations of driver and servo motors ..................................................................................................... 10
1.5 Function list.................................................................................................................................................... 11
1.6 Model designation ......................................................................................................................................... 14
1.7 Structure ........................................................................................................................................................ 17
1.7.1 Parts identification ............................................................................................................................17
1.8 Installation and removal of network card ...................................................................................................... 19
1.9 Configuration including peripheral equipment .............................................................................................. 22

1- 1
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

To ensure safety of the system against unauthorized access via a network, take
CAUTION security measures such as using a firewall.

The LECSN□-T□ series general-purpose AC servo has further higher performance and higher functions
compared to the previous LECS□-S□ series.
The LECSN□-T□ series compatible rotary servo motor is equipped with 22-bit (4,194,304 pulses/rev) high-
resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to the LECS□-S□ series.
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to
the machine.
The tough drive function and the drive recorder function, which are well-received in the LECSA□-S□ series,
have been improved. The driver supports the improved functions. Additionally, the preventive maintenance
support function detects an error in the machine parts. This function provides strong support for the machine
maintenance and inspection.
The LECSN□-T□ driver supports the STO (Safe Torque Off) function. By combining with optional MR-J3-D05
(Mitsubishi Electric), the driver supports SS1 (Safe stop 1) function.
The driver has a USB communication interface. Therefore, you can connect the driver to the personal
computer with Setup software (MR Configurator2TM) installed to perform the parameter setting, test operation,
gain adjustment, and others.

The following shows compatible networks. Prepare a network card (LEC-S-N□).

Network Network card

EtherCAT LEC-S-NE
EtherNet/IP LEC-S-N9

PROFINET LEC-S-NP

1- 2
1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) LECSN2-T5, T7, T8

(Note 4)
Pow er factor improving Regenerative
DC reactor option

driver
Servo amplifier Servo motor
P3 P4 P+ C D N-
Diode Dynamic
(Note 1) brake
stack Relay
MCCB MC circuit U U
L1
(Note 2) U
Current V V
Pow er L2 Regene-
+ encoder M
supply U U rative
L3 TR W W

CHARGE
Cooling fan lamp
(Note 3)
RA B1
L11 Control Ellock
ectromagneti c
+ circuit 24 V DC B brake
L21 pow er
supply STO B2
circuit
CN8

STO

CN2
sw itch Base Voltage Overcurrent Current
amplifier detection protection detection
Encoder

Position Virtual
command Step-
encoder down
input Model Model circuit
position speed
control control
Virtual
motor
CN4 LEC-MR-BAT6V1SET-A

Model position Model speed Model torque

Battery
(for absolute position
detection system)

Actual Actual Current

position speed control
control control
CN2L

External encoder
Do not use it.
USB D/A
I/F Control

SLOT CN5 CN3

card
Netw ork module
Personal Analog monitor Digital I/O
computer (2 channels) control
Upper side of
Controller USB
other makes

1- 3
1. FUNCTIONS AND CONFIGURATION

Note 1. The built-in regenerative resistor is not provided for LECSN2-T5.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3.
3. Drivers LECSN2-T9 or more have a cooling fan.
4. short P3 and P4.

1- 4
1. FUNCTIONS AND CONFIGURATION

(2) LECSN2-T9
(Note 2)
Pow er factor improving Regenerative
DC reactor option

driver
Servo amplifier P3 P4 P+ C N- Servo motor
Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Regene- Current
Pow er + M
supply rative encoder
U U
L3 TR W W

CHARGE
lamp
Cooling fan
RA B1
L11 Control Ellock
ectromagnetic
+ circuit 24 V DC B
brake
L21 pow er
supply STO B2
circuit
CN8

STO

CN2
sw itch Base Voltage Overcurrent Current
amplifier detection protection detection
Encoder

Position Virtual
command Step-
encoder down
input Model Model circuit
position speed
control control
Virtual
motor
LEC-MR-BAT6V1SET-A
CN4
Model position Model speed Model torque Battery
(for absolute position
detection system)

Actual Actual Current

position speed control
control control
CN2L

External encoder
Do not use it.
USB D/A
I/F Control

SLOT CN5 CN3

card
Netw ork module
Personal Analog monitor Digital I/O
computer (2 channels) control
Upper side of
Controller USB
other makes

Note 1. Refer to section 1.3 for the power supply specifications.

2. short P3 and P4.

1- 5
1. FUNCTIONS AND CONFIGURATION

(3) LECSN1-T5, T7, T8 (Scheduled release product)

Regenerative
option

driver
Servo amplifier P+ C D N- Servo motor

(Note 1) Dynami c brake

ci rcuit
MCCB MC L1 U U
+ Charge
(Note 2) V V
lamp Current
Pow er U
Regene- M
encoder
supply L2 Relay rative TR W W
+

Diode stack

RA B1
L11 Control lock
Electromagnetic
+ circuit B brake
24 V DC
L21 pow er
supply STO B2
circuit
CN8

STO
Base

CN2
sw itch Voltage Overcurrent Current
amplifier protection detection
detection
Encoder

Position Virtual
command encoder Step-
down
input Model Model circuit
position speed
control control
Virtual
motor
LEC-MR-BAT6V1SET-A

CN4
Model position Model speed Model torque
Battery
(for absolute position
detection system)
Actual Actual Current
position speed
control control control
CN2L

External encoder

Do not use it.

IF Control USB D/A

SLOT CN5 CN3

card
Netw ork module
Personal Analog monitor Digital I/O
computer (tw o channel) control
Upper side of
Controller USB
other makes

Note 1. The built-in regenerative resistor is not provided for LECSN1-T□.

2. Refer to section 1.3 for the power supply specifications.

1- 6
1. FUNCTIONS AND CONFIGURATION

1.3 Driver standard specifications

Model: LECSN2-T□ 5 7 8 9
Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8 5.8
Output
Output frequency Less than 590 Hz
Output frequency accuracy ±0.01%
Voltage/Frequency 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.9 1.5 2.6 3.8
Permissible voltage 3-phase or 1-phase 170 V AC to
Main circuit power fluctuation 264 V AC
supply Permissible frequency fluctuation Within ±5%
Power supply capacity
Refer to section 10.2.
[kVA]
Inrush current [A] Refer to section 10.5.
Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Rated current [A] 0.2
Permissible voltage
Control circuit power fluctuation
1-phase 170 V AC to 264 V AC
supply Permissible frequency fluctuation Within ±5%
Power consumption [W] 30
Inrush current [A] Refer to section 10.5.
Voltage 24 V DC ± 10%
Interface power supply
Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication USB: connection to a personal computer or others
function (setup software (MR Configurator2TM)-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Overcurrent shut-off, regenerative overvoltage shut-off,
overload shut-off (electronic thermal), servo motor overheat
protection, encoder error protection, regenerative error
Protective functions
protection, undervoltage protection, instantaneous power
failure protection, overspeed protection, error excessive
protection
Safety function STO (IEC/EN 61800-5-2)
EN ISO 13849-1 category 3 PL e, EN 61508 SIL 3, EN 62061
Standards certified by CB
SIL CL 3, and EN 61800-5-2
Response performance 8 ms or less (STO input off → energy shut off)
(Note 3) Test pulse interval: 1 Hz to 25 Hz
Safety performance Test pulse input (STO) Test pulse off time: Up to 1 ms
Mean time to dangerous failure (MTTFd) MTTFd ≥ 100 [years]
Diagnosis coverage (DC) DC = Medium, 97.6 [%]
Average probability of dangerous failures
per hour (PFH)
PFH = 6.4 × 10-9 [1/h]

LVD: EN 61800-5-1
Compliance to global CE marking EMC: EN 61800-3
standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C
Natural cooling, Force cooling,
Structure (IP rating)
open (IP20) open (IP20)
Close mounting (Note 2) Possible
Operation 0 ˚C to 55 ˚C (non-freezing)
Ambient temperature
Storage -20 ˚C to 65 ˚C (non-freezing)
Operation
Ambient humidity 5% to 90 %RH (non-condensing)
Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level(note7)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.0 1.4

1- 7
1. FUNCTIONS AND CONFIGURATION

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the drivers, operate them at the ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller effective
load ratio.
3. Test pulse is a signal which instantaneously turns off a signal to the driver at a constant period for external circuit to self-
diagnose.
4. Except for the terminal block.
5. This value is applicable when a 3-phase power supply is used.
7. When using 1-phase 200 V AC to 240 V AC power supply, operate the driver at 75% or smaller effective load ratio.
9. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
10. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

1- 8
1. FUNCTIONS AND CONFIGURATION

LECSN1-T□
5 7 8
(Scheduled release product)
Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8
Output Output frequency Less than 590 Hz
Output frequency
±0.01%
accuracy
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
Rated current [A] 3.0 5.0 9.0
Permissible voltage
1-phase 85 V AC to 132 V AC
Main circuit fluctuation
power supply Permissible frequency
Within ±5%
input fluctuation
Power supply
[kVA] Refer to section 10.2.
capacity
Inrush current [A] Refer to section 10.5.
Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz
Rated current [A] 0.4
Permissible voltage
1-phase 85 V AC to 132 V AC
Control circuit fluctuation
power supply Permissible frequency
Within ±5%
input fluctuation
Power
[W] 30
consumption
Inrush current [A] Refer to section 10.5.
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Fully closed loop control Compatible
Load-side encoder interface Mitsubishi Electric high-speed serial communication, A/B/Z-phase differential input signal
Communication function USB: connection to a personal computer or others (Setup software (MR Configurator2TM)-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control error protection
Functional safety STO (IEC/EN 61800-5-2)
Standards certified by CB
EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
(Note 6)
Response performance 8 ms or less (STO input off → energy shut off)
Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz
Safety (Note 3) Test pulse off time: Up to 1 ms
performance Mean time to dangerous
MTTFd ≥ 100 [years] (314a)
failure (MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous
PFH = 6.4 × 10-9 [1/h]
Failure per Hour (PFH)
LVD: EN 61800-5-1
Compliance with CE marking EMC: EN 61800-3
global standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20)
Close mounting (Note 2) Possible
Ambient Operation 0 °C to 55 °C (non-freezing)
temperature Storage -20 °C to 65 °C (non-freezing)
Ambient Operation
5 %RH to 90 %RH (non-condensing)
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Note 5)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.0

1- 9
1. FUNCTIONS AND CONFIGURATION

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the drivers, operate them at the ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller effective
load ratio.
3. Test pulse is a signal which instantaneously turns off a signal to the driver at a constant period for external circuit to self-
diagnose.
4. Except for the terminal block.
5. Follow the restrictions in section 2.6 when using this product at altitude exceeding 1000 m and up to 2000 m above sea level.
6. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.

1.4 Combinations of driver and servo motors

Servo motor
Driver
LE-□-□

LECSN□-T5 T5, T6

LECSN□-T7 T7

LECSN□-T8 T8

LECSN2-T9 T9

1 - 10
1. FUNCTIONS AND CONFIGURATION

1.5 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field.

POINT
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
PNT: PROFINET
Network Detailed
Function Description
ECT EIP PNT explanation
Cyclic synchronous position The position control operation performed by a synchronous sequential position command
mode (csp) through network is supported.
Cyclic synchronous velocity The speed control operation performed by a synchronous sequential speed command
mode (csv) through network is supported.
Cyclic synchronous torque The torque control operation performed by a synchronous sequential torque command
mode (cst) through network is supported.
The positioning operation performed by an asynchronous end position command through (Note)
Profile position mode (pp)
network is supported.
The speed control operation performed by an asynchronous speed command through
Profile velocity mode (pv)
network is supported.
The torque control operation performed by an asynchronous torque command through
Profile torque mode (tq)
network is supported.
Homing mode (hm) The home position return operation specified in each network is supported.
Set 1 to 255 point tables in advance, and select any point table to perform operation in
Point table mode (pt) accordance with the set values. Chapter 16
This is available with drivers with software version B2 or later.
Set the station positions divided into 2 to 255 in advance to perform operation to the
Indexer mode (idx) station positions. Chapter 17
This is available with drivers with software version B2 or later.
This is a control mode where the servo motor speed is set to drive the servo motor
Chapter 16,
Jog mode (jg) manually.
Chapter 17
This is available with drivers with software version B2 or later.
This function achieves a high response and stable control following the ideal model. The
two-degrees-of-freedom model adaptive control enables you to set a response to the
Model adaptive control
command and response to the disturbance separately.
Additionally, this function can be disabled. Refer to section 7.5 for disabling this function.
Section 3.5
(2)
Touch probe When the touch probe signal turns on, the current position is latched.
[Pr. PD37]
(Note)
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary servo
High-resolution encoder
motor compatible with the MELSERVO-J4 series.
Absolute position detection
Setting a home position once makes home position return unnecessary at every power-on. Chapter 12
system
You can switch gains during rotation/stop, and can use input devices to switch gains
Gain switching function Section 7.2
during operation.
Advanced vibration
This function suppresses vibration at an arm end or residual vibration. Section 7.1.5
suppression control II
Machine resonance This filter function (notch filter) decreases the gain of the specific frequency to suppress
Section 7.1.1
suppression filter the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
Shaft resonance suppression
driving may generate a mechanical vibration at high frequency. The shaft resonance Section 7.1.3
filter
suppression filter suppresses the vibration.
The driver detects mechanical resonance and sets filter characteristics automatically to
Adaptive filter II Section 7.1.2
suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as the servo system response is
Low-pass filter Section 7.1.4
increased.

1 - 11
1. FUNCTIONS AND CONFIGURATION

Network Detailed
Function Description
ECT EIP PNT explanation
Analyzes the frequency characteristic of the mechanical system by simply connecting an
Machine analyzer function Setup software (MR Configurator2TM) installed personal computer and the driver.
Setup software (MR Configurator2TM) is necessary for this function.
For roll feed axis, etc. of which a response level cannot be increased because of the large
Robust filter [Pr. PE41]
load to motor inertia ratio, this function improves a disturbance response.
Slight vibration suppression
This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
control
Positioning control is performed with the value obtained by multiplying the position [Pr. PA06]
Electronic gear
command from the upper side by a set electronic gear ratio. [Pr. PA07]
S-pattern
acceleration/deceleration time Speed can be increased and decreased smoothly. [Pr. PT51]
constant
Automatically adjusts the gain to optimum value if load applied to the servo motor shaft
Auto tuning Section 6.3
varies.
Use a regenerative option when the built-in regenerative resistor of the driver does not
Regenerative option Section 11.2
have sufficient regenerative capacity for a large regenerative power generated.
Alarm history clear Clears alarm histories. [Pr. PC21]
Input signal selection (device The input devices including LSP (forward rotation stroke end) and LSN (reverse rotation [Pr. PD03] to
settings) stroke end) can be assigned to certain pins of the CN3 connector. [Pr. PD05]
Output signal selection (device The output devices including MBR (Electromagnetic brake interlock) can be assigned to [Pr. PD07] to
settings) certain pins of the CN3 connector. [Pr. PD09]
Output signal (DO) forced Turns on/off the output signals forcibly independently of the servo status. Section
output Use this function for checking output signal wiring, etc. 4.5.1 (1) (d)
[Pr. PA11]
Torque limit Limits the servo motor torque.
[Pr. PA12]
Speed limit The servo motor speed can be limited. [Pr. PT67]
Status display Shows servo status on the 3-digit, 7-segment LED display. Section 4.3
JOG operation, positioning operation, motor-less operation, DO forced output, program
Test operation mode operation and single-step feed Section 4.5
Setup software (MR Configurator2TM) is necessary for this function.
[Pr. PC09]
Analog monitor output Outputs servo status with voltage in real time.
[Pr. PC10]
Setup software (MR Using a personal computer, you can perform the parameter setting, test operation,
Section 11.7
Configurator2TM) monitoring, and others.
Gain adjustment is performed just by one click a certain button on Setup software (MR
Configurator2TM).
One-touch tuning Section 6.2
Also, one-touch tuning can be performed via a network. For details, refer to respective
communication method manuals of "MR-J4-_TM_ Driver Instruction Manual".
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy
[Pr. PA20]
charged in the capacitor in case that an instantaneous power failure occurs during
SEMI-F47 function [Pr. PF25]
operation. Use a 3-phase for the input power supply of the driver. Using a 1-phase 100 V
Section 7.4
AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.
This function makes the equipment continue operating even under the condition that an
alarm occurs.
Tough drive function Section 7.3
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data on
the drive recorder window of Setup software (MR Configurator2TM) by clicking the "Graph"
button.
However, the drive recorder is not available when:
Drive recorder function [Pr. PA23]
1. You are using the graph function of Setup software (MR Configurator2TM).
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
4. The upper side is not connected (except the test operation mode).
5. An alarm related to the upper side has occurred.

1 - 12
1. FUNCTIONS AND CONFIGURATION

Network Detailed
Function Description
ECT EIP PNT explanation
This amplifier complies with the STO function as functional safety of IEC/EN 61800-5-2.
STO function Chapter 13
You can create a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of the
inrush relay. This function gives an indication of the replacement time for parts of the
driver including a capacitor and a relay before they malfunction.
Driver life diagnosis function
Setup software (MR Configurator2TM) is necessary for this function.
Also, the driver life diagnosis function can be used via a network. For details, refer to
respective communication method manuals of "MR-J4-_TM_ Driver Instruction Manual".
This function calculates the power running energy and the regenerative power from the
data in the driver such as speed and current. Power consumption and others are displayed
Power monitoring function on Setup software (MR Configurator2TM).
Also, the power monitoring function can be used via a network. For details, refer to
respective communication method manuals of "MR-J4-_TM_ Driver Instruction Manual".
From the data in the driver, this function estimates the friction and vibrational component
of the drive system in the equipment and recognizes an error in the machine parts,
including a ball screw and bearing.
Machine diagnosis function
Setup software (MR Configurator2TM) is necessary for this function.
Also, the machine diagnosis function can be used via a network. For details, refer to
respective communication method manuals of "MR-J4-_TM_ Driver Instruction Manual".
Lost motion compensation This function improves the response delay generated when the machine moving direction
Section 7.6
function is reversed.
This function sets constant and uniform acceleration/deceleration droop pulses to almost
Super trace control Section 7.7
0.
Superimposed synchronous
This function drives the servo motor by using externally input pulses as the master. (Note)
control function
Positioning function by
This function starts positioning with an input signal. (Note)
operation start-up signal
This driver supports FoE (File Access over EtherCAT). For details, contact your local
FoE (File Access over
sales office.
EtherCAT)
This is used with drivers with software version B3 or later.
When the unit of position data is set to degree in the profile mode, the
detection of [AL. E3.1 Multi-revolution counter travel distance excess warning]
is disabled and the home position is retained even if the servo motor rotates
Infinite feed function
32768 revolutions or more are in the same direction. Thus, the current position Section 14
(setting degree)
is restored after the power is cycled.
This function can be used with the absolute position detection system.
This is available with drivers with software version B0 or later.

Note. For details, refer to chapter 18,19,20..

1 - 13
1. FUNCTIONS AND CONFIGURATION

1.6 Model designation

(1) Rating plate * If I/O connector(CN1) is required, order the part
number "LE-CSNS" separately.
* If I/O cable(CN1) is required, order the part

LECS N 2 － T5 number "LEC-CSNS-1" separately.

Driver type Motor type

Type Capacity Encoder

Network card type
N （Absolute encoder）
T5 AC Servo motor (T6) *1 100W

T7 AC Servo motor (T7) *1 200W

Absolute
T8 AC Servo motor (T8) *1 400W

T9 AC Servo motor (T9) *1 750W

Power supply
*1 This is a symbol of motor type (actuator part).
2 AC200V～AC240V 50/60Hz

(2) Option Model

a) Motor cable / Lock cable / Encoder cable

ＬＥ － C S M － S ５ A
Motor Type Connector Direction
S AC Servo motor A Axis side
軸側
B Opposite axis side
Cable Content
M Motor cable
B Lock cable
Cable Length (L) [m]
E Encoder cable ケーブル長さ
2 2m
5 5m
A 10m

Cable Type
S Standard cable
R Robot cable

1 - 14
1. FUNCTIONS AND CONFIGURATION

b） I/O Connector (For LECSN□-T□)

ＬＥ-CＳＮS
Driver Type
S LECSN□-T□

*LE-CSNS is 10120-3000PE (Connector)/ 10320-52F0-008 （ Shell kit ） of Sumitomo 3M

Limited or equivalent goods.
Applicable wire size: AWG24~30

c）Regenerative options

ＬＥC-MR-RB-032
Regenerative option Type

032 Permissible regenerative power 30W

*MR-RB□ of Mitsubishi Electric
Corporation. 12 Permissible regenerative power 100W
許容回生電力100W

d）Setup software (MR Configurator2TM)

ＬＥＣ-MRC2□
Language NIL Japanese version
version
E English version
C Chinese version

* SW1DNc-MRC2-J of Mitsubishi Electric Corporation.

Refer to the website of Mitsubishi Electric Corporation for the information of the operating
environment and upgrading. Order USB cable separately.
*LECSB2-T□ cannot be used by LEC-MR-SETUP221□.

e）USB cable(3m)

ＬＥＣ-MR-Ｊ3ＵＳＢ
* MR-J3USBCBL3M of Mitsubishi Electric Corporation.
ＬＥＣ-MR-SETUP221
f）Battery

ＬＥＣ-MR-BAT6V1SET-A
* MR-BAT6V1SET-A of Mitsubishi Electric Corporation.
Battery for replacement.
Absolute position data is maintained by installing the battery to the driver.
SET
1 - 15
1. FUNCTIONS AND CONFIGURATION

g）STO cable(3m)

ＬＥＣ-MR-D05UDL3M
* MR-D05UDL3M of Mitsubishi Electric Corporation.
It is a cable that connects the driver with the equipment when the safety function is used.
Do not use other cables.

h） I/O Connector

ＬＥC-CＳＮS-1
Cable length(L)[m]
1 1.5
Driver Type
S LECSN□-T
□
*LEC-CSNS-1 is 10120-3000PE (Connector)/ 10320-52F0-008（Shell kit）of Sumitomo 3M
Limited or equivalent goods.
*Conductor size:AWG24

Wiring
LEC-CSNS-1: Pin nos. 1 to 20

i) Network card type (for LECSN□-T□)

1 - 16
1. FUNCTIONS AND CONFIGURATION

1.7 Structure
1.7.1 Parts identification
(1) LECSN2-T□
The diagram is for LECSN2-T5
Detailed
(3) No. Name/Application
(1) explanation
ON Display
1 2 (1) The 3-digit, 7-segment LED shows the servo status
and the alarm number.
(2) Axis selection rotary switch (SW2/SW3) Section 4.3
(2)
Used to set the axis No. of driver.
Mode select switch (SW1)
(3)
Set the test operation mode. (SW1-1)
(19) (18) USB communication connector (CN5) Section
(4)
Connect with the personal computer. 11.7
I/O signal connector (CN3) Section 3.2
(5)
(4) Used to connect digital I/O signals. Section 3.4
STO input signal connector (CN8)
Chapter 13
(6) Used to connect MR-J3-D05 safety logic unit and
(7) App. 5
external safety relay.
(13) Network card slot (SLOT) Section
(7)
Insert the network card. 1.7.3
(6) Encoder connector (CN2)
(8)
Used to connect the servo motor encoder.
(15)
External encoder connector (CN2L)
(5) (9)
Do not use it.
(16) Battery connector (CN4)
(8) (10) Used to connect the battery for absolute position Chapter 12
data backup.
(17)
(9) Battery holder Section
(11)
Install the battery for absolute position data backup. 12.2
(10)
(12) Protective earth (PE) terminal
(14) Section 3.1
Side Main circuit power connector (CNP1)
(11) (13) Section 3.3
Connect the input power supply.
Bottom (12)
(14) Rating plate Section 1.6
Control circuit power connector (CNP2)
(15) Connect the control circuit power supply and
Section 3.1
regenerative option.
Section 3.3
Servo motor power output connector (CNP3)
(16)
Connect the servo motor.
Charge lamp
(17) When the main circuit is charged, this will light.
While this lamp is lit, do not reconnect the cables.

1 - 17
1. FUNCTIONS AND CONFIGURATION

(2) LECSN1-T□ (Scheduled release product)

The diagram is for LECSN1-T5.
Detailed
(3) No. Name/Application
(1) explanation
ON Display
1 2 (1) The 3-digit, 7-segment LED shows the servo status
and the alarm number.
(2) Axis selection rotary switch (SW2/SW3) Section 4.3
(2)
Used to set the axis No. of driver.
Mode select switch (SW1)
(3)
Set the test operation mode. (SW1-1)
(19) (18) USB communication connector (CN5) Section
(4)
Connect with the personal computer. 11.7
I/O signal connector (CN3) Section 3.2
(5)
(4) Used to connect digital I/O signals. Section 3.4
STO input signal connector (CN8)
Chapter 13
(6) Used to connect MR-J3-D05 safety logic unit and
(7) App. 5
external safety relay.
(13) Network card slot (SLOT) Section
(7)
Insert the network card. 1.7.3
(6) Encoder connector (CN2)
(8)
Used to connect the servo motor encoder.
(15)
External encoder connector (CN2L)
(5) (9)
Do not use it.
(16) Battery connector (CN4)
(8) (10) Used to connect the battery for absolute position Chapter 12
data backup.
(17)
(9) Battery holder Section
(11)
Install the battery for absolute position data backup. 12.2
(10)
(12) Protective earth (PE) terminal
(14) Section 3.1
Side Main circuit power connector (CNP1)
(11) (13) Section 3.3
Connect the input power supply.
Bottom (12)
(14) Rating plate Section 1.6
Control circuit power connector (CNP2)
(15) Connect the control circuit power supply and
Section 3.1
regenerative option.
Section 3.3
Servo motor power output connector (CNP3)
(16)
Connect the servo motor.
Charge lamp
(17) When the main circuit is charged, this will light.
While this lamp is lit, do not reconnect the cables.

1 - 18
1. FUNCTIONS AND CONFIGURATION

1.8 Installation and removal of network card

Before installing or removing network card, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
WARNING between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the driver.

Avoid installing and removing the network card repeatedly. Any contact failure of
CAUTION the connector may be caused.

POINT
The internal circuits of the driver and the network card may be damaged by static
electricity. Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.

1 - 19
1. FUNCTIONS AND CONFIGURATION

(1) Installation of network card

1) Remove the slot cover with a flat-blade screwdriver, etc.
Make sure to store the removed cover.

2) Press the network card against the board on the right side
so as to align with the guide in the driver, and insert it
along the board.
Press it against the
board and insert. Forcibly inserting it all the way in obliquely without aligning
with the guide may break the board and the network card.

3) Check if the network card tabs can be confirmed through

Check that the network module The network module tab hits the the confirmation hole on the side of the driver as shown in
tab can be confirmed through board end face, and the module the diagram.
the confirmation hole. is incompletely inserted. If the tabs cannot be confirmed, insert the network card
while pressing it since the tabs hit the board end face, and
the card is incompletely inserted.

The network
Confirmation module tab
hole cannot be
Network module confirmed
tab through the
confirmation
hole. 4) Tighten the fixing screws using a #8 6-lobe driver.
Tightening torque is 0.25 N•m.

Fixing screw
(6-lobe screw )
Check that the network module
tab can be confirmed through
the confirmation hole in the
same manner as the upper hole.

1 - 20
1. FUNCTIONS AND CONFIGURATION

(2) Removal of network card

1) Loosen two screws fixing the network card approximately 5
mm using the #8 6-lobe driver.

5 mm

Fixing screw
(6-lobe screw )

2) Hook the slot cover included at product shipment on the

loosened screws as shown in the diagram.

Hook the slot

cover on the
loosened screw s.

3) Hold the slot cover, and pull it straight toward you to

remove the network card.

4) Fit the slot cover to prevent dust from entering it.

1 - 21
1. FUNCTIONS AND CONFIGURATION

1.9 Configuration including peripheral equipment

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may
CAUTION cause a malfunction.

POINT
Equipment other than the driver and servo motor are optional or recommended
products.

(1) LECSN2-T□
The diagram shows LECSN2-T7.
RS T
(Note 2)
Pow er supply

Molded-case
circuit breaker
(MCCB) Personal
Mitsubishi computer
electric MR Configurator2
CN5

(Note 3)
Magnetic
contactor
(MC)
Mitsubishi
electric (Note 1)

Netw ork module dependence (Note 6)

Line noise
filter
(FR-BSF01)
Mitsubishi
electric CN8 To STO
safetycable
relay or MR-J3-D05
D (Note 5) safety logic unit

L1 U
V
CN3 I/O connector Junction terminal
L2 or I/O cable block
L3 W

Power factor P3 CN2

improving DC(note 1)
reactor CN2L (Note 4) Servo motor
(FR-HEL) P4
CN4
Battery
P+
Regenerative
option
C
L11

L21

Note 1. short P3 and P4.

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the
power supply specifications.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
4. CN2L cannot be used. Connect the encoder cable to CN2.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
6. For the network card connections, refer to chapter 18,19,20

1 - 22
1. FUNCTIONS AND CONFIGURATION

(3) LECSN1-T□ (Scheduled release product)

The diagram is for LECSN1-T7.
R T
(Note 2)
Pow er supply Personal
computer
Molded-case MR Configurator2
circuit breaker CN5
(MCCB)

(Note 3)
Magnetic
contactor
(MC)
Mitsubishi electric (Note 1) Netw ork module dependence (Note 6)
Power factor (Note 1)
improving AC
reactor
(FR-HAL)
Mitsubishi electric CN8
Line noise D (Note 5) To STO
safetycable
relay or MR-J3-D05
filter saf ety logic unit
(FR-BSF01)
Mitsubishi electric U
CN3 I/O connector
Junction terminal
V or I/O cable
block
W
L1
CN2
L2
CN2L (Note 4) Servo motor
CN4
Battery
P+
Regenerative
option
C
L11

L21

Note 1. The power factor improving DC reactor cannot be used.

2. For power supply specifications, refer to section 1.3.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
4. Do not use it.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
6. For the network card connections, refer to chapter 18,19,20.

1 - 23
2. INSTALLATION

2. INSTALLATION ..............................................................................................................................................2
2.1 Installation direction and clearances .........................................................................................................3
2.2 Keep out foreign materials ........................................................................................................................5
2.3 Encoder cable stress .................................................................................................................................5
2.4 Inspection items ........................................................................................................................................5
2.5 Parts having service lives ..........................................................................................................................6
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level...7

2- 1
2. INSTALLATION

2. INSTALLATION

WARNING To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the front cover, cable, or connector when carrying the driver. It may
fall.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the driver and the servo motor in a load-bearing place in accordance with
this manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
CAUTION and other combustible matter from entering the driver.
Do not block the intake and exhaust areas of the driver. Otherwise, it may cause a
malfunction.
Do not drop or strike the driver. Isolate it from all impact loads.
Do not install or operate the driver which have been damaged or have any parts
missing.
When the equipment has been stored for an extended period of time, contact your
local sales office.
When handling the driver, be careful about the edged parts such as corners of the
driver.
The driver must be installed in the metal cabinet.

2- 2
2. INSTALLATION

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, it may

cause a malfunction.
CAUTION Leave specified clearances between the driver and the cabinet walls or other
equipment. Otherwise, it may cause a malfunction.

(1) Installation clearances of the driver

(a) Installation of one driver
Cabinet Cabinet

40 mm or more

Driveramplifier
Servo Wiring allow ance
80 mm or more
10 mm 10 mm
or more or more Top
(Note 2)

Bottom

40 mm
or more
(Note 1)

2- 3
2. INSTALLATION

(b) Installation of two or more drivers

POINT
Close mounting is possible depending on the capacity of the driver. Refer to
section 1.3 for availability of close mounting.
When mounting the drivers closely, do not install the driver whose depth is larger
than that of the left side driver since CNP1, CNP2, and CNP3 connectors cannot
be disconnected.

Leave a large clearance between the top of the driver and the cabinet walls, and install a cooling fan
to prevent the internal temperature of the cabinet from exceeding the environment.
When mounting the drivers closely, leave a clearance of 1 mm between the adjacent drivers in
consideration of mounting tolerances. In this case, keep the ambient temperature within 0 ˚C to 45 ˚C
or use the driver with 75% or less of the effective load ratio.
Cabinet Cabinet

100 mm or more
100 mm or more
10 mm or more
(Note 2) 1 mm 1 mm

30 mm 30 mm 30 mm Top
or more or more or more

Bottom

40 mm or more 40 mm or more
(Note 1)

Leaving clearance Mounting closely

(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the driver is not affected.
Install the driver on a perpendicular wall in the correct vertical direction.

2- 4
2. INSTALLATION

2.2 Keep out foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the driver.

(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the cabinet or a
cooling fan installed on the ceiling.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force
clean air into the cabinet from outside to make the internal pressure higher than the external
pressure) to prevent such materials from entering the cabinet.

2.3 Encoder cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight
stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
lock) with having some slack from the connector connection part of the servo motor to avoid putting
stress on the connector connection part. Use the optional encoder cable within the bending life range.
Use the power supply and lock wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor moves, the bending radius should be made as
large as possible. Refer to section 10.4 for the bending life.

(5) The minimum bending radius : Min. 45mm.

2.4 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
WARNING shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the driver.
To avoid an electric shock, only qualified personnel should attempt inspections.

Do not perform insulation resistance test on the driver. Otherwise, it may cause a
CAUTION malfunction.
Do not disassemble and/or repair the equipment on customer side.

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to
operating conditions especially when the servo motor is movable.

(3) Check that the connector is securely connected to the driver.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the driver.

(6) Check for unusual noise generated from the driver.

2- 5
2. INSTALLATION

2.5 Parts having service lives

Service lives of the following parts are listed below. However, the service lives vary depending on
operation and environment.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on, forced stop by EM1 (Forced
stop 1), and quick stop command from controller:
Relay
100,000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Absolute position battery Refer to section 12.2.

(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the
capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach
the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C
surrounding air temperature or less).

(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their lives when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred,
and PC or PLC…etc forced stop has occurred 100,000 times in total, or when the STO has been
turned on and off 1,000,000 times while the servo motor is stopped under servo-off state. However,
the lives of relays may depend on the power supply capacity.

(3) Driver cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally,
therefore, the cooling fan must be replaced in a few years of continuous operation as a guideline. It
must also be changed if unusual noise or vibration is found during inspection.
The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas,
flammable gas, oil mist, dust and dirt.

2- 6
2. INSTALLATION

2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
(1) Effective load ratio and regenerative load ratio
As heat dissipation effects decrease in proportion to the decrease in air density, use the product
Within the effective load ratio and regenerative load ratio shown in the following figure.
Regenerative load ratio

[%]
Effective load ratio

100
95

0
0 1000 2000 [m]
Altitude

When closely mounting the drivers, operate them at the ambient temperature of 0 °C to
45 °C or at 75% or smaller effective load ratio. (Refer to section 2.1.)

(2) Input voltage

Generally, a withstand voltage decreases as increasing altitude; however, there is no restriction on the
withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)

(3) Parts having service life

(a) Smoothing capacitor
The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned
environment (ambient temperature of 30 °C or less).

(b) Relay
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)

(c) Driver cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)

2- 7
3. SIGNALS AND WIRING

3. SIGNALS AND WIRING ..............................................................................................................................2

3.1 Input power supply circuit ......................................................................................................................3
3.2 I/O signal connection example ................................................................................................................7
3.2.1 For sink I/O interface ...........................................................................................................................7
3.2.2 For source I/O interface ........................................................................................................................8
3.3 Explanation of power supply system ......................................................................................................9
3.3.1 Signal explanations...........................................................................................................................9
3.3.2 Power-on sequence ..........................................................................................................................10
3.3.3 Wiring CNP1, CNP2, and CNP3 ....................................................................................................11
3.4 Connectors and pin assignment............................................................................................................13
3.5 Signal (device) explanations .................................................................................................................15
3.5.1 Input device .....................................................................................................................................15
3.5.2 Output device ..................................................................................................................................17
3.5.3 Output signal ..................................................................................................................................19
3.5.4 Power supply ...................................................................................................................................19
3.6 Forced stop deceleration function .........................................................................................................20
3.6.1 Forced stop deceleration function ..................................................................................................20
3.6.2 Base circuit shut-off delay time function.......................................................................................22
3.6.3 Vertical axis freefall prevention function ......................................................................................23
3.6.4 Residual risks of the forced stop function (EM2) ..........................................................................23
3.7 Alarm occurrence timing chart .............................................................................................................24
3.7.1 When you use the forced stop deceleration function ....................................................................24
3.7.2 When you do not use the forced stop deceleration function .........................................................25
3.8 Interfaces................................................................................................................................................26
3.8.1 Internal connection diagram ..........................................................................................................26
3.8.2 Detailed explanation of interfaces .................................................................................................27
3.8.3 Source I/O interfaces.......................................................................................................................29
3.9 Servo motor with a lock .........................................................................................................................30
3.9.1 Safety precautions ..........................................................................................................................30
3.9.2 Timing chart ....................................................................................................................................31
3.9.3 Wiring diagrams (LE-□-□ series servo motor) ...............................................................................37
3.10 Grounding ............................................................................................................................................38

3- 1
3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
when confirming whether the charge lamp is off or not, always confirm it from the
front of the driver.
WARNING Ground the driver and servo motor securely.
Do not attempt to wire the driver and servo motor until they have been installed.
Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other
protective circuits may not operate.
Servo amplifier
Driver ServoDriver
amplifier
or MR-D01 or MR-D01
24 V DC 24 V DC
DOCOM DOCOM
(DOCOMD) (DOCOMD)

Control output RA Control output RA

signal signal
For sink output interface For source output interface

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

CAUTION Electromagnetic interference may be given to the electronic equipment used near
the driver.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF
(-H)) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
Connect the driver power output (U/V/W) to the servo motor power input (U/V/W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
malfunction.
ServoDriver
amplifier Servo motor ServoDriver
amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

3- 2
3. SIGNALS AND WIRING

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may
cause a malfunction.
CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

3.1 Input power supply circuit

Always connect a magnetic contactor between the power supply and the main
circuit power supply (L1/L2/L3) of the driver, in order to configure a circuit that
shuts down the power supply on the side of the driver’s power supply. If a
magnetic contactor is not connected, continuous flow of a large current may cause
a fire when the driver malfunctions.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
cause a fire when a regenerative transistor malfunctions or the like may overheat
the regenerative resistor.
Check the driver model, and then input proper voltage to the driver power supply.
CAUTION If input voltage exceeds the upper limit of the specification, the driver will break
down.
The driver has a built-in surge absorber (varistor) to reduce exogenous noise and
to suppress lightning surge. Exogenous noise or lightning surge deteriorates the
varistor characteristics, and the varistor may be damaged. To prevent a fire, use a
molded-case circuit breaker or fuse for input power supply.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may
cause a malfunction.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will
cause a burst, damage, etc.

POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, network card does
not operate, and transmission of network communication is interrupted.
Therefore, the next axis driver displays "AA" at the indicator and turns into base
circuit shut-off. The servo motor stops with starting dynamic brake.
EM2 has the same function as EM1 in the torque mode.

Configure the wiring so that the main circuit power supply is shut off and the servo-on command turns off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or a quick stop
command from upper side. A molded-case circuit breaker (MCCB) must be used with the input cables of the
main circuit power supply.

3- 3
3. SIGNALS AND WIRING

(1) Using 3-phase 200 V AC to 240 V AC power supply for LECSN2-T□

(Note 4)
Malfunction OFF
RA1 ON
MC

MC
SK
Emergency stop sw itch
Servodriver
amplifier Servo motor
MC
MCCB (Note 7) CNP1
L1 (Note 11)
3-phase CNP3 (Note 6)
200 V AC to L2 U U
Motor
240 V AC
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4

CNP2
P+
(Note 2) C
D (Note 11) (Note 3)
CN2 Encoder Encoder
L11 cable
L21

(Note 8)
Main circuit pow er supply CN3 CN3 24 V DC (Note 12)
(Note 5) Forced stop 2 EM2 DOCOM

DICOM ALM RA1 Malfunction (Note 4) (Note 5)

24 V DC (Note 12)
(Note 9) CN8
Short-circuit connector
(Packed w ith the servo amplifier)
driver

Note 1. Between P3 and P4 is connected by default.

2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the upper side side.
5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver
9. When not using the STO function, attach the short-circuit connector came with a driver.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may cause a malfunction.
12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

3- 4
3. SIGNALS AND WIRING

(2) Using 1-phase 200 V AC to 240 V AC power supply for LECSN2-T□

(Note 4)
Malfunction OFF
RA1 ON
MC

MC
Emergency stop sw itch SK

MC Servodriver
amplifier Servo motor
MCCB (Note 7) CNP1
1-phase (Note 11)
200 V AC to L1
CNP3 (Note 6)
240 V AC L2 U U
Motor
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4
CNP2
P+
(Note 2) C
D (Note 11) (Note 3)
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
Main circuit pow er supply CN3
(Note 5) Forced stop 2 EM2 CN3 24 V DC (Note 12)
DICOM DOCOM

24 V DC (Note 12) ALM RA1 Malfunction (Note 4) (Note 5)

CN8
(Note 9)
Short-circuit connector
(Packed w ith the servo amplifier)
driver

Note 1. Between P3 and P4 is connected by default.

2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the upper side side.
5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver
9. When not using the STO function, attach the short-circuit connector came with a driver.
10. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may cause a malfunction.
12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

3- 5
3. SIGNALS AND WIRING

(3) LECSN1-T□ (Scheduled release product)

(Note 4)
Malfunction OFF
RA1 ON
MC

MC
SK
Emergency stop sw itch
driver
Servo amplifier Servo motor
MC
MCCB (Note 7) CNP1
1-phase (Note 11)
L1
100 V AC to CNP3 (Note 6)
120 V AC Unassigned U U
Motor
L2 V V
M
N- W W
Unassigned
(Note 10) (Note 1)
Unassigned

CNP2
P+
(Note 2) C
D (Note 11) (Note 3)
CN2 Encoder Encoder
L11 cable
L21

(Note 8)
Main circuit pow er supply CN3 CN3 24 V DC (Note 12)
(Note 5) Forced stop 2 EM2 DOCOM

DICOM ALM RA1 Malfunction (Note 4) (Note 5)

24 V DC (Note 12)
(Note 9) CN8
Short-circuit connector
(Packed w ith the servo amplifier)
driver

Note 1. The power factor improving DC reactor cannot be used.

2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
4. If ALM (Malfunction) output is disabled with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the upper side side.
5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver.
9. When not using the STO function, attach the short-circuit connector came with a driver.
10. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may cause a malfunction.
12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

3- 6
3. SIGNALS AND WIRING

3.2 I/O signal connection example

POINT
EM2 has the same function as EM1 in the torque mode.

3.2.1 For sink I/O interface

Servodriver
amplifier
10 m or less 10 m or less
(Note 8) (Note 12) (Note 12)
Main circuit (Note 10)
(Note 3) CN3 CN3 24 V DC
pow er supply
Forced stop 2 EM2 20 3 DOCOM
(Note 2) (Note 14)
(Note 4) Forward rotation
stroke end LSP 2 Electromagnetic brake
13 MBR RA1

Reverse rotation interlock

(Note 6) LSN 12
stroke end (Note 13)
9 INP RA2 In-position
Proximity dog DOG 19
15 ALM RA3 Malfunction (Note 11)
Touch probe 1 TPR1 10
Touch probe 2 TPR2 1
DICOM 5 6 LA Encoder A-phase pulse
16 LAR (differential line driver)
(Note 10) 24 V DC
Personal 7 LB Encoder B-phase pulse
(Note 5) computer 17 LBR (differential line driver)
USB cable
MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
LEC-MR-J3USB (Option)
(option )
18 LZR (differential line driver)
CN5
+ 11 LG Control common

4 MO1 Analog monitor 1

± 10 V DC
14 MO2 Analog monitor 2
± 10 V DC
(Note 9)
Short-circuit connector CN8 Plate SD
(Packed with the servo
upper side
Controller driver)
amplifier) 2 m or less
SLOT

Network
(Note 7) module
card
(Note 1)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the driver to the protective
earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the driver will malfunction and will not output signals,
disabling EM2 (Forced stop 2) and other protective circuits.
3. If the upper side does not have forced stop function, always install the forced stop 2 switch (normally closed contact).
4. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. You can change devices of these pins with [Pr. PD03], [Pr. PD05], and [Pr. PD06].
7. For the network connections, refer to chapter 18,19,20.
8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver.
9. When not using the STO function, attach the short-circuit connector came with a driver.
10. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.8.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
11. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
12. The pins with the same signal name are connected in the driver.
13. You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].

3- 7
3. SIGNALS AND WIRING

3.2.2 For source I/O interface

POINT
For notes, refer to section 3.2.1.

Servodriver
amplifier
10 m or less 10 m or less
(Note 8) (Note 12) (Note 12)
Main circuit (Note 10)
(Note 3) CN3 CN3 24 V DC
pow er supply
Forced stop 2 EM2 20 3 DOCOM
Forward rotation (Note 2) (Note 14)
(Note 4) stroke end LSP 2 Electromagnetic brake
13 MBR RA1

(Note 6) Reverse rotation interlock

LSN 12 (Note 13)
stroke end 9 INP RA2 In-position
Proximity dog DOG 19
Touch probe 1 15 ALM RA3 Malfunction (Note 11)
TPR1 10
Touch probe 2 TPR2 1
DICOM 5 6 LA Encoder A-phase pulse
(Note 10) 24 V DC 16 LAR (differential line driver)

Personal 7 LB Encoder B-phase pulse

(Note 5) computer 17 LBR (differential line driver)
USB cable
MR Configurator2 MR-J3USBCBL3M Encoder Z-phase pulse
LEC-MR-J3USB (Option)
(option )
8 LZ
18 LZR (differential line driver)
CN5
+ 11 LG Control common

4 MO1 Analog monitor 1

± 10 V DC
14 MO2 Analog monitor 2
± 10 V DC
(Note 9)
Short-circuit connector CN8 Plate SD
(Packed with the servo
upper side
Controller amplifier) 2 m or less
driver)
SLOT

Network
(Note 7) module
card
(Note 1)

3- 8
3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT
For the layout of connector and terminal block, refer to chapter 9.

Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the
power supply to L1 and L3. Leave L2 open.

Driver
LECSN2-T5 ～
Main circuit power LECSN2-T9
L1/L2/L3 Power
supply
3-phase 200 V AC to
L1/L2/L3
240 V AC, 50 Hz/60 Hz
1-phase 200 V AC to
L1/L3
240 V AC, 50 Hz/60 Hz

P3/P4 - connect P3 and P4. (factory-wired)

When using a driver built-in regenerative resistor, connect P+ and D. (factory-wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative option to
P+/C/D Regenerative option
P+ and C.
Refer to section 11.2 for details.

Connection target
Symbol Description
(application)
Supply the following power to L11 and L21.

Driver LECSN2-T5 ～
Control circuit power Power LECSN2-T9
L11/L21
supply
1-phase 200 V AC to
L11/L21
240 V AC, 50 Hz/60 Hz

Connect the driver power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
U/V/W Servo motor power
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
N- - Do not connect it.
Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the
Protective earth (PE)
cabinet for grounding.

3- 9
3. SIGNALS AND WIRING

3.3.2 Power-on sequence

POINT
The output signal, etc. may be unstable at power-on.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the
main circuit power supply (L1/L2/L3). Configure up an external sequence to switch off the
magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the control circuit power supply is
turned on with the main circuit power supply off, and then the servo-on command is transmitted,
[AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the
warning and starts the normal operation.

3) The driver receives the servo-on command in 3 s to 4 s + network initial communication time after
the main circuit power supply is switched on.
(Refer to (2) in this section.)

(2) Timing chart

Servo-on command accepted
(Note 1)
(3 s to 4 s + netw ork initial communication time)
Main circuit ON
pow er supply
Control circuit OFF
ON
Base circuit
OFF
95 ms (Note 2) 10 ms 95 ms
Servo-on command ON
(from controller)
upper side) OFF

3 - 10
3. SIGNALS AND WIRING

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT
For the wire sizes used for wiring, refer to section 11.9.
When wiring, remove the power connectors from the driver.
Insert only one wire or ferrule to each wire insertion hole.

Use the driver power supply connector for wiring CNP1, CNP2, and CNP3.

(1) Connector
(a) LECSN□-T□
Driver
Servo amplifier

CNP1

CNP2

CNP3

Table 3.1 Connector and applicable wire

Receptacle Applicable wire Stripped
Connector Manufacturer Remarks
assembly Size Insulator OD length [mm]
Open tool
CNP1 K05A01490216
MITSUBISHI comes with.
ELECTRIC SYSTEM &
CNP2 K05A01490209 AWG 18 to 14 39 mm or shorter 9 -
SERVICE CO., LTD
(Note)
CNP3 K05A01490210 -

Note. Please purchase from distributor or distributor of Mitsubishi Electric Corporation.

3 - 11
3. SIGNALS AND WIRING

(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 to 3.4 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Tw ist and straighten

the strands.

You can also use a ferrule to connect with the connectors. The following shows references to
select ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimping tool
Driver Wire size
For one For two (Phoenix Contact)
LECSN□-T5 ～ AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
LECSN□-T8, CRIMPFOX-ZA3
AWG 14 AI2.5-10BU
LECSN2-T9

(b) Inserting wire

Insert only one wire or ferrule to each wire insertion hole.
Insert the open tool as follows and push it down to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the wire insertion depth, and make
sure that the cable insulator will not be caught by the spring and that the conductive part of the
stripped wire will not be exposed.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
In addition, make sure that no conductor wire sticks out of the connector.
The following shows a connection example of the CNP3 connector.

1) Push dow n the open tool.

3) Release the open tool to fix the w ire.

2) Insert the w ire.

3 - 12
3. SIGNALS AND WIRING

3.4 Connectors and pin assignment

POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
For the CN1 connector, securely connect the external conductive portion of the
shielded cable to the ground plate and fix it to the connector shell.
Screw

Cable

Screw
Ground plate

3 - 13
3. SIGNALS AND WIRING

The driver front view shown is that of the LECSN□-T7 or less. Refer to chapter 9 DIMENSIONS for the
appearances and connector layouts of the other drivers.
CN5 (USB connector)
Refer to section 11.7
CN3

1 11
2 12
CN8 T PR2 LG
For the STO I/O signal LSP LSN
connector, refer to section 13.2. 3 13
4 14
DOCOM MBR
MO1 MO2
5 15
6 16
DICOM ALM
LA LAR
(Note) CN2 7 17
8 18
2 6 10 LB LBR
LG 4 THM2 8 LZ LZR
MRR MXR
9 19
1 5 9 10 20
INP DOG
P5 3 THM1 7 BAT
MR MX T PR1 EM2

The frames of the CN2, CN2L, and CN3 CN4

connectors are connected to the protective (Battery connector)
earth terminal in the servo driver
amplifier. Refer to section 11.8

(Note) CN2L (Note) CN2L

(for using serial encoder) (for using A/B/Z-phase pulse encoder)

2 6 10 2 6 10
LG 4 8 LG 4 PBR 8 PSEL
MRR2 MXR2 PAR PZR
1 5 9 1 5 9
P5 3 7 BAT P5 3 PB 7
MR2 MX2 PA PZ

Note. CN2L cannot be used. Connect the encoder cable to CN2.

3 - 14
3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.
The pin numbers in the connector pin No. column are those in the initial status.

3.5.1 Input device

(1) Input device pin
The following shows the input device pins and parameters for setting devices.
Connector pin No. Parameter Initial device I/O division
CN3-2 [Pr. PD03] LSP
CN3-12 [Pr. PD04] LSN
CN3-19 [Pr. PD05] DOG DI-1
CN3-10 [Pr. PD38] TPR1
CN3-20 [Pr. PA04] EM2

The on/off statuses of the pins can be read with "Digital inputs" of the object.
For details, refer to chapter 18,19,20.

(2) Input device explanations

Connector I/O
Device Symbol Function and application
pin No. division
Forced stop 2 EM2 CN3-20 Turn off EM2 (open between commons) to decelerate the servo motor to a stop DI-1
with commands.
Turn EM2 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "2 1 _ _" to disable EM2.
The following shows the setting of [Pr. PA04].

[Pr. PA04] Deceleration method

EM2/EM1
setting EM2 or EM1 is off Alarm occurred
MBR (Lock interlock) MBR (Lock interlock)
00__ EM1 turns off without the turns off without the
forced stop deceleration. forced stop deceleration.
MBR (Lock interlock) MBR (Lock interlock)
20__ EM2 turns off after the forced turns off after the forced
stop deceleration. stop deceleration.
Not using MBR (Lock interlock)
01__ EM2 and turns off without the
EM1 forced stop deceleration.
Not using MBR (Lock interlock)
21__ EM2 and turns off after the forced
EM1 stop deceleration.

EM2 and EM1 are mutually exclusive.

EM2 has the same function as EM1 in the torque mode.
Forced stop 1 EM1 (CN3-20) When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1. DI-1
When EM1 is turned off (open between commons), the base circuit shuts off,
and the dynamic brake operates to decelerate the servo motor to a stop.
The forced stop will be reset when EM1 is turned on (short between commons).
Set [Pr. PA04] to "0 1 _ _" to disable EM1.

3 - 15
3. SIGNALS AND WIRING

Connector I/O
Device Symbol Function and application
pin No. division
Touch probe 1 TPR1 CN3-10 DI-1
The touch probe function is available to latch the current position by sensor
input. Turn it on to latch the current position. For the touch probe function, refer
Touch probe 2 TPR2 CN3-1 DI-1
to chapter 18,19,20.

Operation start-up ST (CN3-10) Use this device for the positioning function by the operation start-up signal. DI-1
For details, refer to chapter 18,19,20.
Forward rotation LSP CN3-2 To start the operation, turn on LSP and LSN. Turn it off to bring the servo DI-1
stroke end motor to a slow stop and make it servo-locked.

Reverse rotation LSN CN3-12 (Note) Input device Operation

stroke end CCW CW
direction direction
LSP LSN
Positive Negative
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On

Setting [Pr. PD01] as follows turn the signals on automatically (always

connected) in the driver.

Status
[Pr. PD01]
LSP LSN
_4__ Automatic on
_8__ Automatic on
_C__ Automatic on Automatic on

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs.
In the torque mode, this device cannot be used during normal operation.
Proximity dog DOG CN3-19 Proximity dog at home position return will be detected. The polarity for dog DI-1
detection can be changed with [Pr. PT29].

Polarity for proximity dog detection

Profile mode
[Pr. PT29]
Cyclic synchronous mode Indexer method
Point table method
___0 Dog detection with off Dog detection with on
___1 Dog detection with on Dog detection with off

3 - 16
3. SIGNALS AND WIRING

Connector I/O
Device Symbol Function and application
pin No. division
Proportional control PC Turn PC on to switch the speed amplifier from the proportional integral type to DI-1
the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the servo
motor shaft is to be locked mechanically after positioning completion (stop),
switching on the PC (Proportion control) upon positioning completion will
suppress the unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the PC (Proportion
control) at the same time to make the torque less than the rated one.
Do not use PC (Proportional control) in the torque mode. When PC
(Proportional control) is used in the torque mode, operation may be performed
at a speed exceeding the speed limit value.
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to DI-1
[Pr. PB60] as the load to motor inertia ratio and gain values.
Fully closed loop CLD This is used when the semi closed loop control/fully closed loop control DI-1
selection switching is enabled with [Pr. PE01].
Turn off CLD to select the semi closed loop control, and turn on CLD to select
the fully closed loop control.
General-purpose DIA When using input signals of the driver with a upper side, use this device. DI-1
input A
General-purpose DIB
input B
General-purpose DIC
input C

3.5.2 Output device

(1) Output device pin
The following shows the output device pins and parameters for assigning devices.
Connector pin No. Parameter Initial device I/O division
CN3-13 [Pr. PD07] MBR
CN3-9 [Pr. PD08] INP DO-1
CN3-15 [Pr. PD09] ALM

(2) Output device explanations

Device Symbol Function and application
Lock interlock MBR When using the device, set operation delay time of the lock in [Pr. PC02].
When a servo-off status or alarm occurs, MBR will turn off.
Malfunction ALM When the protective circuit is activated to shut off the base circuit, ALM will turn off.
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
In-position INP When the number of droop pulses is in the in-position range, INP will turn on. The in-position
range can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on
during low-speed rotation.
The device cannot be used in the velocity mode and torque mode.
Dynamic brake DB When using the signal, enable it by the setting of [Pr. PD07] to [Pr. PD09].
interlock DB turns off when the dynamic brake needs to operate. When using the external dynamic brake
on the driver of 11 kW or more, this device is required. (Refer to section 11.17.)
For the driver of 7 kW or less, it is not necessary to use this device.
The external dynamic brake cannot be used with 11 kW or more driver for compliance with SEMI-
F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09]. Failure to
do so will cause the driver to become servo-off when an instantaneous power failure occurs.
Ready RD Enabling servo-on to make the driver ready to operate will turn on RD.
Speed reached SA SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will
turn on. Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
The device cannot be used in the position mode and torque mode.

3 - 17
3. SIGNALS AND WIRING

Device Symbol Function and application

Limiting speed VLC When the speed reaches the speed limit value in the torque mode, VLC will turn on. When the
servo is off, TLC will be turned off.
The device cannot be used in the position mode and velocity mode.
Zero speed detection ZSP ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be
changed with [Pr. PC07].

OFF level 1)
Forw ard 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis w idth)
50 r/min
[Pr. PC07]
Servo motor 0 r/min
speed
[Pr. PC07]
Reverse ON level
rotation -50 r/min
20 r/min
direction OFF level (Hysteresis w idth)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the
servo motor is accelerated to 70 r/min again (at 2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off
when the servo motor speed has reached -70 r/min (at 4)).
The range from the point when the servo motor speed has reached on level, and ZSP turns on, to
the point when it is accelerated again and has reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this driver.
Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When
the servo is off, TLC will be turned off.
This device cannot be used in the torque mode.
Warning WNG When warning has occurred, WNG turns on. When a warning is not occurring, WNG will turn off in
2.5 s to 3.5 s after power-on.
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning]
has occurred. When the battery warning is not occurring, BWNG will turn off in 2.5 s to 3.5 s after
power-on.
Variable gain CDPS CDPS will turn on during variable gain.
selection
Absolute position ABSV ABSV turns on when the absolute position is undetermined.
undetermined The device cannot be used in the velocity mode and torque mode.
During tough drive MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough
drive will turn on MTTR.
During fully closed CLDS CLDS turns on during fully closed loop control.
loop control
General-purpose DOA The pins to which this device is assigned can be switched on/off with "Digital outputs" of the
output A object. For details, refer to chapter 18,19,20.
General-purpose DOB
output B
General-purpose DOC
output C

3 - 18
3. SIGNALS AND WIRING

3.5.3 Output signal

Connector
Signal name Symbol Function and application
pin No.
Encoder A-phase LA CN3-6 These devices output pulses of encoder output set in [Pr. PA15] and [Pr. PA16] in the
pulse (differential line LAR CN3-16 differential line driver type.
driver) In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-
Encoder B-phase LB CN3-7 phase pulse by a phase angle of π/2.
pulse (differential line LBR CN3-17 The relation between rotation direction and phase difference of the A-phase and B-
driver) phase pulses can be changed with [Pr. PC03].
Output pulse specification, dividing ratio setting, and electronic gear setting can be
selected.
Encoder Z-phase LZ CN3-8 The encoder zero-point signal is output in the differential line driver type. One pulse is
pulse (differential line LZR CN3-18 output per servo motor revolution. This turns on when the zero-point position is
driver) reached. (negative logic)
The minimum pulse width is about 400 μs. For home position return using this pulse,
set the creep speed to 100 r/min or less.
Analog monitor 1 MO1 CN3-4 This is used to output the data set in [Pr. PC09] to between MO1 and LG in terms of
voltage.
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN3-14 This signal output the data set in [Pr. PC10] to between MO2 and LG in terms of
voltage.
Resolution: 10 bits or equivalent

3.5.4 Power supply

Connector
Signal name Symbol Function and application
pin No.
Digital I/F power DICOM CN3-5 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power supply capacity
supply input changes depending on the number of I/O interface points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Digital I/F common DOCOM CN3-3 Common terminal of input signal such as EM2 of the driver. This is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
Monitor common LG CN3-11 Common terminal of MO1 and MO2.
Shield SD Plate Connect the external conductor of the shielded wire.

3 - 19
3. SIGNALS AND WIRING

3.6 Forced stop deceleration function

POINT
When alarms not related to the forced stop function occur, control of motor
deceleration cannot be guaranteed. (Refer to chapter 8.)
When network communication is shut-off, forced stop deceleration will operate.
(Refer to section 3.7.1 (3).)
In the torque mode, the forced stop deceleration function is not available.
Disable the forced stop deceleration function for a machine in which multiple
axes are connected together, such as a tandem structure. If an alarm occurs
with the forced stop deceleration function disabled, the servo motor will stop with
the dynamic brake.
Keep the servo-on command (from upper side) and ready-on command (from
upper side) on while EM2 (Forced stop 2) is off. When the servo-on command
(from upper side) or ready-on command (from upper side) is off, forced stop
deceleration, base circuit shut-off delay time, and vertical axis freefall prevention
do not function.

3.6.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The driver life may be
shortened.

(1) Connection diagram

Servodriver
amplifier

24 V DC
DICOM
(Note)
Forced stop 2 EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
3.8.3.

3 - 20
3. SIGNALS AND WIRING

(2) Timing chart

When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC24 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut
and the dynamic brake activates.
ON
EM2 (Forced stop 2)
OFF (Enabled)

Dynamic brake
Ordinary Forced stop +
operation deceleration lock brake
Electromagnetic
Rated Speed

Servo motor speed

Command
Zero speed
([Pr. PC07])
0 r/min
Deceleration time

[Pr. PC24]
Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

3 - 21
3. SIGNALS AND WIRING

3.6.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off), alarm occurrence, or network communication shut-off due to delay time of the lock. Set the
time from MBR (Lock interlock) off to base circuit shut-off with [Pr. PC02].

(1) Timing chart

When EM2 (Forced stop 2) turns off or an alarm occurs during driving, the servo motor will decelerate
based on the deceleration time constant. MBR (Lock interlock) will turn off, and then after the delay time
set in [Pr. PC02], the driver will be base circuit shut-off status.
ON
EM2 (Forced stop 2)
OFF (Enabled)

Servo motor speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF
[Pr. PC02]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)

Release
lock brake
Electromagnetic
Activate

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay time
in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the servo
motor shaft does not freefall.

3 - 22
3. SIGNALS AND WIRING

3.6.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor lock and the base circuit shut-off
delay time function avoid dropping axis at forced stop. However, the functions may not avoid dropping axis a
few μm due to the backlash of the servo motor lock.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC31 Vertical axis freefall prevention compensation amount].
EM2 (Forced stop 2) turned off, an alarm occurred, or network communication shut-off occurred while
the servo motor speed is zero speed or less.
The base circuit shut-off delay time function is enabled.

(1) Timing chart

ON
EM2 (Forced stop 2)
OFF (Enabled)

Travel
Position distance
Set the base circuit shut-off delay time.
([Pr. PC02])

Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)

Release
Electromagnetic
lock brake
Activate

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC31].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.6.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without the
dynamic brake.

(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.

3 - 23
3. SIGNALS AND WIRING

3.7 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation
CAUTION signal is not being input, ensure safety, and reset the alarm before restarting
operation.

POINT
In the torque mode, the forced stop deceleration function is not available.

To deactivate the alarm, cycle the control circuit power, give the error reset command from the upper side, or
perform network communication reset. However, the alarm cannot be deactivated unless its cause is
removed.

3.7.1 When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
If an alarm occurs with the forced stop deceleration function disabled, the servo
motor will stop with the dynamic brake.

(1) When the forced stop deceleration function is enabled

Alarm occurrence
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min
Controller
upper side command is not received.

Base circuit ON
(Energy supply to
the servo motor) OFF

driveramplifier
Servo
display No alarm Alarm No.

MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note. The model speed command is a speed command generated in the driver for forced stop deceleration of the
servo motor.

3 - 24
3. SIGNALS AND WIRING

(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Braking by the dynamic brake

Dynamic brake
+ Braking by the electromagnetic brake
+ lock
Servo motor speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF

driveramplifier
Servo
display No alarm Alarm No.
Operation delay time of the electromagnetic
lock brake
MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

(3) When network communication is shut-off

The dynamic brake may operate depending on the communication shut-off status.
Network communication
is shut-off.
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF
driveramplifier
Servo
display No alarm (d1) 86

MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note. The model speed command is a speed command generated in the driver for forced stop deceleration of the
servo motor.

3.7.2 When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].

The timing chart that shows the servo motor condition when an alarm or network communication shut-off
occurs is the same as section 3.7.1 (2).

3 - 25
3. SIGNALS AND WIRING

3.8 Interfaces
3.8.1 Internal connection diagram

POINT
Refer to section 13.3.1 for the CN8 connector.

Servodriver
amplifier

CN3 CN3 (Note 1)

Forced stop 2 Approximately
6.2 kΩ 24 V DC
EM2 20 3 DOCOM

LSP 2 13 MBR RA

(Note 2) (Note 3)
LSN 12 9
Approximately INP
6.2 kΩ
DOG 19 15 ALM RA
(Note 3) Approximately
4.3 kΩ
TPR1 10
Approximately
4.3 kΩ
TPR2 1

DICOM 5 Isolated
(Note 1) CN3
24 V DC 6 LA
16 LAR
7 LB
Differential line
17 LBR driver output
8 LZ (35 mA or less)
18 LZR
11 LG
CN3 Analog monitor
±10 V DC
CN5 4 MO1
±10 V DC
D- 2
USB D+ 3 14 MO2
GND 5
Servo motor
CN2 Encoder
7 MX
8 MXR
3 MR
4 MRR
2 LG
PE
M

External encoder
(Note 4) CN2L
Encoder
7 MX2
8 MXR2
3 MR2
4 MRR2
2 LG

Note 1. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
2. The signal cannot be used in the velocity mode and torque mode.
3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
4. Do not use it.

3 - 26
3. SIGNALS AND WIRING

3.8.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.8.3 for source input.

For transistor Servo driver

amplifier

Approximately EM2,
5 mA etc.
(Note) Approximately
6.2 kΩ
Sw itch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 µA 300 mA

Note. It will be approximately 4.3 kΩ for interface of CN3-1 and CN3-10 pins.

(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the driver.
The following shows a connection diagram for sink output. Refer to section 3.8.3 for source output.
Servodriver
amplifier

If pol ari ty of diode i s

driverampl i fi er
reversed, servo
wi ll mal functi on.
ALM, Load
etc.

DOCOM
(Note) 24 V DC ± 10%
300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

3 - 27
3. SIGNALS AND WIRING

(3) Encoder output pulses DO-2 (differential line driver type)

(a) Interface
Maximum output current: 35 mA
Servodriver
amplifier driver
Servo amplifier
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 Ω

150 Ω

LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)

LG
SD SD

(b) Output pulse

Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC03].
LAR T
LB

LBR
/2
400 µs or more
LZ
LZR

(4) Analog output

Servodriver
amplifier

MO1
(MO2)
Output voltage: ±10 V
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent

Note. Output voltage range varies depending on the output contents.

3 - 28
3. SIGNALS AND WIRING

3.8.3 Source I/O interfaces

In this driver, source type I/O interfaces can be used.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source
(open-collector) type transistor output, relay switch, etc.
driver
Servo amplifier
For transistor
EM2,
etc.
(Note) Approximately
6.2 kΩ
TR Sw itch

DICOM

Approximately 24 V DC ± 10%
5 mA 300 mA
VCES 1.0 V
ICEO 100 µA

Note. It will be approximately 4.3 kΩ for interface of CN3-1 and CN3-10 pins.

(2) Digital output interface DO-1

This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the driver.
Servodriver
amplifier

If pol ari ty of diode i s

driverampl i fi er
reversed, servo
wi ll mal functi on.
ALM, Load
etc.

DOCOM
(Note) 24 V DC ± 10%
300 mA

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

3 - 29
3. SIGNALS AND WIRING

3.9 Servo motor with a lock

3.9.1 Safety precautions

Configure an lock circuit which is interlocked with an external emergency stop

switch.
Contacts
Contactsmust
must be
be opened when
opened w ALM (Malfunction)
hen ALM (Malfunction) Contacts must be opened w ith the
and MBR(Electromagnetic
or MBR (Electromagnetic brake
brake interlock)
interlock) turns turns
off. EMG stop sw itch.
off.
Servo motor
RA

B U 24 V DC

Lock brake
Electromagnetic
Refer to section 3.10.3 when wiring for the circuit configuration.
CAUTION The lock is provided for holding purpose and must not be used for ordinary
braking.
Before operating the servo motor, be sure to confirm that the lock operates
properly.
Do not use the 24 V DC interface power supply for the lock. Always use the power
supply designed exclusively for the lock. Otherwise, it may cause a malfunction.
When using EM2 (Forced stop 2), use MBR (Lock interlock) for operating the lock.
Operating the lock without using MBR during deceleration to a stop will saturate
servo motor torques at the maximum value due to brake torque of the lock. This
can result in delay of the deceleration to a stop from a set value.

POINT
Refer to Chapter 15 for specifications such as the power supply capacity and
operation delay time of the lock.
Refer to Chapter 15 for the selection of a surge absorber for the lock.
Note the following when the servo motor with an lock is used.

1) The lock will operate when the power (24 V DC) turns off.
2) Turn off SON (Servo-on) after the servo motor stopped.

(1) Connection diagram

driver
Servo amplifier

(Note 2) MBR ALM Servo motor

24 V DC RA1 (Malfunction) B1
DOCOM
(Note 1)
24 V DC U B
MBR RA1

B2

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the lock.
(2) Setting
In [Pr. PC02 Lock sequence output], set a delay time (Tb) from MBR (Lock interlock) off to base circuit
shut-off at a servo-off as in the timing chart in section 3.9.2.

3 - 30
3. SIGNALS AND WIRING

3.9.2 Timing chart

(1) When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) Servo-on command (from upper side) on/off

POINT
Keep the ready-on command (from upper side) on while the servo-on command
(from upper side) is off. When the ready-off command (from upper side) is off,
Tb [Pr. PC02 Lock sequence output] does not function.

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the lock is enabled during servo-lock, the brake life may be shorter. Therefore, set
Tb about 1.5 times of the minimum delay time where the moving part will not drop down for a vertical
axis system, etc.
Tb [Pr. PC02 Electromagnetic brake sequence output]

Servo motor speed 0 r/min

Approx. 95 ms
ON
Base circuit
OFF
Approx. 95 ms Operation delay time
MBR ON of the electromagnetic
lock
(Electromagnetic (Note 1) brake
brake interlock) OFF

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF
(Note 3)

Operation command
(from controller)
upper side 0 r/min

lock
Electromagnetic Release
brake Activate Release delay time and external relay, etc. (Note 2)

Note 1. ON: Lock is not activated.

OFF: Lock is activated.
2. Lock is released after delaying for the release delay time of lock and operation time of external circuit relay. For the release
delay time of lock, refer to chapter 15.
3. Give the operation command from the upper side after the lock is released.

3 - 31
3. SIGNALS AND WIRING

(b) Off/on of the quick stop command (from upper side) or EM2 (Forced stop 2)

POINT
In the torque mode, the forced stop deceleration function is not available.
Keep the servo-on command (from upper side) and ready-on command (from
upper side) on while the quick stop command (from upper side) or the EM2
(Forced stop 2) is off. When the ready-off command (from upper side) is off, Tb
[Pr. PC02 Lock sequence output] does not function.

Model speed command 0

Servo motor speed and equal to or less than
zero speed (Note 2)
0 r/min
Tb [Pr. PC02 Electromagnetic
brake sequence output]
Base circuit ON
(Energy supply to
the servo motor) OFF
Operation delay time
Quick stop command Disabled (ON) of the electromagnetic
lock
(from controller) or EM2 brake
(Forced stop 2) Enabled (OFF)
MBR ON
(Electromagnetic (Note 1)
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

lock brake Release

Electromagnetic
Activate

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

Note 1. ON: Lock is not activated.

OFF: Lock is activated.
2. The model speed command is a speed command generated in the driver for forced stop deceleration of the servo motor.

3 - 32
3. SIGNALS AND WIRING

(c) Alarm occurrence

1) When the forced stop deceleration function is enabled
Alarm occurrence

Model speed command 0

Servo motor speed and equal to or less than
zero speed (Note)
0 r/min
Controller command is
not received. Tb [Pr. PC02 Electromagnetic
brake sequence output]
Base circuit ON
(Energy supply to
the servo motor) OFF
Operation delay time
Servo amplifier of the electromagnetic
lock
display No alarm Alarm No. brake

MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Release
Electromagnetic
lock
brake Activate

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

Note. The model speed command is a speed command generated in the driver for forced stop deceleration of the servo motor.

2) When the forced stop deceleration function is disabled The operation status is the same as
section 3.7.1 (2).

3 - 33
3. SIGNALS AND WIRING

3) When network communication shut-off occurs

The dynamic brake may operate depending on the communication shut-off status.
Netw ork communication has broken.

Model speed command 0

Servo motor speed and equal to or less than
zero speed (Note)
0 r/min
Tb [Pr. PC02 Electromagnetic
brake sequence output]
Base circuit ON
(Energy supply to
the servo motor) OFF

Servo amplifier No alarm

display (d1) 86

MBR ON
(Electromagnetic Operation delay time
brake interlock) OFF of the electromagnetic
lock
brake
ON (no alarm)
ALM (Malfunction)
OFF (alarm)

lock
Electromagnetic Release
brake Activate

Servo-on command ON
(from controller)
upper side OFF

Ready-on command ON
(from controller)
upper side OFF

Note. The model speed command is a speed command generated in the driver for forced stop deceleration of the servo motor.

(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic
lock brake
Servo motor speed
Electromagnetic
lock brake
0 r/min
(Note 1)
ON
Base circuit
OFF

MBR ON
(Electromagnetic (Note 2)
brake interlock) OFF
Operation delay time of
No alarm the electromagnetic
lock brake
Alarm
[AL. 10 Undervoltage] Alarm

Main circuit ON
pow er supply
Control circuit OFF

Note 1. Variable according to the operation status.

2. ON: Lock is not activated.
OFF: Lock is activated.

3 - 34
3. SIGNALS AND WIRING

(e) Main circuit power supply off during control circuit power supply on

POINT
In the torque mode, the forced stop deceleration function is not available.

Forced stop deceleration

Dynamic brake
The time until a voltage Dynamic brake
Servo motor speed drop is detected. + Electromagnetic
lock brake
Electromagnetic
lock brake
0 r/min
Approx. 10 ms
Main circuit ON
pow er supply OFF (Note 2)

Base circuit ON
(Energy supply to
the servo motor) OFF

MBR ON
(Electromagnetic (Note 1)
brake interlock) OFF
Operation delay time of
the electromagnetic
lock brake
ALM (Malfunction) ON (no alarm)
OFF (alarm)

Note 1. ON: Lock is not activated.

OFF: Lock is activated.
2. Variable according to the operation status.

(f) Ready-off command from upper side

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic
lock brake
Servo motor speed lock
Electromagnetic brake
0 r/min

ON
Base circuit
OFF
MBR
(Electromagnetic ON
(Note)
brake interlock) OFF
Operation delay time of
ON the electromagnetic
lock brake
Ready-on command
(from controller) OFF

Note. ON: Lock is not activated.

OFF: Lock is activated.

3 - 35
3. SIGNALS AND WIRING

(2) When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) Servo-on command (from upper side) on/off
It is the same as (1) (a) in this section.

(b) Off/on of the quick stop command (from upper side) or EM1 (Forced stop 1)
Dynamic brake
Dynamic brake
+ Electromagnetic
lock brake Electromagnetic brake
Servo motor speed has released.
lock
Electromagnetic brake
0 r/min
Approx. 10 ms Approx. 210 ms
ON
Base circuit
OFF
Operation delay time Approx. 210 ms
MBR ON of the electromagnetic
lock
(Electromagnetic (Note) brake
brake interlock) OFF

Quick stop command ON (Disabled)

(from controller) or EM2
(Forced stop 1) OFF (Enabled)

Note. ON: Lock is not activated.

OFF: Lock is activated.
(c) Alarm occurrence
The operation status during an alarm is the same as section 3.7.2.

(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.

(e) Main circuit power supply off during control circuit power supply on
Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic
lock brake
Servo motor speed lock
Electromagnetic brake
0 r/min
(Note 1)
ON
Base circuit
OFF

MBR ON
(Electromagnetic (Note 2)
brake interlock) OFF
Operation delay time of
No alarm the electromagnetic
lock brake
Alarm
[AL. 10 Undervoltage] Alarm

Main circuit ON
pow er supply OFF

Note 1. Variable according to the operation status.

2. ON: Lock is not activated.
OFF: Lock is activated.
(f) Ready-off command from upper side
It is the same as (1) (f) in this section.

3 - 36
3. SIGNALS AND WIRING

3.9.3 Wiring diagrams (LE-□-□ series servo motor)

(1) When cable length is 10m or less

10m or less
10m以下
MR-BKS1CBL□M-A1-L
MR-BKS1CBL□M-A2-L
(Note3)
(注3) MR-BKS1CBL□M-A1-H サーボモータ
Servo motor
電磁ブレーキ LE-CSB-□□□
MR-BKS1CBL□M-A2-H
24VDC power Electoromagnetic
電磁ブレーキ用
Supply for lock
DC24V電源 インタロック Trouble 故障 (Note2)
(注2)
Brake(MBR) (MBR) (Note4)
(注4)
(MBR) (ALM) AWG20
B1
(Note1)
(注1) U B
AWG20 B2

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in lock terminals (B1 and B2).
3. Do not share the lock power supply with the interface 24VDC power supply.
4. Shut off the circuit in conjunction with the emergency stop switch.

When fabricating the lock cable LE-CSB-R□□, refer to section 11.1.6.

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the lock cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.

10m or less
2m以下
50m or less
50m以下 MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
LE-CSB-□□□
延長ケーブル
Extension cable MR-BKS1CBL2M-A1-H
(製作してください。)
(To be fabricated) MR-BKS1CBL2M-A2-H
(注5) MR-BKS2CBL03M-A1-L サーボモータ
Servo motor
24VDC 電磁ブレーキ
power Electoromagnetic LE-CSB-□□□
MR-BKS2CBL03M-A2-L
電磁ブレーキ用
SupplyDC24V電源
for lock インタロック Trouble 故障 (注4)
(Note4)
Brake(MBR) (Note3)
(MBR) (ALM)
(MBR) (注3) AWG20
B1
(Note1)
(注1) U AWG20 B
B2

lock cable
(注2)
(Note2) (注2)
(Note2)
a)Relay延長ケーブル用
connector for モータブレーキケーブル用
b)Relay connector for motor
中継コネクタ
extension cable 中継コネクタ
lock cable
Servo motor Servo motor
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Protective
Relay connector Description
structure
a) Relay connector for CM10-CR2P- IP65
extension cable (DDK) Wire size: S, M, L
b) Relay connector for CM10-SP2S- IP65
motor lock cable (DDK) Wire size: S, M, L

3. Shut off the circuit in conjunction with the emergency stop switch.
4. There is no polarity in lock terminals (B1 and B2).
5. Do not share the lock power supply with the interface 24VDC power supply.

3 - 37
3. SIGNALS AND WIRING

3.10 Grounding

Ground the driver and servo motor securely.

WARNING To prevent an electric shock, always connect the protective earth (PE) terminal
(marked ) of the driver to the protective earth (PE) of the cabinet.

The driver switches the power transistor on-off to supply power to the servo motor. Depending on the wiring
and ground cable routing, the driver may be affected by the switching noise (due to di/dt and dv/dt) of the
transistor. To prevent such a fault, refer to the following diagram and always ground.
Cabinet
Servo driver
amplifier Servo motor
CN2
MCCB MC
Line filter

L1
(Note)
Encoder
Pow er L2
supply
L3
L11
L21 U U
V V M
W W
Network
module
card
Controller

upper side

Ensure to connect the wire to the

PE terminal of the servo amplifier.
Do not connect the wire directly to
the protective earth of the cabinet.

Outer
box
Protective earth (PE)

Note. For the power supply specifications, refer to section 1.3.

3 - 38
4. STARTUP

4. STARTUP ......................................................................................................................................................2
4.1 Switching power on for the first time .....................................................................................................3
4.1.1 Startup procedure .............................................................................................................................3
4.1.2 Wiring check ......................................................................................................................................4
4.1.3 Surrounding environment ................................................................................................................5
4.2 Startup .....................................................................................................................................................5
4.3 Switch setting and display of the driver ................................................................................................7
4.3.1 Switches .............................................................................................................................................7
4.3.2 Scrolling display ................................................................................................................................8
4.3.3 Status display of an axis .................................................................................................................10
4.4 Test operation ........................................................................................................................................12
4.5 Test operation mode ..............................................................................................................................12
4.5.1 Test operation mode in Setup software (MR Configurator2TM) ...................................................13
4.5.2 Motor-less operation in upper side ................................................................................................17

4- 1
4. STARTUP

4. STARTUP

When executing a test run, follow the notice and procedures in this manual.
Otherwise, it may cause a malfunction, damage to the machine, or injury.
WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The driver heat sink, regenerative resistor, servo motor, etc., may be hot while the
power is on and for some time after power-off. Take safety measures such as
providing covers to avoid accidentally touching them by hands and parts such as
CAUTION cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

4- 2
4. STARTUP

4.1 Switching power on for the first time

POINT
When using the driver in the point table method, refer to section 16.2.
When using the driver in the indexer method, refer to section 17.2.

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check Check whether the driver and servo motor are wired correctly using visual inspection, DO
forced output function (section 4.5.1), etc. (Refer to section 4.1.2.)

Surrounding environment check Check the surrounding environment of the driver and servo motor. (Refer to section 4.1.3.)

Parameter setting Set the parameters as necessary, such as the used operation mode and regenerative option
selection. (Refer to chapter 5.)

For the test operation, with the servo motor disconnected from the machine and operated at the
Test operation of the servo motor speed as low as possible, check whether the servo motor rotates correctly. (Refer to section
alone in test operation mode
4.5.)

Check the network setting to connect the upper side. For the network setting,
Netw ork setting check
refer to chapter 18,19,20

For the test operation with the servo motor disconnected from the machine and operated at the
Test operation of the servo
motor alone by commands speed as low as possible, give commands to the driver and check whether the servo motor
rotates correctly.

After connecting the servo motor with the machine, check machine motions with sending
Test operation with the servo
motor and machine connected operation commands from the upper side.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Gain adjustment

Actual operation

Stop giving commands and stop operation.

Stop

4- 3
4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.

(a) Power supply system wiring

1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the driver should satisfy
the defined specifications. (Refer to section 1.3.)

2) between P3 and P4 should be connected.

driver
Servo amplifier

P3
(Note)
P4

Note. LECSN1-T□driver(Scheduled release product) do not have P3 and P4.

(b) Connection of driver and servo motor

1) The driver power output (U/V/W) should match in phase with the servo motor power input
terminals (U/V/W).
driver
Servo amplifier Servo motor
U
U
V
V M
W
W

2) The power supplied to the driver should not be connected to the servo motor power terminals
(U/V/W). Doing so will fail the driver and servo motor.

Servodriver
amplifier Servo motor
U
L1 U
V
L2 V M
W
L3 W

3) The grounding terminal of the servo motor is connected to the PE terminal of the driver.
Servodriver
amplifier Servo motor

4) The CN2 connector of the driver should be connected to the encoder of the servo motor securely
using the encoder cable.

4- 4
4. STARTUP

(c) When you use an option and auxiliary equipment

1) LECSN□-T□
When you use a regenerative option
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option wire should be connected between P+ and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use the function
to check the wiring. In this case, switch on the control circuit power supply only.
Refer to section 3.2 for details of I/O signal connection.

(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.

(c) Plate and DOCOM of the CN3 connector is not shorted.

driver
Servo amplifier
CN3
DOCOM

Plate

4.1.3 Surrounding environment

(1) Cable routing
(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4.2 Startup
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears on the
driver display.
When the absolute position detection system is used in a rotary servo motor, first power-on results in [AL.
25 Absolute position erased] and the servo-on cannot be ready. The alarm can be deactivated by then
switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may
occur due to external force or the like. Power must therefore be switched on when the servo motor is at a
stop.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
details.
After setting the above parameters, turn power off as necessary. Then switch power on again to enable
the parameter values.
4- 5
4. STARTUP

(3) Servo-on
Enable the servo-on with the following procedure.

(a) Switch on main circuit power supply and control circuit power supply.

(b) Transmit the servo-on command with the upper side.

When the servo-on status is enabled, the driver is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop
Turn off the servo-on command after the servo motor has stopped, and then switch the power off.
If any of the following situations occurs, the driver suspends the running of the servo motor and brings it
to a stop.
Refer to section 3.9 for the servo motor with a lock.
Operation/command Stopping condition
Servo-off command The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake operates to
Upper side Ready-off command
bring the servo motor to a stop.
Quick stop command The servo motor decelerates to a stop with the command.
The servo motor decelerates to a stop with the command. With
Alarm occurrence some alarms, however, the dynamic brake operates to bring the
servo motor to a stop. (Refer to chapter 8.)
The servo motor decelerates to a stop with the command. [AL.
Driver E6 Servo forced stop warning] occurs. EM2 has the same
EM2 (Forced stop 2) off
function as EM1 in the torque mode. Refer to section 3.5 for
EM1.
The base circuit is shut off and the dynamic brake operates to
STO (STO1, STO2) off
bring the servo motor to a stop.

4- 6
4. STARTUP

4.3 Switch setting and display of the driver

POINT
For EtherNet/IP and PROFINET, an IP address is displayed in the digit of the
axis number.

Switching to the test operation mode and setting control axis No. are enabled with switches on the driver.
On the driver display (three-digit, seven-segment LED), check the status of communication with the upper
side at power-on, and the axis number, and diagnose a malfunction at occurrence of an alarm.

4.3.1 Switches

When switching the axis selection rotary switch (SW2/SW3) and mode select
switch (SW1), use insulated screw driver. Do not use a metal screw driver.
WARNING Touching patterns on electronic boards, lead of electronic parts, etc. may cause
an electric shock.

POINT
Turning "ON (up)" all the mode select switches (SW1) enables an operation
mode for manufacturer setting and displays "off". The mode is not available. Set
the mode select switches (SW1) correctly according to this section.
Cycling the main circuit power supply and control circuit power supply enables
the setting of each switch.

The following explains the mode select switches (SW1) and the axis selection rotary switch.
3-digit, 7-segment LED Mode select sw itch (SW1)

ON
ON

1 2
1 2

For manufacturer setting (SW1-2)

Test operation select sw itch (SW1-1)

Axis selection rotary sw itch (upper) (SW2) Axis selection rotary sw itch (low er) (SW3)

(1) Test operation select switch (SW1-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test
operation mode. In the test operation mode, the functions such as JOG operation, positioning operation,
and machine analyzer are available with Setup software (MR Configurator2TM)

(2) Axis selection rotary switch (SW2/SW3)

Control axis No. of the servo can be set. For the settings, refer to chapter 18,19,20.

4- 7
4. STARTUP

4.3.2 Scrolling display

Axis number will be displayed in hexadecimal. For 100h or more, last two digits will be displayed.

(1) Normal display

(a) For EtherCAT
When there is no alarm, the axis No. and blank are displayed in rotation.
After 1.6 s

Status Blank
After 0.2 s

Status Axis No.

(1 digit) (2 digits)

"b" : Indicates ready-off and servo-off status.

"C" : Indicates ready-on and servo-off status.
"d" : Indicates ready-on and servo-on status.

(b) For EtherNet/IP and PROFINET

When there is no alarm, the IP address is displayed.

Status IP address
(1 digit) (2 digits)

"b" : Indicates ready-off and servo-off status.

"C" : Indicates ready-on and servo-off status.
"d" : Indicates ready-on and servo-on status.

(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed
following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.
After 0.8 s After 0.8 s

Status Alarm No. Blank

After 0.2 s

Status Axis No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)

"n": Indicates that an alarm is occurring.

4- 8
4. STARTUP

When an alarm occurs during the network initial communication, the alarm number (two digits), the alarm
detail (one digit), and the network initial communication status are displayed following the status display.
For example, the following shows when [AL. 16.1 Encoder initial communication - Receive data error 1] is
occurring.
After 0.8 s After 0.8 s After 0.2 s After 1.6 s

Status Alarm No. Blank Netw ork initial Blank

communication
status
After 0.2 s

Status Axis No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)

"n": Indicates that an alarm is occurring.

4- 9
4. STARTUP

4.3.3 Status display of an axis

(1) Display sequence
Servo amplifier pow er on

System check in progress

Waiting for controller power to switch on

(Netw ork communication)

Controller pow er on
(Netw ork communication begins)

Initial data communication

w ith the controller
(initialization communication)

When an alarm No. or w arning No. is displayed

(Note 1) Ready-off and servo-off Example: When [AL. 50 Overload 1]
occurs at axis No. 1
Blinking
Ready-on After 0.8 s
Blinking
(Note 1) Ready-on and servo-off After 0.8 s
When an alarm or a
warning occurs, the Blank
alarm No. or the
warning No. is shown.
Servo-on
Example: When [AL. E1 Overload warning 1]
occurs at axis No. 1
(Note 1) Ready-on and servo-on Blinking
After 0.8 s
Blinking
Ordinary operation
After 0.8 s
Blank
Controller pow er off

During a warning that does not cause

servo-off, the decimal point on the third
(Note 2, 3) digit LED show s the servo-on status.

Alarm reset or w arning cleared

Controller pow er on

Note 1. The segment of the last 2 digits show s the axis number.
Axis Axis
No. 1 No. 2
2. For the EtherCAT, turning off the upper side power in the "Operational" state triggers [AL. 86.1 Network communication error
1].
3. For PROFINET, "Ab" is displayed.

4 - 10
4. STARTUP

(2) Indication list

Indication Status Description

Initializing System check in progress

A b Initializing No connection with the upper side

AC Initializing During initial communication with the upper side
AA Initializing standby Communication disconnection with the upper side
(Note 1) b # # Ready-off The ready-off signal from the upper side was received.
(Note 1) d # # Servo-on The ready-off signal from the upper side was received.
(Note 1) C # # Servo-off The ready-off signal from the upper side was received.
(Note 1) n # # Alarm occurrence An alarm or warning occurred on the driver.
(Note 2) * * * Alarm and warning The alarm No. and the warning No. that occurred is displayed. (Refer to chapter 8.)
8 8 8 CPU error CPU watchdog error has occurred.
(Note 1) b # #.
During test operation
(Note 3)
d # #. JOG operation, positioning operation, program operation, output signal (DO) forced
Test operation mode
output, motor-less operation, or single-step feed was set.
C # #.

Note 1. ## is displayed in hexadecimal. The following table shows the description.

## Description
For the last 2 digits of axis No. or
00 automatic setting with the upper
side.
01 Last 2 digits of axis No.

FF

2. ** indicates the alarm No. and the warning No.

3. Requires the Setup software (MR Configurator2TM)

4 - 11
4. STARTUP

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the driver.

POINT
If necessary, verify upper side program by using motor-less operation. Refer to
section 4.5.2 for the motor-less operation.
When EtherNet/IP and PROFINET are used and the test operation mode is set,
the value set with the axis selection rotary switch (SW2/SW3) is displayed in the
digit of the axis number.

Test operation of the servo motor In this step, confirm that the driver and servo motor operate normally. With
alone in JOG operation of test
operation mode the servo motor disconnected from the machine, use the test operation mode
and check whether the servo motor rotates correctly. Refer to section 4.5 for
the test operation mode.

Test operation of the servo motor In this step, confirm that the servo motor rotates correctly under the
alone by commands
commands from the upper side.
Give a low speed command at first and check the rotation direction, etc. of
the servo motor. If the machine does not operate in the intended direction,
check the input signal.

Test operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
and machine connected
machine operates normally under the commands from the upper side.
Give a low speed command at first and check the operation direction, etc. of
the machine. If the machine does not operate in the intended direction, check
the input signal.
Check any problems with the servo motor speed, load ratio, and other status
display items with Setup software (MR Configurator2TM.
Then, check automatic operation with the program of the upper side.

4.5 Test operation mode

The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
CAUTION the servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

POINT
The content described in this section indicates that the driver and a personal
computer are directly connected.

By using a personal computer and Setup software (MR Configurator2TM), you can execute JOG operation,
positioning operation, output signal (DO) forced output, and program operation.

4 - 12
4. STARTUP

4.5.1 Test operation mode in Setup software (MR Configurator2TM)

POINT
When the test operation mode is selected with the test operation select switch
(SW1-1), the Network communication for the driver in the test operation mode
and the following drivers is blocked.
For the EtherCAT, turning on the test operation select switch (SW1-1) with the
following parameter settings triggers [AL. 37 Parameter error].
"Automatic selection by each network (_ _ _ 0) (initial value)" of "Control mode
selection" is selected in [Pr. PA01].

(1) Test operation mode

(a) Jog operation
Jog operation can be performed without using the upper side. Use this operation with the forced stop
reset. This operation may be used independently of whether the servo is on or off and whether the
upper side is connected or not.
Exercise control on the jog operation screen of Setup software (MR Configurator2TM)

1) Operation pattern
Item initial value Setting range
Motor speed [r/min] 200 0 to max. speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]

2) Operation method
a) When the check box of "Rotation only while the CCW or CW button is being pushed." is
checked.
Operation Screen control
Forward rotation start Keep pressing "Forward".
Reverse rotation start Keep pressing "Reverse".
Stop Release "Forward" or "Reverse".
Forced stop Click "Forced stop".

b) When the check box of "Rotation only while the CCW or CW button is being pushed." is not
checked.
Operation Screen control
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Stop Click "Stop".
Forced stop Click "Forced stop".

4 - 13
4. STARTUP

(b) Positioning operation

Positioning operation can be performed without using the upper side. Use this operation with the
forced stop reset. This operation may be used independently of whether the servo is on or off and
whether the upper side is connected or not.
Exercise control on the positioning operation screen of Setup software (MR Configurator2TM).

1) Operation pattern
Item initial value Setting range
Travel distance [pulse] 4000 0 to 99999999
Motor speed [r/min] 200 0 to max. speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to Fwd. rot. (CCW) to fwd. rot. (CCW)
Repeat pattern
rev. rot. (CW) Rev. rot. (CW) to fwd. rot. (CCW)
Rev. rot. (CW) to rev. rot. (CW)
Dwell time [s] 2.0 0.1 to 50.0
Number of repeats [time] 1 1 to 9999

2) Operation method
Operation Screen control
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Pause Click "Pause".
Stop Click "Stop".
Forced stop Click "Forced stop".

(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the upper side. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the upper side is connected or not.
Exercise control on the program operation screen of Setup software (MR Configurator2TM) For
details, refer to Help of Setup software (MR Configurator2TM).
Operation Screen control
Start Click "Start".
Pause Click "Pause".
Stop Click "Stop".
Forced stop Click "Forced stop".

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc. Exercise control on the DO forced output screen of Setup software
(MR Configurator2TM).

4 - 14
4. STARTUP

(e) Single-step feed

The positioning operation can be performed in accordance with the point table No. set with Setup
software (MR Configurator2TM).
Select the test operation/single-step feed from the menu of Setup software (MR Configurator2TM).
When the single-step feed window is displayed, input the following items and operate.

(a)

(b) (c) (d) (e)

Point table operation

1) Set the point table No.

Enter a point table No. in the input box (a) "Point table No.".

2) Forward/reverse the servo motor

Click "Operation Start" (b) to rotate the servo motor.

3) Pause the servo motor

Click "Pause" (c) to temporarily stop the servo motor.
Click "Operation Start" (b) during a temporary stop to restart the rotation of the remaining travel
distance.
In addition, click "Stop" (d) during a temporary stop to clear the remaining travel distance.

4) Stop the servo motor

Click "Stop" (d) to stop the servo motor. At this time, the remaining travel distance will be cleared.
Click "Operation Start" (b) to restart the rotation.

5) Execute the servo motor forced stop

Click "Forced Stop" (e) to make an instantaneous stop. When "Forced Stop" is enabled,
"Operation Start" cannot be used. Click "Forced Stop" again to enable "Operation Start".

6) Switch to the normal operation mode

Before switching from the test operation mode to the normal operation mode, turn off the driver.

4 - 15
4. STARTUP

(2) Operation procedure

1) Turn off the power.

2) Turn "ON (up)" SW1-1.

ON ON
1 2

1 2

Set SW1-1 to "ON (up)".

Turning "ON (up)" SW1-1 during power-on will not start the test operation mode.

3) Turn on the driver.

When initialization is completed, the decimal point on the first digit will blink.
After 1.6 s

Blinking
After 0.2 s

When an alarm or warning also occurs during the test operation, the decimal point on the first digit
will blink as follows.
After 0.8 s After 0.8 s

Blinking Blinking
After 0.2 s

4) Start operation with the personal computer.

4 - 16
4. STARTUP

4.5.2 Motor-less operation in upper side

POINT
Connect the upper side to the driver before the motor-less operation.

(1) Motor-less operation

Without connecting the servo motor to the driver, output signals or status displays can be provided in
response to the upper side commands as if the servo motor is actually running. This operation may be
used to check the upper side sequence. Use this operation with the forced stop reset. Use this operation
with the driver connected to the upper side.
To stop the motor-less operation, set "Disabled (_ _ _ 0)" of "Motor-less operation selection" in [Pr.
PC05]. The motor-less operation will be disabled from the next power-on.

(a) Load conditions

Load item Condition
Load torque 0
[Pr. PB06 Load to motor inertia ratio/load to motor mass
Load to motor inertia ratio
ratio]

(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.

[AL. 16 Encoder initial communication error 1]

[AL. 1E Encoder initial communication error 2]
[AL. 1F Encoder initial communication error 3]
[AL. 20 Encoder normal communication error 1]
[AL. 21 Encoder normal communication error 2]
[AL. 25 Absolute position erased]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning]

(2) Operation procedure

1) Set the driver to the servo-off status.

2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down)" the test operation mode switch (SW1-1), and then
turn on the power supply.

ON ON
1 2

1 2

Set SW1-1 to "OFF (dow n)".

3) Start the motor-less operation with the upper side.

The display shows the following screen.

The decimal point blinks.

4 - 17
5. PARAMETERS

5. PARAMETERS ..............................................................................................................................................2
5.1 Parameter list ..........................................................................................................................................2
5.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...........................................................................................3
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ...................................................................................4
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) ....................................................................................6
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ...............................................................................................8
5.1.5 I/O Extension setting 2 parameters ([Pr. PE_ _ ]) ..........................................................................9
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ...............................................................................11
5.1.7 Positioning control parameters ([Pr. PT_ _ ]) ................................................................................13
5.1.8 Network setting parameters ([Pr. PN_ _ ]) ...................................................................................16
5.2 Detailed list of parameters....................................................................................................................17
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) .........................................................................................17
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .................................................................................31
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ..................................................................................44
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) .............................................................................................64
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ...............................................................................68
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ...............................................................................72
5.2.7 Positioning control parameters ([Pr. PT_ _ ]) ................................................................................74
5.2.8 Network setting parameters ([Pr. PN_ _ ]) ...................................................................................99
5.3 Software limit ........................................................................................................................................99
5.4 How to set the electronic gear .............................................................................................................100
5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method
.................................................................................................................................................................100
5.4.2 Electronic gear setting in the indexer method ............................................................................102

5- 1
5. PARAMETERS

5. PARAMETERS
Never make a drastic adjustment or change to the parameter values as doing so
will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
an unexpected condition, such as failing to start up the driver.
Changing the values of the parameters for manufacturer setting
CAUTION Setting a value out of the range
Changing the fixed values in the digits of a parameter
When you write parameters with the upper side, make sure that the control axis
No. of the driver is set correctly. Otherwise, the parameter settings of another axis
may be written, possibly causing the driver to be an unexpected condition.

POINT
The fractional portion of the value in each of the following parameters will be
rounded down. If a value smaller than 1 r/min is set in either of them, the servo
motor may not rotate.
[Pr. PT05 Home position return speed]
[Pr. PT06 Creep speed]
[Pr. PT65 Profile speed command]

5.1 Parameter list

POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the network
communication.
**: After setting the parameter, cycle the power.

5- 2
5. PARAMETERS

5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PA01 **STY Operation mode 1000h

PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 For manufacturer setting 10000
PA06 *CMX Electronic gear numerator/Number of gear teeth on machine side 1
PA07 *CDV Electronic gear denominator/Number of gear teeth on servo motor side 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [pulse]
PA11 TLP Forward rotation torque limit/ 1000.0 [%]
PA12 TLN Reverse rotation torque limit/ 1000.0 [%]
PA13 For manufacturer setting 0000h
PA14 *POL Rotation direction selection/ 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 **MSR Servo motor series setting 0000h
PA18 **MTY Servo motor type setting 0000h
PA19 *BLK Parameter writing inhibit 00ABh
PA20 *TDS Tough drive setting 0000h
PA21 *AOP3 Function selection A-3 0001h
PA22 **PCS Position control composition selection 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA26 *AOP5 Function selection A-5 0000h
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h

5- 3
5. PARAMETERS

5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h

PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 For manufacturer setting 18000
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio/ 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio/ 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain 0.0 [Hz]
switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain 0.00
switching
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after 0.00
gain switching
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h

5- 4
5. PARAMETERS

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]

PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
PB49 NHQ4 Notch shape selection 4 0000h
PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]
PB51 NHQ5 Notch shape selection 5 0000h
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain 0.00
switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h

5- 5
5. PARAMETERS

5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PC01 ERZ Error excessive alarm level 0 [rev]

PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC05 **COP2 Function selection C-2 0000h
PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 [r/min]
PC08 OSL Overspeed alarm detection level 0 [r/min]
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 [mV]
PC12 MO2 Analog monitor 2 offset 0 [mV]
PC13 For manufacturer setting 0
PC14 0
PC15 0
PC16 0000h
PC17 **COP4 Function selection C-4 0000h
PC18 *COP5 Function selection C-5 0010h
PC19 *COP6 Function selection C-6 0000h
PC20 *COP7 Function selection C-7 0000h
PC21 *BPS Alarm history clear 0000h
PC22 For manufacturer setting 0
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
PC25 For manufacturer setting 0
PC26 **COP8 Function selection C-8 0000h
PC27 **COP9 Function selection C-9 0000h
PC28 For manufacturer setting 0000h
PC29 *COPB Function selection C-B 1000h
PC30 For manufacturer setting 0
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001 rev]
PC32 For manufacturer setting 0000h
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 ERW Error excessive warning level 0 [rev]
PC39 For manufacturer setting 0000h
PC40 0000h
PC41 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h

5- 6
5. PARAMETERS

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PC46 For manufacturer setting 0000h

PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h
PC51 0000h
PC52 0000h
PC53 0000h
PC54 0000h
PC55 0000h
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 ZSP2L Zero speed 2 level 50.00 [r/min]
PC66 ZSP2F Zero speed 2 filtering time 10 [ms]
PC67 FEWL Following error output level 0000h 10STM [µm]/
10(STM-4)
[inch]/
PC68 FEWH 00C0h 10-3 [degree]/
[pulse]
PC69 FEWF Following error output filtering time 10 [ms]
PC70 INP2R In-position 2 output range 100 10STM [µm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PC71 INP2F In-position 2 output filtering time 10 [ms]
PC72 SA2R Speed reached 2 output range 20.00 [r/min]
PC73 SA2F Speed reached 2 output filtering time 10 [ms]
PC74 For manufacturer setting 10.0
PC75 10
PC76 *COPE Function selection C-E 0001h
PC77 For manufacturer setting 0000h
PC78 0000h
PC79 *COP10 Function selection C-10 0000h
PC80 For manufacturer setting 0000h

5- 7
5. PARAMETERS

5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PD01 *DIA1 Input signal automatic on selection 1 0000h

PD02 For manufacturer setting 0000h
PD03 *DI1 Input device selection 1 000Ah
PD04 *DI2 Input device selection 2 000Bh
PD05 *DI3 Input device selection 3 0022h
PD06 For manufacturer setting 0000h
PD07 *DO1 Output device selection 1 0005h
PD08 *DO2 Output device selection 2 0004h
PD09 *DO3 Output device selection 3 0003h
PD10 For manufacturer setting 0000h
PD11 *DIF Input filter setting 0004h
PD12 *DOP1 Function selection D-1 0101h
PD13 *DOP2 Function selection D-2 0000h
PD14 *DOP3 Function selection D-3 0000h
PD15 For manufacturer setting 0000h
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0
PD31 0
PD32 0
PD33 0000h
PD34 0000h
PD35 0000h
PD36 0000h
PD37 *TPOP Touch probe function selection 0000h
PD38 *TPR1 Touch probe selection 1 002Ch
PD39 For manufacturer setting 002Dh
PD40 0
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h

5- 8
5. PARAMETERS

5.1.5 I/O Extension setting 2 parameters ([Pr. PE_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PE01 **FCT1 Fully closed loop function selection 1 Do not change this value. 0000h
PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 Do not change this value. 0003h
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 – Numerator 1
Do not change this value.
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 – 1
Denominator Do not change this value.
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
Do not change this value.
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
Do not change this value.
PE08 DUF Fully closed loop dual feedback filter Do not change this value. 10 [rad/s]
PE09 For manufacturer setting 0000h
PE10 FCT3 Fully closed loop function selection 3 Do not change this value. 0000h
PE11 For manufacturer setting 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 – Numerator 1
Do not change this value.
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 – 1
Denominator Do not change this value.
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 LMCP Lost motion compensation positive-side compensation value selection 0 [0.01%]
PE45 LMCN Lost motion compensation negative-side compensation value selection 0 [0.01%]
PE46 LMFLT Lost motion filter setting 0 [0.1 ms]
PE47 TOF Torque offset 0 [0.01%]
PE48 *LMOP Lost motion compensation function selection 0000h
5- 9
5. PARAMETERS

PE49 LMCD Lost motion compensation timing 0 [0.1 ms]

PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/
[kpulse]

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PE51 For manufacturer setting 0000h

PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00

5 - 10
5. PARAMETERS

5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PF01 For manufacturer setting 0000h

PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 *FOP5 Function selection F-5 0000h
PF07 For manufacturer setting 0000h
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 DBT Electronic dynamic brake operating time 2000 [ms]
PF13 For manufacturer setting 0000h
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 **STOD STO diagnosis error detection time 10 [s]
PF19 For manufacturer setting 0000h
PF20 0000h
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
PF26 For manufacturer setting 0
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]
PF32 For manufacturer setting 50
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
PF49 100
PF50 100

5 - 11
5. PARAMETERS

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PF51 For manufacturer setting 0000h

PF52 0000h
PF53 0
PF54 0
PF55 0
PF56 0
PF57 0000h
PF58 0000h
PF59 0000h
PF60 0000h
PF61 0000h
PF62 0000h
PF63 0000h
PF64 0000h

5 - 12
5. PARAMETERS

5.1.7 Positioning control parameters ([Pr. PT_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PT01 **CTY Command mode selection 0300h

PT02 For manufacturer setting 0001h
PT03 *FTY Feeding function selection 0000h
PT04 For manufacturer setting 0000h
PT05 ZRF Home position return speed 100.00 [r/min]
PT06 CRF Creep speed 10.00 [r/min]
PT07 ZST Home position shift distance 0 [µm]/
10-4 [inch]/
10-3 [degree]/
[pulse]
PT08 For manufacturer setting 0
PT09 DCT Travel distance after proximity dog 0 10STM [µm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PT10 ZTM Stopper type home position return stopper time 100 [ms]
PT11 ZTT Stopper type home position return torque limit value 15.0 [%]
PT12 CRP Rough match output range 0 10STM [µm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PT13 For manufacturer setting 100
PT14 0
PT15 LMPL Software limit + 0000h 10STM [µm]/
10(STM-4)
[inch]/
PT16 LMPH 0000h 10-3 [degree]/
[pulse]

PT17 LMNL Software limit - 0000h 10STM [µm]/

10(STM-4)
[inch]/
PT18 LMNH 0000h 10-3 [degree]/
[pulse]

PT19 *LPPL Position range output address + 0000h 10STM [µm]/

10(STM-4)
[inch]/
PT20 *LPPH 0000h 10-3 [degree]/
[pulse]

5 - 13
5. PARAMETERS

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PT21 *LNPL Position range output address - 0000h 10STM [µm]/

10(STM-4)
[inch]/
PT22 *LNPH 0000h 10-3 [degree]/
[pulse]
PT23 For manufacturer setting 0
PT24 0
PT25 0
PT26 *TOP2 Function selection T-2 0000h
PT27 *ODM Indexer method - Operation mode selection 0000h
PT28 *STN Number of stations per rotation 8 [stations]
PT29 *TOP3 Function selection T-3 0000h
PT30 For manufacturer setting 0000h
PT31 0000h
PT32 0000h
PT33 0000h
PT34 **PDEF Point table default 0000h
PT35 *TOP5 Function selection T-5 0000h
PT36 For manufacturer setting 0000h
PT37 10
PT38 0000h
PT39 INT Torque limit delay time 100 [ms]
PT40 *SZS Station home position shift distance 0 [pulse]
PT41 ORP Home position return inhibit function selection 0000h
PT42 For manufacturer setting 0
PT43 0
PT44 0000h
PT45 HMM Home position return method 37
PT46 ESTC Synchronous encoder filter time constant 0 [ms]
PT47 For manufacturer setting 0000h
PT48 0000h
PT49 STA Acceleration time constant 0 [ms]
PT50 STB Deceleration time constant 0 [ms]
PT51 STC S-pattern acceleration/deceleration time constant 0 [ms]
PT52 For manufacturer setting 0
PT53 TQS Torque slope 0.0 [%/s]
PT54 For manufacturer setting 0
PT55 *TOP8 Function selection T-8 0000h
PT56 HMA Home position return acceleration time constant 0 [ms]
PT57 HMB Home position return deceleration time constant 0 [ms]
PT58 For manufacturer setting 100.00
PT59 500.00
PT60 1000.00
PT61 200.00
PT62 0000h
PT63 0000h
PT64 0000h
PT65 PVC Profile speed command 100.00 [r/min]
PT66 MPVC Maximum profile speed 20000.00 [r/min]
PT67 VLMT Speed limit 500.00 [r/min]

5 - 14
5. PARAMETERS

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PT68 For manufacturer setting 0102h

PT69 ZSTH Home position shift distance (extension parameter) 0 [µm]/
10-4 [inch]/
10-3 [degree]/
[pulse]
PT70 For manufacturer setting 0000h
PT71 DCTH Travel distance after proximity dog (extension parameter) 0 10STM [µm]/
10(STM-4)
[inch]/
10-3 [degree]/
[pulse]
PT72 ECMXL Synchronous encoder electronic gear - Numerator 0000h
PT73 ECMXH 0000h
PT74 ECDVL Synchronous encoder electronic gear - Denominator 0000h
PT75 ECDVH 0000h
PT76 For manufacturer setting 0000h
PT77 0000h
PT78 0000h
PT79 0000h
PT80 0000h

5 - 15
5. PARAMETERS

5.1.8 Network setting parameters ([Pr. PN_ _ ])

Operation
mode
Initial

Standard
No. Symbol Name Unit
value

PN01 **NADR Node address setting 0000h

PN02 CERT Sync Error Counter Limit setting 0 (Note)
PN03 For manufacturer setting 0000h
PN04 0000h
PN05 0000h
PN06 *NOP1 Function selection N-1 0000h
PN07 For manufacturer setting 0000h
PN08 0000h
PN09 0000h
PN10 0000h
PN11 0000h
PN12 0000h
PN13 0000h
PN14 0000h
PN15 0000h
PN16 0000h
PN17 0000h
PN18 0000h
PN19 0000h
PN20 0000h
PN21 0000h
PN22 0000h
PN23 0000h
PN24 0000h
PN25 0000h
PN26 0000h
PN27 0000h
PN28 0000h
PN29 0000h
PN30 0000h
PN31 0000h
PN32 0000h

Note. Refer to the function column of [Pr. PN02] for details.

5 - 16
5. PARAMETERS

5.2 Detailed list of parameters

POINT
Set a value to each "x" in the "Setting digit" columns.
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
PNT: PROFINET
5.2.1 Basic setting parameters ([Pr. PA_ _ ])
Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA01 ___x Control mode selection 0h
**STY Select a control mode.
Operation 0: Automatic selection by each network
mode It will be "Profile mode" during test operation or when the network card is not
connected.
1: Cyclic synchronous mode
2: Profile mode
6: Positioning mode (point table method)
8: Positioning mode (indexer method)
Setting any value other than above will trigger [AL. 37 Parameter error]. Setting "1"
when an incompatible network card is connected will trigger [AL. 37 Parameter
error]. With EtherNet/IP, setting "6" or "8" will trigger [AL. 37 Parameter error].
Refer to table 5.1 for details of control modes in respective networks.
__x_ Do not change this value. 0h
_x__ For manufacturer setting 0h
x___ 1h

Table 5.1 Control mode selection

[Pr. PA01] Control mode
setting EtherCAT EtherNet/IP PROFINET
___0 Cyclic synchronous mode Profile mode (pp/pv/tq)/homing mode (hm)
(csp/csv/cst)
Homing mode (hm)
___1 Cyclic synchronous mode
(csp/csv/cst)
Homing mode (hm)
___2 Profile mode (pp/pv/tq)/homing mode (hm)
___6 Point table mode (pt)/Jog Point table mode (pt)/Jog
mode (jg)/homing mode mode (jg)/homing mode
(hm) (hm)
___8 Indexer mode (idx)/Jog Indexer mode (idx)/Jog
mode (jg)/homing mode mode (jg)/homing mode
(hm) (hm)

5 - 17
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA02 __xx Regenerative option 00h
**REG Select a regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the driver, [AL. 37 Parameter
error] occurs.

00: Regenerative option is not used.

02: LEC-LEC-MR-RB-032
03: LEC-LEC-MR-RB-12
_x__ For manufacturer setting 0h
x___ 0h
PA03 ___x Absolute position detection system selection 0h
*ABS Set this digit when using the absolute position detection system.
Absolute 0: Disabled (incremental system)
position 1:Enabled (absolute position detection system)
detection
system
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 18
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA04 ___x For manufacturer setting 0h
*AOP1 __x_ 0h
Function _x__ Servo forced stop selection 0h
selection A-1 0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not used.)
Refer to table 5.2 for details.
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 5.2 for details.

Table 5.2 Deceleration method

Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
20__ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.
0 1 _ _ Not using MBR (Electromagnetic
EM2 and EM1 brake interlock) turns off
without the forced stop
deceleration.
2 1 _ _ Not using MBR (Electromagnetic
EM2 and EM1 brake interlock) turns off
after the forced stop
deceleration.

5 - 19
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA06 In the cyclic synchronous mode 1
*CMX Set an electronic gear numerator.
Electronic
The following shows the recommended range of the electronic
gear
numerator gear ratio. Refer to section 5.4.1 for details.
1 CMX
< < 4000
10 CDV

If any value other than the recommended range is set, noise

may be generated during acceleration/deceleration.
In the profile mode and the positioning mode (point table
method)
Set an electronic gear numerator.
Set the electronic gear within the following range. Setting out
of the range will trigger [AL. 37 Parameter error]. Refer to
section 5.4.1 for details.
1 CMX
< < 271471
865 CDV

In the positioning mode (indexer method)

Set the number of gear teeth on machine side.
Set the electronic gear within the following range. Refer to
section 5.4.2 for details.

(1) 1 ≤ CMX ≤ 16384, 1 ≤ CDV ≤ 16384

1 CMX
(2) ≤ ≤ 9999
9999 CDV
(3) CDV × STN ≤ 32767 (STN: Number of stations per rotation [Pr. PT28])
(4) CMX × CDV ≤ 100000
Setting out of the range will trigger [AL. 37 Parameter error].
When a small value is set to the electronic gear ratio with the
manual operation mode, the servo motor may not drive at the
set servo motor speed.
1
Travel distance of 1 station = Pt (servo motor resolution) × ×
STN
CMX
CDV

This parameter corresponds to "Motor revolutions (Index: 6091h, Sub: 1)". When
this parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

PA06 Set an electronic gear numerator. 1
*CMX Set the electronic gear within the following range. Setting out of the range will trigger
Electronic [AL. 37 Parameter error]. Refer to section 5.4.1 for details.
gear
numerator 1 CMX
< < 271471
865 CDV

This parameter corresponds to "Motor revolutions (Class ID: 64h, Ins ID: 6091h, Attr
ID: 1)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

5 - 20
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA06 In the profile mode and the positioning mode (point table 1
*CMX method)
Electronic
Set an electronic gear numerator.
gear
numerator Set the electronic gear within the following range. Setting out
of the range will trigger [AL. 37 Parameter error]. Refer to
section 5.4.1 for details.

1 CMX
< < 271471
865 CDV

In the positioning mode (indexer method)

Set the number of gear teeth on machine side.
Set the electronic gear within the following range. Refer to
section 5.4.2 for details.

(1) 1 ≤ CMX ≤ 16384, 1 ≤ CDV ≤ 16384

1 CMX
(2) ≤ ≤ 9999
9999 CDV

(3) CDV × STN ≤ 32767 (STN: Number of stations per rotation [Pr. PT28])

(4) CMX × CDV ≤ 100000

Setting out of the range will trigger [AL. 37 Parameter error].
When a small value is set to the electronic gear ratio with the
manual operation mode, the servo motor may not drive at the
set servo motor speed.
1
Travel distance of 1 station = Pt (servo motor resolution) × ×
STN
CMX
CDV

This parameter corresponds to "Motor revolutions (PNU: 24721, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

5 - 21
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA07 Set an electronic gear denominator. In the indexer method, set the number of gear 1
*CDV teeth on servo motor side.
Electronic Set the value within the range of [Pr. PA06].
gear
denominator This parameter corresponds to "Shaft revolutions (Index: 6091h, Sub: 2)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

Set an electronic gear denominator. 1
Set the value within the range of [Pr. PA06].

This parameter corresponds to "Shaft revolutions (Class ID: 64h, Ins ID: 6091h, Attr
ID: 2)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

Set an electronic gear denominator. In the indexer method, set the number of gear 1
teeth on servo motor side.
Set the value within the range of [Pr. PA06].

This parameter corresponds to "Shaft revolutions (PNU: 24721, Sub: 1)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 1 to 16777215

5 - 22
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA08 ___x Gain adjustment mode selection 1h
ATU Select the gain adjustment mode.
Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode)
mode 1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 5.3 for details.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

Table 5.3 Gain adjustment mode selection

Setting Gain adjustment
Automatically adjusted parameter
value mode
_ _ _ 0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio/]
mode 1 (interpolation [Pr. PB08 Position loop gain]
mode) [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

5 - 23
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA09 Set the auto tuning response. 16
RSP
Auto tuning Machine characteristic Machine characteristic
response Setting Guideline for Setting Guideline for
value Response machine value Response machine
resonance resonance
frequency [Hz] frequency [Hz]
1 2.7 21 67.1
Low Middle
2 3.6 22 75.6
response response
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
Middle High
19 52.9 39 571.5
response response
20 59.6 40 642.7

Setting range: 1 to 40
PA10 Set an in-position range per command pulse. 1600
INP To change it to the servo motor encoder pulse unit, set [Pr. PC06]. Refer
In-position to
range Pr. PA01 In-position setting range Function
_ _ _ 0 (Automatic selection by each network) The range in which INP/S_INP column
(In-position) turns on for unit.
_ _ _ 1 (Cyclic synchronous mode)
_ _ _ 2 (Profile mode)
_ _ _ 6 (Positioning mode (point table method)) The range in which S_MEND
_ _ _ 8 (Positioning mode (indexer method)) (Travel completion) and
INP/S_INP (In-position) turn on

The unit will be as follows, depending on the control mode.

In the cyclic synchronous mode
The unit is [pulse].
In the profile mode and the point table method
When [Pr. PC06] is set to "_ _ _ 0", the unit can be changed to [μm], 10 -
4 [inch], 10-3 [degree] or [pulse] with the setting of [Pr. PT01]. When [Pr.

PC06] is set to "_ _ _ 1", the unit is [pulse].

In the indexer method
Command unit [pulse] (A load-side rotation expressed by the number of
servo motor resolution pulses)
For example, when making an in-position range "± 1 degree" for the
rotation angle on the load side, set 4194304 × (1/360) = 11650 pulses.

Setting range: 0 to 65535

5 - 24
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA11 You can limit the torque generated by the servo motor. 1000.0
TLP When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Forward Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
rotation is larger, will be the maximum output voltage (8 V).
torque limit Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. Set the parameter for limiting the torque of the servo motor in the CCW
power running or CW regeneration, or for limiting the thrust of the linear servo motor
in the positive direction power running or negative direction regeneration. Set this
parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Positive torque limit value (Index: 60E0h)". When
this parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor. 1000.0
When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. Set the parameter for limiting the torque of the servo motor in the CCW
power running or CW regeneration, or for limiting the thrust of the linear servo motor
in the positive direction power running or negative direction regeneration. Set this
parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Positive torque limit value (Class ID: 64h, Ins ID:
60E0h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor. 1000.0
When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. Set the parameter for limiting the torque of the servo motor in the CCW
power running or CW regeneration, or for limiting the thrust of the linear servo motor
in the positive direction power running or negative direction regeneration. Set this
parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Positive torque limit value (PNU: 24800, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

5 - 25
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA12 You can limit the torque generated by the servo motor. 1000.0
TLN When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Reverse Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
rotation is larger, will be the maximum output voltage (8 V).
torque limit Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW
power running or CCW regeneration, or for limiting the thrust of the linear servo
motor in the negative direction power running or positive direction regeneration. Set
this parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Negative torque limit value (Index: 60E1)". When
this parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor. 1000.0
When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW
power running or CCW regeneration, or for limiting the thrust of the linear servo
motor in the negative direction power running or positive direction regeneration. Set
this parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Negative torque limit value (Class ID: 64h, Ins ID:
60E1h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

You can limit the torque generated by the servo motor. 1000.0
When torque is output with the analog monitor output, the setting of [Pr. PA11 [%]
Forward rotation torque limit/] or [Pr. PA12 Reverse rotation torque limit/], whichever
is larger, will be the maximum output voltage (8 V).
Set the parameter on the assumption that the rated torque or continuous thrust is
100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW
power running or CCW regeneration, or for limiting the thrust of the linear servo
motor in the negative direction power running or positive direction regeneration. Set
this parameter to "0.0" to generate no torque .
The polarity of the torque limit can be changed depending on the setting values of
[Pr. PA14 Rotation direction selection/] and [Pr. PC29 POL reflection selection at
torque mode].

This parameter corresponds to "Negative torque limit value (PNU: 24801, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000.0

5 - 26
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA14 Select a rotation direction. 0
*POL You can enable or disable the following settings for the torque mode depending on
Rotation the setting value of [Pr. PC29 POL reflection selection at torque mode].
direction At position mode/velocity mode
selection
Servo motor rotation direction
Position mode Position mode
Setting Positioning address Positioning address
value increase/ decrease/
Velocity mode Velocity mode
Speed command: Speed command:
Positive Negative
CCW or positive
0 CW or negative direction
direction
CCW or positive
1 CW or negative direction
direction

At torque mode

Setting value Servo motor rotation direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction
1 0 _ _ _: CW or negative CCW or positive
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction

The following shows the servo motor rotation directions.

Forw ard rotation (CCW)

Reverse rotation (CW)

The positive/negative directions of the linear servo motor are as follows.

Setting range: 0, 1

5 - 27
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA15 Set the encoder output pulses from the driver by using the number of output pulses 4000
*ENR per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) [pulse/
Encoder Selecting "Dividing ratio setting (_ _ 1 _)" of "Encoder output pulse setting selection" rev]
output pulses in [Pr. PC03] will divide the travel distance [pulse] of the linear encoder by the
setting value.
Set a numerator of the electronic gear for the A/B-phase pulse output when
selecting "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder
output pulse setting selection" in [Pr. PC03].
Refer to app. 12 for details.
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

Setting range: 1 to 4194304

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
*ENR2 Set a denominator of the electronic gear when selecting "A-phase/B-phase pulse
Encoder electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
output pulses PC03].
2 Selecting "Dividing ratio setting (_ _ 1 _)" of "Encoder output pulse setting selection"
in [Pr. PC03] will disable the setting value.
Refer to app. 11 for details.
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

Setting range: 1 to 4194304

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA17 Do not change this value. 0000h
**MSR
Servo motor
series setting
PA18 Do not change this value. 0000h
**MTY
Servo motor
type setting

5 - 28
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA19 Select a reference range and writing range of the parameter. 00ABh
*BLK Refer to table 5.4 for settings.
Parameter
writing inhibit
Table 5.4 [Pr. PA19] setting value and reading/writing range
Setting
PA19 PA PB PC PD PE PF PL PT PN
operation
Other than Reading
below Writing
Reading Only 19
000Ah
Writing Only 19
Reading
000Bh
Writing
Reading
000Ch
Writing
Reading
000Fh
Writing
Reading
00AAh
Writing
00ABh Reading
(initial
Writing
value)
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
100Fh
Writing Only 19
Reading
10AAh
Writing Only 19
Reading
10ABh
Writing Only 19

PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load
*TDS fluctuation.
Tough drive You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr. PD09].
setting _ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing the setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine
resonance suppression filter 2] in case that the vibration exceeds the value of the
oscillation level set in [Pr. PF23].
The parameter will operate when [Pr. PB13 Machine resonance suppression filter 1]
and [Pr. PB15 Machine resonance suppression filter 2] are enabled.
Refer to section 7.3 for details.
_x__ SEMI-F47 function selection 0h
0: Disabled
1: Enabled

Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] using the electrical
energy charged in the capacitor in case that an instantaneous power failure occurs
during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time], set the time until the occurrence of [AL. 10.1 Voltage drop in the
control circuit power].
x___ For manufacturer setting 0h

5 - 29
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA21 ___x One-touch tuning function selection 1h
*AOP3 0: Disabled
Function 1: Enabled
selection A-3
When this digit is "0", the one-touch tuning will be disabled.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PA22 ___x For manufacturer setting 0h
**PCS __x_ Super trace control selection 0h
Position 0: Disabled
control 2: Enabled
composition _ x _ _ For manufacturer setting 0h
selection
x _ _ _ Scale measurement function selection 0h
Do not change this value.
PA23 _ _ x x Alarm detail No. setting 00h
DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the
Drive drive recorder function.
recorder When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.
arbitrary x x _ _ Alarm No. setting 00h
alarm trigger Set the digits when you execute the trigger with arbitrary alarm No. for the drive
setting recorder function.
When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.
Setting example:
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".
PA24 _ _ _ x Vibration suppression mode selection 0h
AOP4 0: Standard mode
Function 1: 3 inertia mode
selection A-4 2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression
control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not available.
Before changing the control mode during the 3 inertia mode or low response mode,
stop the motor.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 30
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PA25 Set a permissible value of overshoot amount for one-touch tuning as a percentage 0
OTHOV of the in-position range. [%]
One-touch Note that setting "0" will be 50%.
tuning -
Overshoot
permissible
level Setting range: 0 to 100
PA26 ___x Torque limit function selection at instantaneous power failure 0h
*AOP5 0: Disabled
Function 1: Enabled
selection A-5 When an instantaneous power failure occurs during operation, you can save electric
energy charged in the capacitor in the driver by limiting torque at acceleration. You
can also delay the time until [AL. 10.2 Voltage drop in the main circuit power] occurs
with instantaneous power failure tough drive function. Doing this will enable you to
set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time].
The torque limit function at instantaneous power failure is enabled when "SEMI-F47
function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)".
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB01 ___x Filter tuning mode selection 0h
FILT Set the adaptive tuning.
Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to
tuning mode section 7.1.2 for details.
(adaptive 0: Disabled
filter II) 1: Automatic setting
2: Manual setting
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PB02 ___x Vibration suppression control 1 tuning mode selection 0h
VRFT Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5
Vibration for details.
suppression 0: Disabled
control tuning 1: Automatic setting
mode 2: Manual setting
(advanced __x_ Vibration suppression control 2 tuning mode selection 0h
vibration
Select the tuning mode of the vibration suppression control 2. To enable the digit,
suppression
set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr.
control II)
PA24]. Refer to section 7.1.5 for details.
0: Disabled
1: Automatic setting
2: Manual setting
_x__ For manufacturer setting 0h
x___ 0h

5 - 31
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB04 Set the feed forward gain. 0
FFC When the setting is 100%, the droop pulses during operation at constant speed will [%]
Feed forward be almost 0. When the super trace control is enabled, constant speed and uniform
gain acceleration/deceleration droop pulses will be almost 0. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more for the acceleration time constant to
the rated speed.

Setting range: 0 to 100

PB06 Set a load to motor inertia ratio or . 7.00
GD2 Setting a value considerably different from the actual load moment of inertia or load [times]
Load to motor mass may cause an unexpected operation such as an overshoot.
inertia ratio/ The setting of this parameter will be automatic or manual depending on the setting
of [Pr. PA08]. Refer to the following table for details. When the parameter is set to
automatic, the value will vary between 0.00 and 100.00.

Setting range: 0.00 to 300.00

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)

PB07 Set the response gain to the target position. 15.0

PG1 Increasing the setting value will also increase the response level to the position [rad/s]
Model loop command but will be liable to generate vibration and noise. For the vibration
gain suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to
section 7.1.5 (4) for details.
The setting of this parameter will be automatic or manual depending on the setting
of [Pr. PA08]. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)

5 - 32
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB08 Set the gain of the position loop. 37.0
PG2 Set this parameter to increase the position response to level load disturbance. [rad/s]
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance but will be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting
of [Pr. PA08]. Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2) Automatic setting

PB09 Set the gain of the speed loop. 823

VG2 Set this parameter when vibration occurs on machines of low rigidity or with large [rad/s]
Speed loop backlash. Increasing the setting value will also increase the response level but will
gain be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting
of [Pr. PA08]. Refer to the table of [Pr. PB08] for details.

Setting range: 20 to 65535

PB10 Set the integral time constant of the speed loop. 33.7
VIC Decreasing the setting value will increase the response level but will be liable to [ms]
Speed generate vibration and noise.
integral The setting of this parameter will be automatic or manual depending on the setting
compensatio of [Pr. PA08]. Refer to the table of [Pr. PB08] for details.
n
Setting range: 0.1 to 1000.0
PB11 Set the differential compensation. 980
VDC To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3
Speed _)" of "PI-PID switching control selection" in [Pr. PB24].
differential To enable it, turn on PC (Proportional control) or PID switching signal (C_PC) from
compensatio upper side.
n
Setting range: 0 to 1000
PB12 Set a dynamic friction torque in percentage to the rated torque at servo motor rated 0
OVA speed. Or, set a percentage of dynamic friction force against the continuous thrust [%]
Overshoot at linear servo motor rated speed.
amount When the response level is low or when the torque/thrust is limited, the efficiency of
compensatio the parameter may be lower.
n
Setting range: 0 to 100
PB13 Set the notch frequency of the machine resonance suppression filter 1. 4500
NH1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. [Hz]
Machine PB01], this parameter will be adjusted automatically by adaptive tuning.
resonance When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr.
suppression PB01], the setting value will be enabled.
filter 1
Setting range: 10 to 4500

5 - 33
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB14 Set forms of the machine resonance suppression filter 1.
NHQ1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
Notch shape adjusted automatically by adaptive tuning.
selection 1 When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB15 Set the notch frequency of the machine resonance suppression filter 2. 4500
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 2 selection" in [Pr. PB16].
resonance
suppression
filter 2 Setting range: 10 to 4500
PB16 Set forms of the machine resonance suppression filter 2.
NHQ2 ___x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
__x_ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_x__ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x___ For manufacturer setting 0h

5 - 34
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB17 Set the shaft resonance suppression filter.
NHF Use this to suppress a low-frequency machine vibration.
Shaft When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the
resonance value will be calculated automatically from the servo motor you use and load to motor inertia ratio. It will not be
suppression automatically calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is selected, the setting written to
filter the parameter is used.
When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of
this parameter will be disabled.
When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft
resonance suppression filter is not available.
When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the performance may
be reduced.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
Refer to table 5.5 for settings.
Set the value closest to the frequency you need.
_ x _ _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x _ _ _ For manufacturer setting 0h

Table 5.5 Shaft resonance suppression filter

setting frequency selection
Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Set the low-pass filter. 3141

LPF The following shows a relation of a required parameter to this parameter. [rad/s]
Low-pass
filter setting Setting range: 100 to 18000

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value
enabled
__2_ Setting value
disabled

5 - 35
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0
VRF11 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration The setting range of this parameter varies, depending on the value in [Pr. PB07]. If
frequency a value out of the range is set, the vibration suppression control will be disabled.
Refer to section 7.1.5 for details.

Setting range: 0.1 to 300.0

PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
VRF12 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Resonance The setting range of this parameter varies, depending on the value in [Pr. PB07]. If
frequency a value out of the range is set, the vibration suppression control will be disabled.
Refer to section 7.1.5 for details.

Setting range: 0.1 to 300.0

PB21 Set a damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration Refer to section 7.1.5 for details.
frequency
damping Setting range: 0.00 to 0.30
PB22 Set a damping of the resonance frequency for vibration suppression control 1 to 0.00
VRF14 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Resonance Refer to section 7.1.5 for details.
frequency
damping Setting range: 0.00 to 0.30
PB23 ___x Shaft resonance suppression filter selection 0h
VFBF Select the shaft resonance suppression filter.
Low-pass 0: Automatic setting
filter selection 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
0: Automatic setting
1: Manual setting
2: Disabled
_x__ For manufacturer setting 0h
x___ 0h

5 - 36
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB24 ___x Slight vibration suppression control selection 0h
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration 1: Enabled
suppression To enable the slight vibration suppression control, set "Gain adjustment mode
control selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control selection cannot be used in the velocity mode.
__x_ PI-PID switching control selection 0h
0: PI control enabled
(Switching is enabled by PID switching signal from upper side (C_PC) and Input
device PC (Proportional control).)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even for a pulse due to any external factor, it
generates torque to compensate for a position shift. When the servo motor shaft is
to be locked mechanically after positioning completion (stop), enabling PID control
and completing positioning simultaneously will suppress the unnecessary torque
generated to compensate for a position shift.
_x__ For manufacturer setting 0h
x___ 0h
PB25 ___x Model adaptive control selection 0h
*BOP1 0: Enabled (model adaptive control)
Function 2: Disabled (PID control)
selection B-1 Refer to section 7.5 for details.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PB26 Select a gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Gain _ _ _ x Gain switching selection 0h
switching 0: Disabled
function 1: Switching is enabled by control command from upper side (C_CDP) and Input
device CDP (Gain switching).
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ Gain switching condition selection 0h
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ Gain switching time constant disabling condition selection 0h
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
x _ _ _ For manufacturer setting 0h
PB27 This is used to set the value of gain switching (command frequency, droop pulses, 10
CDL and servo motor speed) selected in [Pr. PB26]. [kpulse/s]/
Gain The set value unit differs depending on the switching condition item. (Refer to [pulse]/
section 7.2.3.) [r/min]
switching
condition The unit "r/min" will be "mm/s" for linear servo motors.

Setting range: 0 to 65535

PB28 Set the time constant until the gains switch in response to the conditions set in [Pr. 1
CDT PB26] and [Pr. PB27]. [ms]
Gain
switching
time constant Setting range: 0 to 100

5 - 37
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB29 Set a load to motor inertia ratio for when gain switching is enabled. 7.00
GD2B This parameter is enabled only when "Gain adjustment mode selection" is set to [times]
Load to motor "Manual mode (_ _ _ 3)" in [Pr. PA08].
inertia ratio

Setting range: 0.00 to 300.00

PB30 Set the position loop gain for when the gain switching is enabled. 0.0
PG2B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Position loop PB08].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0.0 to 2000.0
PB31 Set the speed loop gain for when the gain switching is enabled. 0
VG2B When a value less than 20 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Speed loop PB09].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
Setting range: 0 to 65535
PB32 Set the speed integral compensation for when the gain switching is enabled. 0.0
VICB When a value less than 0.1 ms is set, the value will be the same as that of [Pr. [ms]
Speed PB10].
integral This parameter is enabled only when "Gain adjustment mode selection" is set to
compensatio "Manual mode (_ _ _ 3)" in [Pr. PA08].
n after gain
switching Setting range: 0.0 to 5000.0
PB33 Set the vibration frequency of the vibration suppression control 1 for when the gain 0.0
VRF11B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB19].
control 1 - This parameter is enabled only when the following conditions are fulfilled.
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression control 1 tuning mode selection" is set to "Manual setting
after gain (_ _ _ 2)" in [Pr. PB02].
switching "Gain switching selection" is set to "Switching is enabled by control command
from upper side (C_CDP) and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr.
PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB34 Set the resonance frequency for vibration suppression control 1 for when the gain 0.0
VRF12B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB20].
control 1 - This parameter will be enabled only when the following conditions are fulfilled.
Resonance "Gain adjustment mode selection" is set to "Manual mode (_ _
frequency
_ 3)" in [Pr. PA08].
after gain
switching "Vibration suppression control 1 tuning mode selection" is set
to "Manual setting (_ _ _ 2)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

5 - 38
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00
VRF13B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _
control 1 -
_ 3)" in [Pr. PA08].
Vibration
frequency "Vibration suppression control 1 tuning mode selection" is set
damping after to "Manual setting (_ _ _ 2)" in [Pr. PB02].
gain "Gain switching selection" is set to "Switching is enabled by
switching control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00
VRF14B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _
control 1 -
_ 3)" in [Pr. PA08].
Resonance
frequency "Vibration suppression control 1 tuning mode selection" is set
damping after to "Manual setting (_ _ _ 2)" in [Pr. PB02].
gain "Gain switching selection" is set to "Switching is enabled by
switching control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

5 - 39
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB45 Set the command notch filter.
CNHF __xx Command notch filter setting frequency selection 00h
Command Refer to table 5.6 for the relation of setting values to frequency.
notch filter
_x__ Notch depth selection 0h
Refer to table 5.7 for details.
x _ _ _ For manufacturer setting 0h

Table 5.6 Command notch filter setting frequency selection

Setting Setting Setting
Frequency [Hz] Frequency [Hz] Frequency [Hz]
value value value
__00 Disabled __20 70 __40 17.6
__01 2250 __21 66 __41 16.5
__02 1125 __22 62 __42 15.6
__03 750 __23 59 __43 14.8
__04 562 __24 56 __44 14.1
__05 450 __25 53 __45 13.4
__06 375 __26 51 __46 12.8
__07 321 __27 48 __47 12.2
__08 281 __28 46 __48 11.7
__09 250 __29 45 __49 11.3
__0A 225 __2A 43 __4A 10.8
__0B 204 __2B 41 __4B 10.4
__0C 187 __2C 40 __4C 10
__0D 173 __2D 38 __4D 9.7
__0E 160 __2E 37 __4E 9.4
__0F 150 __2F 36 __4F 9.1
__10 140 __30 35.2 __50 8.8
__11 132 __31 33.1 __51 8.3
__12 125 __32 31.3 __52 7.8
__13 118 __33 29.6 __53 7.4
__14 112 __34 28.1 __54 7.0
__15 107 __35 26.8 __55 6.7
__16 102 __36 25.6 __56 6.4
__17 97 __37 24.5 __57 6.1
__18 93 __38 23.4 __58 5.9
__19 90 __39 22.5 __59 5.6
__1A 86 __3A 21.6 __5A 5.4
__1B 83 __3B 20.8 __5B 5.2
__1C 80 __3C 20.1 __5C 5.0
__1D 77 __3D 19.4 __5D 4.9
__1E 75 __3E 18.8 __5E 4.7
__1F 72 __3F 18.2 __5F 4.5

Table 5.7 Notch depth selection

Setting Setting
Depth [dB] Depth [dB]
value value
_0__ -40.0 _8__ -6.0
_1__ -24.1 _9__ -5.0
_2__ -18.1 _A__ -4.1
_3__ -14.5 _B__ -3.3
_4__ -12.0 _C__ -2.5
_5__ -10.1 _D__ -1.8
_6__ -8.5 _E__ -1.2
_7__ -7.2 _F__ -0.6

5 - 40
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500
NH3 To enable the setting value, set "Machine resonance suppression filter 3 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB47].
resonance
suppression
filter 3 Setting range: 10 to 4500
PB47 Set forms of the machine resonance suppression filter 3.
NHQ3 _ _ _ x Machine resonance suppression filter 3 selection 0h
Notch shape 0: Disabled
selection 3 1: Enabled
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB48 Set the notch frequency of the machine resonance suppression filter 4. 4500
NH4 To enable the setting value, set "Machine resonance suppression filter 4 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB49].
resonance
suppression
filter 4 Setting range: 10 to 4500
PB49 Set forms of the machine resonance suppression filter 4.
NHQ4 _ _ _ x Machine resonance suppression filter 4 selection 0h
Notch shape 0: Disabled
selection 4 1: Enabled
When "Enabled" is set, [Pr. PB17 Shaft resonance suppression filter] is not
available.
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
PB50 Set the notch frequency of the machine resonance suppression filter 5. 4500
NH5 To enable the setting value, set "Machine resonance suppression filter 5 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB51].
resonance
suppression
filter 5 Setting range: 10 to 4500

5 - 41
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB51 Set forms of the machine resonance suppression filter 5.
NHQ5 When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5
Notch shape is not available.
selection 5 ___x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
__x_ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_x__ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x___ For manufacturer setting 0h
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
VRF21 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration The setting range of this parameter varies, depending on the value in [Pr. PB07]. If
frequency a value out of the range is set, the vibration suppression control will be disabled.
Refer to section 7.1.5 for details.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
VRF22 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Resonance The setting range of this parameter varies, depending on the value in [Pr. PB07]. If
frequency a value out of the range is set, the vibration suppression control will be disabled.
Refer to section 7.1.5 for details.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.1 to 300.0

PB54 Set a damping of the vibration frequency for vibration suppression control 2 to 0.00
VRF23 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration Refer to section 7.1.5 for details.
frequency To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.00 to 0.30

PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00
VRF24 suppress low-frequency machine vibration.
Vibration When "Vibration suppression control 2 tuning mode selection" is set to "Automatic
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Resonance Refer to section 7.1.5 for details.
frequency To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping mode (_ _ _ 1)" in [Pr. PA24].

Setting range: 0.00 to 0.30

5 - 42
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB56 Set the vibration frequency for vibration suppression control 2 for when the gain 0.0
VRF21B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB52].
control 2 - This parameter will be enabled only when the following conditions are fulfilled.
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _
frequency
_ 3)" in [Pr. PA08].
after gain
switching "Vibration suppression mode selection" is set to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
"Vibration suppression control 2 tuning mode selection" is set
to "Manual setting (_ _ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB57 Set the resonance frequency for vibration suppression control 2 for when the gain 0.0
VRF22B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB53].
control 2 - This parameter will be enabled only when the following conditions are fulfilled.
Resonance "Gain adjustment mode selection" is set to "Manual mode (_ _
frequency
_ 3)" in [Pr. PA08].
after gain
switching "Vibration suppression mode selection" is set to "3 inertia
mode (_ _ _ 1)" in [Pr. PA24].
"Vibration suppression control 2 tuning mode selection" is set
to "Manual setting (_ _ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 300.0

PB58 Set a damping of the vibration frequency for vibration suppression control 2 when 0.00
VRF23B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _
control 2 -
_ 3)" in [Pr. PA08].
Vibration
frequency "Vibration suppression mode selection" is set to "3 inertia
damping after mode (_ _ _ 1)" in [Pr. PA24].
gain "Vibration suppression control 2 tuning mode selection" is set
switching to "Manual setting (_ _ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00
VRF24B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _
control 2 -
_ 3)" in [Pr. PA08].
Resonance

5 - 43
5. PARAMETERS

frequency "Vibration suppression mode selection" is set to "3 inertia

damping after
mode (_ _ _ 1)" in [Pr. PA24].
gain
switching "Vibration suppression control 2 tuning mode selection" is set
to "Manual setting (_ _ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.00 to 0.30

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PB60 Set the model loop gain for when the gain switching is enabled. 0.0
PG1B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Model loop PB07].
gain after This parameter will be enabled only when the following conditions are fulfilled.
gain "Gain adjustment mode selection" is set to "Manual mode (_ _
switching
_ 3)" in [Pr. PA08].
"Gain switching selection" is set to "Switching is enabled by
control command from upper side (C_CDP) and Input device
CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

Setting range: 0.0 to 2000.0

5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC01 Set an error excessive alarm level. 0
ERZ The setting unit can be changed with "Error excessive alarm/error excessive [rev]
Error warning level unit selection" in [Pr. PC06].
excessive Set this per rev. for rotary servo motors and direct drive motors. When "0" is set, 3
alarm level rev will be applied. Setting over 200 rev will be clamped to 200 rev.
Setting range: 0 to 1000
PC02 Set the delay time from when MBR (Electromagnetic brake interlock) turns off until 0
MBR when the base drive circuit is shut-off. [ms]
Electromagne For the timing chart of when the servo motor with an electromagnetic brake is used,
tic brake refer to section 3.9.2.
sequence
output Setting range: 0 to 1000

5 - 44
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC03 ___x Encoder output pulse phase selection 0h
*ENRS Select an encoder pulse direction.
Encoder 0: Increasing A-phase 90° in CCW or positive direction
output pulse 1: Increasing A-phase 90° in CW or negative direction
selection
Setting Servo motor rotation direction
value CCW or positive direction CW or negative direction
A-phase A-phase
0
B-phase B-phase

A-phase A-phase
1
B-phase B-phase

__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
1: Division ratio setting
3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
Refer to app. 12 for details.
_x__ Selection of the encoders for encoder output pulse 0h
Do not change this value.
x___ For manufacturer setting 0h
PC04 ___x For manufacturer setting 0h
**COP1 __x_ 0h
Function _x__ 0h
selection C-1
x___ Encoder cable communication method selection 0h
Do not change this value.

5 - 45
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC05 ___x Motor-less operation selection 0h
**COP2 Set the motor-less operation.
Function 0: Disabled
selection C-2 1: Enabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PC06 ___x In-position range unit selection 0h
*COP3 Select a unit of in-position range.
Function 0: Command input pulse unit
selection C-3 1: Servo motor encoder pulse unit
__x_ For manufacturer setting 0h
_x__ 0h
x___ Error excessive alarm/error excessive warning level unit selection 0h
Select units for error excessive alarm level setting with [Pr. PC01] and for error
excessive warning level setting with [Pr. PC38].
0: Per 1 rev or 1 mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm
PC07 Set an output range of ZSP (Zero speed detection). 50
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. [r/min]/
Zero speed [mm/s]
Setting range: 0 to 10000
PC08 Set an overspeed alarm detection level. 0
OSL When you set a value more than "servo motor maximum speed × 120%", the set [r/min]/
Overspeed value will be clamped. [mm/s]
alarm When you set "0", the value of "servo motor maximum speed × 120%" will be set.
detection
level Setting range: 0 to 20000

5 - 46
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC09 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 8.3 for detection
Analog point of output selection.
monitor 1 Refer to table 5.8 for settings.
output _x__ For manufacturer setting 0h
x___ 0h

Table 5.8 Analog monitor setting value

Operation
mode
Setting

Standard
Item
value

_ _ 0 0 Servo motor speed

(±8 V/max. speed)
_ _ 0 1 Torque
(±8 V/max. torque or max. thrust) (Note 3)
_ _ 0 2 Servo motor speed
(+8 V/max. speed)
_ _ 0 3 Torque
(+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (±8 V/max. current command)
_ _ 0 5 Speed command (±8 V/max. speed)
_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses)
(Note 2)
_ _ 0 7 Servo motor-side droop pulses (±10 V/1000 pulses)
(Note 2)
_ _ 0 8 Servo motor-side droop pulses (±10 V/10000 pulses)
(Note 2)
_ _ 0 9 Servo motor-side droop pulses (±10 V/100000 pulses)
(Note 2)
_ _ 0 D Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
_ _ 0 E Speed command 2 (±8 V/max. speed)
_ _ 1 0 Load-side droop pulses (±10 V/100 pulses) (Note 2)
_ _ 1 1 Load-side droop pulses (±10 V/1000 pulses) (Note 2)
_ _ 1 2 Load-side droop pulses (±10 V/10000 pulses) (Note 2)
_ _ 1 3 Load-side droop pulses (±10 V/100000 pulses) (Note 2)
_ _ 1 4 Load-side droop pulses (±10 V/1 Mpulses) (Note 2)
_ _ 1 5 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)

2. Encoder pulse unit

3. The value in [Pr. PA11] or [Pr. PA12] whichever is higher is applied for
the maximum torque

5 - 47
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC10 __xx Analog monitor 2 output selection 01h
MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to app. 8.3 for detection
Analog point of output selection.
monitor 2 Refer to [Pr. PC09] for settings.
output _x__ For manufacturer setting 0h
x___ 0h
PC11 Set the offset voltage of MO1 (Analog monitor 1). 0
MO1 [mV]
Analog
monitor 1
offset Setting range: -999 to 999
PC12 Set the offset voltage of MO2 (Analog monitor 2). 0
MO2 [mV]
Analog
monitor 2
offset Setting range: -999 to 999
PC17 ___x For manufacturer setting 0h
**COP4 __x_ Linear scale multipoint Z-phase input function selection 0h
Function Do not change this value.
selection C-4 _x__ For manufacturer setting 0h
x___ 0h
PC18 ___x For manufacturer setting 0h
*COP5 __x_ 1h
Function _x__ 0h
selection C-5 x___ [AL. E9 Main circuit off warning] selection 0h
Select an occurring condition of [AL. E9 Main circuit off warning].
0: Detection with ready-on and servo-on command
1: Detection with servo-on command
PC19 ___x [AL. 99 Stroke limit warning] selection 0h
*COP6 Enable or disable [AL. 99 Stroke limit warning].
Function 0: Enabled
selection C-6 1: Disabled
When "Disabled" is selected, [AL. 99 Stroke limit warning] will not occur while LSP
(Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off, but the
operation will be stopped with the stroke limit.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 48
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC20 ___x [AL. 10 Undervoltage] detection method selection 0h
*COP7 Set this parameter when [AL. 10 undervoltage] occurs due to distorted power supply
Function voltage waveform while using FR-RC-(H) or FR-CV-(H).
selection C-7 0: [AL. 10] not occurrence
1: [AL. 10] occurrence
__x_ For manufacturer setting 0h
_x__ Undervoltage alarm selection 0h
Select the alarm and warning that occurs when the bus voltage drops to the
undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or less, [AL. 10] at over 50
r/min (50 mm/s)
x___ For manufacturer setting 0h
PC21 ___x Alarm history clear selection 0h
*BPS This parameter is used to clear the alarm history.
Alarm history 0: Disabled
clear 1: Enabled
When "Enabled" is set, the alarm history will be cleared at the next power-on. Once
the alarm history is cleared, the setting becomes disabled automatically.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 49
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC24 Set a deceleration time constant for the forced stop deceleration function. 100
RSBR Set the time taken from the rated speed to 0 r/min or 0 mm/s in units of ms. Setting [ms]
Forced stop "0" will apply 100 ms.
deceleration
time constant Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
(0 mm/s) [Pr. PC24]

[Precautions]
If the servo motor torque or linear servo mot is saturated at the
maximum value during forced stop deceleration because the
set time is too short, the time to stop the servo motor will be
longer than the set time constant.
[AL. 50 Overload 1] or [AL. 51 Overload 2] may occur during
forced stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an
alarm that does not lead to a forced stop deceleration occurs
or if the control circuit power supply is cut, dynamic braking will
start regardless of the deceleration time constant setting.
This parameter corresponds to "Quick stop deceleration (Index: 6085h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).
Setting range: 0 to 20000
Set a deceleration time constant for the forced stop deceleration function. 100
Set the time taken from the rated speed to 0 r/min or 0 mm/s in units of ms. Setting [ms]
"0" will apply 100 ms.

Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
(0 mm/s) [Pr. PC24]

[Precautions]
If the servo motor torque or linear servo mot is saturated at the
maximum value during forced stop deceleration because the
set time is too short, the time to stop the servo motor will be
longer than the set time constant.
[AL. 50 Overload 1] or [AL. 51 Overload 2] may occur during
forced stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an
alarm that does not lead to a forced stop deceleration occurs
or if the control circuit power supply is cut, dynamic braking will
start regardless of the deceleration time constant setting.
This parameter corresponds to "Quick stop deceleration (Class ID: 64h, Ins ID:
6085h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).
Setting range: 0 to 20000

5 - 50
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC24 Set a deceleration time constant for the forced stop deceleration function. 100
RSBR Set the time taken from the rated speed to 0 r/min. Setting "0" will apply 100 ms. [ms]
Forced stop
deceleration Dynamic brake
time constant Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
(0 mm/s) [Pr. PC24]

[Precautions]
If the servo motor torque or linear servo mot is saturated at the
maximum value during forced stop deceleration because the
set time is too short, the time to stop the servo motor will be
longer than the set time constant.
[AL. 50 Overload 1] or [AL. 51 Overload 2] may occur during
forced stop deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an
alarm that does not lead to a forced stop deceleration occurs
or if the control circuit power supply is cut, dynamic braking will
start regardless of the deceleration time constant setting.

This parameter corresponds to "Quick stop deceleration (PNU: 24709, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 20000

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC26 _ _ _ x For manufacturer setting 0h
**COP8 __x_ 0h
Function _x__ 0h
selection C-8 x _ _ _ Load-side encoder cable communication method selection 0h
Do not change this value.
PC27 _ _ _ x Encoder pulse count polarity selection 0h
**COP9 Do not change this value.
Function _ _ x _ For manufacturer setting 0h
selection C-9 _ x _ _ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment 0h
function
Do not change this value.r.

x___ For manufacturer setting 0h

5 - 51
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC29 ___x For manufacturer setting 0h
*COPB __x_ 0h
Function _x__ 0h
selection C-B
x___ POL reflection selection at torque mode 1h
Select whether to enable or disable [Pr. PA14 Rotation direction selection/] in the
torque mode. When this parameter is enabled, the polarities of "Target torque
(Index: 6071h)", "Torque demand (Index: 6074h)", "Positive torque limit value
(Index: 60E0h)", "Negative torque limit value (Index: 60E1h)", and "Torque actual
value (Index: 6077h)" will be changed with the setting of [Pr. PA14].
0: Enabled
1: Disabled

Setting value Servo motor rotation direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction
1 0 _ _ _: CW or negative CCW or positive
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction

POL reflection selection at torque mode 1h

Select whether to enable or disable [Pr. PA14 Rotation direction selection/] in the
torque mode. When this parameter is enabled, the polarities of "Target torque
(Class ID: 64h, Ins ID: 6071h)", "Torque demand (Class ID: 64h, Ins ID: 6074h)",
"Positive torque limit value (Class ID: 64h, Ins ID: 60E0h)", "Negative torque limit
value (Class ID: 64h, Ins ID: 60E1h)", and "Torque actual value (Class ID: 64h, Ins
ID: 6077h)" will be changed with the setting of [Pr. PA14].
0: Enabled
1: Disabled

Setting value Servo motor rotation direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction
1 0 _ _ _: CW or negative CCW or positive
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction

5 - 52
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC29 x___ POL reflection selection at torque mode 1h
*COPB Select whether to enable or disable [Pr. PA14 Rotation direction selection/] in the
Function torque mode. When this parameter is enabled, the polarities of "Target torque
selection C-B (PNU: 24689)", "Torque demand (PNU: 24692)", "Positive torque limit value (PNU:
24800)", "Negative torque limit value (PNU: 24801)", and "Torque actual value
(PNU: 24695)" will be changed with the setting of [Pr. PA14].
0: Enabled
1: Disabled

Setting value Servo motor rotation direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction
1 0 _ _ _: CW or negative CCW or positive
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction

PC31 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set it per servo motor rotation amount or linear servo motor travel distance. [0.0001
Vertical axis When setting a positive value, the servo motor or linear servo motor moves in the rev]/
freefall direction set with [Pr. PA14] for the forward rotation pulse input. When setting a [0.01
prevention negative value, the servo motor or linear servo motor moves in the direction set with mm]
compensatio [Pr. PA14] for the reverse rotation pulse input.
n amount For example, when [Pr. PA14 Rotation direction selection/] is set to "1" and a
positive value is set for the compensation amount, the servo motor pulls up in the
CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position mode
2) The setting value of this parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or
less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09],
and the base circuit shut-off delay time was set in [Pr. PC02].

Setting range: -25000 to 25000

PC38 Set an error excessive warning level. 0
ERW The setting unit can be changed with "Error excessive alarm/error excessive [rev]/
Error warning level unit selection" in [Pr. PC06]. [mm]
excessive Set this per rev. for rotary servo motors and direct drive motors. Setting over 200
warning level rev will be clamped with 200 rev. Set this per mm for linear servo motors. However,
setting "0" will not trigger [AL. 9B Error excessive warning].

When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error
excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur
earlier than the warning.: [Pr. PC38 Error excessive warning level] ≥ [Pr. PC01 Error
excessive alarm level]

Setting range: 0 to 1000

5 - 53
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC65 Set a speed level for turning on the zero speed 2. 50.00
ZSP2L When the state in which the absolute value of the servo motor speed exceeds the [r/min]/
Zero speed 2 parameter setting value continues for the time set in [Pr. PC66 Zero speed 2 [mm/s]
level filtering time] or longer, "Statusword (Index: 6041h) bit 12 Speed" will be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold (Index: 606Fh)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

Set a speed level for turning on the zero speed 2. 50.00
When the state in which the absolute value of the servo motor speed exceeds the [r/min]/
parameter setting value continues for the time set in [Pr. PC66 Zero speed 2 [mm/s]
filtering time] or longer, "Statusword (Class ID: 64h, Ins ID: 6041h) bit 12 Speed" will
be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold (Class ID: 64h, Ins ID: 606Fh,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

Set a speed level for turning on the zero speed 2. 50.00
When the state in which the absolute value of the servo motor speed exceeds the [r/min]/
parameter setting value continues for the time set in [Pr. PC66 Zero speed 2 [mm/s]
filtering time] or longer, "Statusword (PNU: 24641) bit 12 Speed" will be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold (PNU: 24687, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

PC66 Set the zero speed 2 filtering time. 10
ZSP2F When the state in which the absolute value of the servo motor speed exceeds [Pr. [ms]
Zero speed 2 PC65 Zero speed 2 level] continues for the time set in this parameter or longer,
filtering time "Statusword (Index: 6041h) bit 12 Speed" will be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold time (Index: 6070h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the zero speed 2 filtering time. 10
When the state in which the absolute value of the servo motor speed exceeds [Pr. [ms]
PC65 Zero speed 2 level] continues for the time set in this parameter or longer,
"Statusword (Class ID: 64h, Ins ID: 6041h) bit 12 Speed" will be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold time (Class ID: 64h, Ins ID:
6070h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

5 - 54
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC66 Set the zero speed 2 filtering time. 10
ZSP2F When the state in which the absolute value of the servo motor speed exceeds [Pr. [ms]
Zero speed 2 PC65 Zero speed 2 level] continues for the time set in this parameter or longer,
filtering time "Statusword (PNU: 24641) bit 12 Speed" will be turned off.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity threshold time (PNU: 24688, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

PC67 Set a following error output level. 0000h
FEWL Upper and lower are a set. Refer
Following When the state in which droop pulses ≥ the parameter setting value continues for to
error output the time set in [Pr. PC69 Following error output filtering time], "Statusword (Index: Function
level (lower 6041h) bit 13 Following error" will be turned on. However, setting "FFFFFFFFh" will Column
four digits) disable it. for unit.
Set a value in hexadecimal.

Setting value:

Upper four Lower four

digits digits
[Pr. PC67]
[Pr. PC68]

This function is enabled in the cyclic synchronous position mode (csp), profile
position mode (pp), point table mode (pt), Jog mode (jg) and indexer mode (idx).
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Following error window (Index: 6065h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

5 - 55
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC67 Set a following error output level. 0000h
FEWL Upper and lower are a set. Refer
Following When the state in which droop pulses ≥ the parameter setting value continues for to
error output the time set in [Pr. PC69 Following error output filtering time], "Statusword (Class Function
level (lower ID: 64h, Ins ID: 6041h, Attr ID: 0) bit 13 Following error" will be turned on. However, column
four digits) setting "FFFFFFFFh" will disable it. for unit.
Set a value in hexadecimal.

Setting value:

Upper four Lower four

digits digits
[Pr. PC67]
[Pr. PC68]

This function is enabled in the profile position mode (pp).

The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Following error window (Class ID: 64h, Ins ID:
6065h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

Set a following error output level. 0000h
Upper and lower are a set. Refer
When the state in which droop pulses ≥ the parameter setting value continues for to
the time set in [Pr. PC69 Following error output filtering time], "Statusword (PNU: Function
24641, Sub: 0) bit 13 Following error" will be turned on. However, setting column
"FFFFFFFFh" will disable it. for unit.
Set a value in hexadecimal.

Setting value:

Upper four Lower four

digits digits
[Pr. PC67]
[Pr. PC68]

This function is enabled in the profile position mode (pp), point table mode (pt), Jog
mode (jg) and indexer mode (idx).
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Following error window (PNU: 24677, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

PC68 Set a following error output level. 0000h
FEWH Upper and lower are a set. Refer
Following Refer to [Pr. PC67] for details. to
error output The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] Function
level (upper according to the setting of [Pr. PT01]. column
four digits) for unit.

5 - 56
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC69 Set the time until the following error output turns on. 10
FEWF When the state in which droop pulses ≥ [Pr. PC67/Pr. PC68 Following error output [ms]
Following level] continues for the time set in the parameter setting value, "Statusword (Index:
error output 6041h) bit 13 Following error" will be turned on.
filtering time This function is enabled in the cyclic synchronous position mode (csp), profile
position mode (pp), point table mode (pt), Jog mode (jg) and indexer mode (idx).
The following error output will be disabled when both [Pr. PC67] and [Pr. PC68] are
"FFFFh".

This parameter corresponds to "Following error time out (Index: 6066h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the following error output turns on. 10
When the state in which droop pulses ≥ [Pr. PC67/Pr. PC68 Following error output [ms]
level] continues for the time set in the parameter setting value, "Statusword (Class
ID: 64h, Ins ID: 6041h) bit 13 Following error" will be turned on.
This function is enabled in the profile position mode (pp).
The following error output will be disabled when both [Pr. PC67] and [Pr. PC68] are
"FFFFh".

This parameter corresponds to "Following error time out (Class ID: 64h, Ins ID:
6066h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the following error output turns on. 10
When the state in which droop pulses ≥ [Pr. PC67/Pr. PC68 Following error output [ms]
level] continues for the time set in the parameter setting value, "Statusword (PNU:
24641) bit 13 Following error" will be turned on.
This function is enabled in the profile position mode (pp), point table mode (pt), Jog
mode (jg) and indexer mode (idx).
The following error output will be disabled when both [Pr. PC67] and [Pr. PC68] are
"FFFFh".

This parameter corresponds to "Following error time out (PNU: 24678, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

5 - 57
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC70 Set a position range for turning on the in-position 2 output. 100
INP2R When the state in which an error between the command position and current Refer
In-position 2 position is within the parameter setting value continues for the time set in [Pr. PC71 to
output range In-position 2 output filtering time] or longer, "Statusword (Index: 6041h) bit 10 Target Function
reached" will be turned on. However, when this parameter is set to "65535", column
"Statusword (Index: 6041h) bit 10 Target reached" will be always on. for unit.
This function is enabled in the profile position mode (pp), point table mode (pt) and
Jog mode (jg).
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Position window (Index: 6067h)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set a position range for turning on the in-position 2 output. 100
When the state in which an error between the command position and current Refer
position is within the parameter setting value continues for the time set in [Pr. PC71 to
In-position 2 output filtering time] or longer, "Statusword (Class ID: 64h, Ins ID: Function
6041h) bit 10 Target reached" will be turned on. However, when the parameter is column
set to "65535", "Statusword (Class ID: 64h, Ins ID: 6041h) bit 10 Target reached" for unit.
will be always on.
This function is enabled in the profile position mode (pp).
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Position window (Class ID: 64h, Ins ID: 6067h, Attr
ID: 0)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set a position range for turning on the in-position 2 output. 100
When the state in which an error between the command position and current Refer
position is within the parameter setting value continues for the time set in [Pr. PC71 to
In-position 2 output filtering time] or longer, "Statusword (PNU: 24641) bit 10 Target Function
reached" will be turned on. However, when the parameter is set to "65535", column
"Statusword (PNU: 24641) bit 10 Target reached" will be always on. for unit.
This function is enabled in the profile position mode (pp), point table mode (pt) and
Jog mode (jg).
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Position window (PNU: 24679, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

5 - 58
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC71 Set the time until the in-position 2 output turns on. 10
INP2F When the state in which an error between the command position and current [ms]
In-position 2 position is within [Pr. PC70 In-position 2 output range] continues for the time set in
output this parameter or longer, "Statusword (Index: 6041h) bit 10 Target reached" will be
filtering time turned on. However, when this parameter is set to "65535", "Statusword (Index:
6041h) bit 10 Target reached" will be always on.
This function is enabled in the profile position mode (pp), point table mode (pt) and
Jog mode (jg).

This parameter corresponds to "Position window time (Index: 6068h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the in-position 2 output turns on. 10
When the state in which an error between the command position and current [ms]
position is within [Pr. PC70 In-position 2 output range] continues for the time set in
this parameter or longer, "Statusword (Class ID: 64h, Ins ID: 6041h) bit 10 Target
reached" will be turned on. However, when the parameter is set to "65535",
"Statusword (Class ID: 64h, Ins ID: 6041h) bit 10 Target reached" will be always on.
This function is enabled in the profile position mode (pp).

This parameter corresponds to "Position window time (Class ID: 64h, Ins ID: 6068h,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the in-position 2 output turns on. 10
When the state in which an error between the command position and current [ms]
position is within [Pr. PC70 In-position 2 output range] continues for the time set in
this parameter or longer, "Statusword (PNU: 24641) bit 10 Target reached" will be
turned on. However, when the parameter is set to "65535", "Statusword (PNU:
24641) bit 10 Target reached" will be always on.
This function is enabled in the profile position mode (pp), point table mode (pt) and
Jog mode (jg).

This parameter corresponds to "Position window time (PNU: 24680, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

5 - 59
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC72 Set a speed range for turning on the speed reached 2 output. 20.00
SA2R When the state in which an error between the command speed and servo motor [r/min]/
Speed speed is within the parameter setting value continues for the time set in [Pr. PC73 [mm/s]
reached 2 Speed reached 2 output filtering time] or longer, "Statusword (Index: 6041h) bit 10
output range Target velocity reached" will be turned on.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window (Index: 606Dh)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

Set a speed range for turning on the speed reached 2 output. 20.00
When the state in which an error between the command speed and servo motor [r/min]/
speed is within the parameter setting value continues for the time set in [Pr. PC73 [mm/s]
Speed reached 2 output filtering time] or longer, "Statusword (Class ID: 64h, Ins ID:
6041h) bit 10 Target velocity reached" will be turned on.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window (Class ID: 64h, Ins ID: 606Dh, Attr
ID: 0)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

Set a speed range for turning on the speed reached 2 output. 20.00
When the state in which an error between the command speed and servo motor [r/min]/
speed is within the parameter setting value continues for the time set in [Pr. PC73 [mm/s]
Speed reached 2 output filtering time] or longer, "Statusword (PNU: 24641) bit 10
Target velocity reached" will be turned on.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window (PNU: 24685, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 655.35

5 - 60
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC73 Set the time until the speed reached 2 output turns on. 10
SA2F When the state in which an error between the speed command and servo motor [ms]
Speed speed is within [Pr. PC72 Speed reached 2 output range] continues for the time set
reached 2 in this parameter or longer, "Statusword (Index: 6041h) bit 10 Target velocity
output reached" will be turned on.
filtering time This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window time (Index: 606Eh)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the speed reached 2 output turns on. 10
When the state in which an error between the speed command and servo motor [ms]
speed is within [Pr. PC72 Speed reached 2 output range] continues for the time set
in this parameter or longer, "Statusword (Class ID: 64h, Ins ID: 6041h) bit 10 Target
velocity reached" will be turned on.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window time (Class ID: 64h, Ins ID: 606Eh,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

Set the time until the speed reached 2 output turns on. 10
When the state in which an error between the speed command and servo motor [ms]
speed is within [Pr. PC72 Speed reached 2 output range] continues for the time set
in this parameter or longer, "Statusword (PNU: 24641) bit 10 Target velocity
reached" will be turned on.
This function will be enabled in the profile velocity mode (pv).

This parameter corresponds to "Velocity window time (PNU: 24686, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 65535

5 - 61
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC76 ___x For manufacturer setting 1h
*COPE __x_ 0h
Function _x__ Internal command speed POL reflection selection 0h
selection C-E When this parameter is enabled, the polarity of "Velocity demand value (Index:
606Bh)" can be changed depending on the setting of [Pr. PA14 Rotation direction
selection/].
0: Automatic setting (POL setting disabled)
1: POL setting enabled
2: POL setting disabled
Internal command speed POL reflection selection 0h
When this parameter is enabled, the polarity of "Velocity demand value (Class ID:
64h, Ins ID: 606Bh)" can be changed depending on the setting of [Pr. PA14
Rotation direction selection/].
0: Automatic setting (POL setting enabled)
1: POL setting enabled
2: POL setting disabled
Internal command speed POL reflection selection 0h
When this parameter is enabled, the polarity of "Velocity demand value (PNU:
24683)" can be changed depending on the setting of [Pr. PA14 Rotation direction
selection/].
0: Automatic setting (POL setting enabled)
1: POL setting enabled
2: POL setting disabled
x___ Limit switch status reading selection 0h
Select the on/off statuses of "Digital inputs (Index: 60FDh)" for the on/off statuses of
LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).
Refer to the following table for details.
Limit switch status reading selection 0h
Select the on/off statuses of "Digital inputs (Class ID: 64h, Ins ID: 60FDh, Attr ID:
0)" for the on/off statuses of LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
Refer to the following table for details.
Limit switch status reading selection 0h
Select the on/off statuses of "Digital inputs (PNU: 24829, Sub: 0)" for the on/off
statuses of LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke
end).
Refer to the following table for details.

[Pr. PC76] LSP/LSN Digital inputs (Note)

0___ Off Off
On On
1___ Off On
On Off

Note. For details of "Digital inputs", refer to chapter

18,19,20.

5 - 62
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PC79 Select whether the on/off status of the input device is returned or the on/off status of the pins are returned when
*COP10 reading "Digital inputs". For details of "Digital inputs", refer to chapter 18,19,20.
Function ___x _ _ _ x (BIN): For manufacturer setting 0h
selection C- (HEX)
10
_ _ x _ (BIN): DI1 status reading selection
Select DI1 (bit 17) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-2 pin is returned.
_ x _ _ (BIN): DI2 status reading selection
Select DI2 (bit 18) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-12 pin is returned.
x _ _ _ (BIN): DI3 status reading selection
Select DI3 (bit 19) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-19 pin is returned.
_ _ x _ _ _ _ x (BIN): DI4 status reading selection 0h
(HEX) Select DI4 (bit 20) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-10 pin is returned.
_ _ x _ (BIN): DI5 status reading selection
Select DI5 (bit 21) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-1 pin is returned.
_ x _ _ (BIN): EM2/EM1 status reading selection
Select EM2/EM1 (bit 22) status reading.
0: The on/off status of the input device is returned.
1: The on/off status of the CN3-20 pin is returned.
x _ _ _ (BIN): For manufacturer setting
_ x _ _ For manufacturer setting 0h
x _ _ _ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0 0
Initial value
Signal name
BIN HEX
0
DI1 status reading selection 0
0
DI2 status reading selection 0
DI3 status reading selection 0

Initial value
Signal name
BIN HEX
DI4 status reading selection 0
DI5 status reading selection 0
0
EM2/EM1 status reading selection 0
0
BIN 0: The on/off status of the input device is returned.
BIN 1: The on/off status of the pin is returned.

5 - 63
5. PARAMETERS

5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PD01 Select input devices to turn on automatically.
*DIA1 ___x For manufacturer setting 0h
Input signal __x_ 0h
automatic on
_x__ _ _ _ x (BIN): For manufacturer setting 0h
selection 1
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): LSP (Forward rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Signal name
BIN HEX
0
0
0
LSP (Forw ard rotation stroke end) 0
LSN (Reverse rotation stroke end) 0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

PD03 Any input device can be assigned to the CN3-2 pin.

*DI1 _ _ x x Device selection 0Ah
Input device Refer to table 5.9 for settings.
selection 1 _ x _ _ For manufacturer setting 0h
x___ 0h

Table 5.9 Selectable input devices

Setting
Input device
value
__00
__04 PC (Proportional control)
__0A LSP (Forward rotation stroke end)
__0B LSN (Reverse rotation stroke end)
__0D CDP (Gain switching)
__0E CLD (Fully closed loop selection)
__22 DOG (Proximity dog)
__28 DIA (General-purpose input A) (Note)
__29 DIB (General-purpose input B) (Note)
__2A DIC (General-purpose input C) (Note)

5 - 64
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PD04 Any input device can be assigned to the CN3-12 pin.
*DI2 _ _ x x Device selection 0Bh
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 2 _ x _ _ For manufacturer setting 0h
x___ 0h
PD05 Any input device can be assigned to the CN3-19 pin.
*DI3 _ _ x x Device selection 22h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
selection 3 _ x _ _ For manufacturer setting 0h
x___ 0h
PD07 _ _ x x Device selection 05h
*DO1 Any output device can be assigned to the CN3-13 pin. As the initial value, MBR
Output device (Electromagnetic brake interlock) is assigned to the pin.
selection 1 Refer to table 5.10 for settings.
_ x _ _ For manufacturer setting 0h
x___ 0h

Table 5.10 Selectable output devices

Setting
Output device
value
__00 Always off
__02 RD (Ready)
__03 ALM (Malfunction)
__04 INP (In-position)
__05 MBR (Electromagnetic brake interlock)
__06 DB (Dynamic brake interlock)
__07 TLC (Limiting torque)
__08 WNG (Warning)
__09 BWNG (Battery warning)
__0A SA (Speed reached)
__0B VLC (Limiting speed)
__0C ZSP (Zero speed detection)
__0F CDPS (Variable gain selection)
__10 CLDS (During fully closed loop control)
__11 ABSV (Absolute position undetermined)
__17 MTTR (During tough drive)
__21 DOA (General-purpose output A) (Note)
__22 DOB (General-purpose output B) (Note)
__23 DOC (General-purpose output C) (Note)

PD08 __xx Device selection 04h

*DO2 Any output device can be assigned to the CN3-9 pin. INP (In-position) is assigned
Output device as the initial value.
selection 2 Refer to table 5.10 in [Pr. PD07] for settings.
_x__ For manufacturer setting 0h
x___ 0h
PD09 __xx Device selection 03h
*DO3 Any output device can be assigned to the CN3-15 pin. ALM (Malfunction) is
Output device assigned as the initial value.
selection 3 Refer to table 5.10 in [Pr. PD07] for settings.
_x__ For manufacturer setting 0h
x___ 0h

5 - 65
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PD11 Select a filter for the input signal.
*DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
PD12 _ _ _ x For manufacturer setting 1h
*DOP1 __x_ 0h
Function _x__ 1h
selection D-1 x _ _ _ Servo motor thermistor enabled/disabled selection 0h
0: Enabled
1: Disabled
The setting in this digit will be disabled when you use a servo motor without
thermistor.
PD13 _ _ _ x For manufacturer setting 0h
*DOP2 __x_ 0h
Function _ x _ _ INP (In-position) on condition selection 0h
selection D-2 Select a condition for turning on INP (In-position).
0: Within the in-position range
1: Within the in-position range and at the completion of command output
x _ _ _ For manufacturer setting 0h
PD14 ___x For manufacturer setting 0h
*DOP3 __x_ Selection of output device at warning occurrence 0h
Function Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence.
selection D-3
Driver output

Setting
(Note 1) Device status
value
1
WNG
0
0 1
ALM
0
Warning occurrence

1
WNG
0
1 1
ALM
0
Warning occurrence (Note 2)

Note 1. 0: Off
1: On
2. Although ALM is turned off upon occurrence of the warning, the forced
stop deceleration is performed.

_x__ For manufacturer setting 0h

x___ 0h

5 - 66
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PD37 ___x Touch probe higher precision selection 0h
*TPOP Latches the rising of TPR2 correctly, and detects it with an accuracy of 2 µs.
Touch probe 0: Disabled
function 1: Enabled
selection When "Enabled" is selected, encoder output pulses are disabled.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PD38 __xx Input signal function selection 2Ch
*TPR1 Select an input device to be assigned to the CN3-10 pin.
Touch probe 2C: TPR1 (touch probe 1)
selection 1 2E: ST (operation start-up)
_x__ For manufacturer setting 0h
x___ 0h

5 - 67
5. PARAMETERS

5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PE01 _ _ _ x Fully closed loop function selection 0h
**FCT1 Do not change this value.
Fully closed
loop function
selection 1
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
PE03 _ _ _ x Fully closed loop control error detection function selection 3h
*FCT2 Do not change this value.
Fully closed
loop function
selection 2
__x_ Position deviation error detection system selection 0h
Do not change this value.
_ x _ _ For manufacturer setting 0h
x _ _ _ Fully closed loop control error reset selection 0h
Do not change this value.

5 - 68
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PE04 Do not change this value. 1
**FBN
Fully closed
loop control -
Feedback
pulse
electronic
gear 1 -
Numerator
PE05 Do not change this value. 1
**FBD
Fully closed
loop control -
Feedback
pulse
electronic
gear 1 -
Denominator
PE06 Do not change this value. 400
BC1 [r/min]
Fully closed
loop control -
Speed
deviation
error
detection
level
PE07 Do not change this value. 100
BC2 [kpulse]
Fully closed
loop control -
Position
deviation
error
detection
level
PE08 Do not change this value. 10
DUF [rad/s]
Fully closed
loop dual
feedback
filter
PE10 ___x For manufacturer setting 0h
FCT3 __x_ Fully closed loop control - Position deviation error detection level - Unit selection 0h
Fully closed Do not change this value.
loop function _x__ For manufacturer setting 0h
selection 3
x___ 0h
PE34 Do not change this value. 1
**FBN2
Fully closed
loop control -
Feedback
pulse
electronic
gear 2 -
Numerator

5 - 69
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PE35 Do not change this value. 1
**FBD2
Fully closed
loop control -
Feedback
pulse
electronic
gear 2 -
Denominator
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When "Enabled" is set, the machine resonance suppression filter 5 that is set in [Pr.
PB51] is not available.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PE44 Set the lost motion compensation for when reverse rotation (CW) switches to 0
LMCP forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion
compensatio
n positive-
side
compensatio
n value Setting range: 0 to 30000
selection
PE45 Set the lost motion compensation for when forward rotation (CCW) switches to 0
LMCN reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion
compensatio
n negative-
side
compensatio
n value Setting range: 0 to 30000
selection
PE46 Set the time constant of the lost motion compensation filter in increments of 0.1 ms. 0
LMFLT If the time constant is "0", the torque is compensated with the value set in [Pr. [0.1 ms]
Lost motion PE44] and [Pr. PE45]. If the time constant is other than "0", the torque is
filter setting compensated with the high-pass filter output value of the set time constant, and the
lost motion compensation will continue.

Setting range: 0 to 30000

5 - 70
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PE47 Set this when canceling unbalanced torque of vertical axis. Set this assuming the 0
TOF rated torque of the servo motor as 100%. The torque offset does not need to be set [0.01%]
Torque offset for a machine where the unbalanced torque does not occur.
The torque offset cannot be used for linear servo motors and direct drive motors.
Set "0".
The torque offset set with this parameter will be enabled in the position mode,
velocity mode, and torque mode. Input commands assuming torque offset for the
torque mode.
Use this parameter when a dynamic change is not necessary in the torque offset.
When a dynamic change in the torque offset is required during the operation, use
"Torque offset (Index: 60B2h)".
Setting range: -10000 to 10000
Set this when canceling unbalanced torque of vertical axis. Set this assuming the 0
rated torque of the servo motor as 100%. The torque offset does not need to be set [0.01%]
for a machine where the unbalanced torque does not occur.
The torque offset cannot be used for linear servo motors and direct drive motors.
Set "0".
The torque offset set with this parameter will be enabled in the position mode,
velocity mode, and torque mode. Input commands assuming torque offset for the
torque mode.

Setting range: -10000 to 10000

PE48 ___x Lost motion compensation selection 0h
*LMOP 0: Disabled
Lost motion 1: Enabled
compensatio __x_ Unit setting of lost motion compensation non-sensitive band 0h
n function 0: 1 pulse unit
selection 1: 1 kpulse unit
_x__ For manufacturer setting 0h
x___ 0h
PE49 Set the lost motion compensation timing in increments of 0.1 ms. 0
LMCD You can delay the timing to perform the lost motion compensation for the set time. [0.1 ms]
Lost motion
compensatio
n timing Setting range: 0 to 30000
PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of droop 0
LMCT pulses equals to or less than the setting value, the speed will be 0. Setting can be [pulse]/
Lost motion changed in [Pr. PE48]. Set the parameter per encoder unit. [kpulse]
compensatio
n non-
sensitive Setting range: 0 to 65535
band

5 - 71
5. PARAMETERS

5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PF06 ___x Electronic dynamic brake selection 0h
*FOP5 0: Automatic (enabled only for specified servo motors)
Function 2: Disabled
selection F-5 Refer to the following table for the specified servo motors.

Series Servo motor

LE-□-□ LE-T5-□, LE-T6-□, LE-T7-□, LE-T8-□

__x_ For manufacturer setting 0h

_x__ 0h
x___ 0h
PF12 Set an operating time for the electronic dynamic brake. 2000
DBT [ms]
Electronic
dynamic
brake
operating
time Setting range: 0 to 10000
PF18 Set the time from when the error of the STO input or STO circuit is detected until 10
**STOD the occurrence of [AL. 68.1 Mismatched STO signal error]. [s]
STO Setting "0" will not trigger [AL. 68.1 Mismatched STO signal error].
diagnosis The safety level depends on the setting values as follows.
error
detection Setting STO input diagnosis
Safety level
time value by TOFB output
0 Execute EN ISO 13849-1 Category 3 PL d, IEC
61508 SIL 2,
Not execute
EN 62061 SIL CL2
1 to 60 Execute EN ISO 13849-1 Category 3 PL e, IEC
61508 SIL 3,
EN 62061 SIL CL3
Not execute EN ISO 13849-1 Category 3 PL d, IEC
61508 SIL 2,
EN 62061 SIL CL2

When the short-circuit connector is connected to the CN8 connector, set "0" in the
parameter.
When MR-D30 functional safety unit is used, the parameter is not available.
For safety levels at the time of using MR-D30, refer to "MR-D30 Instruction Manual".
PF21 Set a drive recorder switching time. 0
DRT When a USB communication is cut during using a graph function, the function will [s]
Drive be changed to the drive recorder function after the setting time of this parameter.
recorder When a value from "1" to "32767" is set, the function will be switched to the drive
switching recorder function after the set time.
time setting However, when "0" is set, it will be switched after 600 s.
When "-1" is set, the drive recorder function is disabled.

Setting range: -1 to 32767

5 - 72
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PF23 Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression 50
OSCL1 filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration [%]
Vibration tough drive is enabled.
tough drive - Note that setting "0" will be 50%.
Oscillation Example: When you set "50" to the parameter, the filter will be readjusted at the
detection time of 50% or more oscillation level.
level
Setting range: 0 to 100
PF24 ___x Oscillation detection alarm selection 0h
*OSCL2 Select whether to generate an alarm or a warning when an oscillation continues at a
Vibration filter readjustment sensitivity level of [Pr. PF23].
tough drive The setting is always enabled regardless of the vibration tough drive in [Pr. PA20].
function 0: [AL. 54 Oscillation detection] will occur at oscillation detection.
selection 1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PF25 Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. 200
CVAT To comply with SEMI-F47 standard, it is unnecessary to change the initial value [ms]
SEMI-F47 (200 ms).
function - When the instantaneous power failure time exceeds 200 ms, and the instantaneous
Instantaneou power failure voltage is less than 70% of the rated input voltage, the power may be
s power normally turned off even if a value larger than 200 ms is set in the parameter.
failure To disable the parameter setting value, select "Disabled (_ 0 _ _)" of "SEMI-F47
detection function selection" in [Pr. PA20].
time
Setting range: 30 to 500
PF31 Set a servo motor speed that divides a friction estimation area into high and low 0
FRIC during the friction estimation process of the machine diagnosis. [r/min]/
Machine However, setting "0" will be the value half of the rated speed. [mm/s]
diagnosis When your operation pattern is under rated speed, we recommend that you set half
function - value to the maximum speed with this.
Friction
judgment Maximum speed in operation
speed Forward rotation
direction
(Positive direction)
[Pr. PF31] setting

Servo motor 0 r/min

speed (0 mm/s)

Reverse rotation Operation pattern

direction
(Negative direction)

Setting range: 0 to instantaneous permissible speed

5 - 73
5. PARAMETERS

5.2.7 Positioning control parameters ([Pr. PT_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT01 ___x For manufacturer setting 0h
**CTY __x_ 0h
Command _x__ Position data unit 3h
mode
0: mm
selection
1: inch
2: degree
3: pulse
This function will be enabled in the profile mode and point table method. The unit is
[pulse] in the cyclic synchronous mode. In the cyclic synchronous mode, setting
other values than "3" will trigger [AL. 37]. If "2" is set in the point table method, [AL.
37] will occur.
x___ For manufacturer setting 0h

5 - 74
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT03 ___x Feed length multiplication [STM] 0h
*FTY 0: × 1
Feeding 1: × 10
function 2: × 100
selection 3: × 1000
This function will be enabled in the profile mode and point table method. This
function will be disabled when [degree] or [pulse] of "Position data unit" is set in [Pr.
PT01].
__x_ For manufacturer setting 0h
_x__ Shortest rotation selection per degree 0h
0: Rotation direction specifying
1: Shortest rotation
2: Address decreasing direction
3: Address increasing direction
This function will be enabled in the profile mode. Setting a value immediately
enables this parameter.

This parameter corresponds to "Positioning option code (Index: 60F2h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).
Shortest rotation selection per degree 0h
0: Rotation direction specifying
1: Shortest rotation
2: Address decreasing direction
3: Address increasing direction
This function will be enabled in the profile mode. Setting a value immediately
enables this parameter.

This parameter corresponds to "Positioning option code (Class ID: 64h, Ins ID:
60F2h, Attr ID: 0)". When this parameter is mapped for the I/O communication, the
value written with Setup software (MR Configurator2TM) is overwritten with the upper
side. Thus, do not write a value with Setup software (MR Configurator2TM).
Shortest rotation selection per degree 0h
0: Rotation direction specifying
1: Shortest rotation
2: Address decreasing direction
3: Address increasing direction
This function will be enabled in the profile mode. Setting a value immediately
enables this parameter.

This parameter corresponds to "Positioning option code (PNU: 24818, Sub: 0)".
When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).
x___ For manufacturer setting 0h

5 - 75
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT05 Set the servo motor speed for the home position return. The fractional portion of the 100.00
ZRF parameter will be rounded down. The setting value will be clamped at the [r/min]/
Home instantaneous permissible speed. [mm/s]
position
return speed This parameter corresponds to "Speed during search for switch (Index: 6099h, Sub:
1)". When this parameter is mapped for the PDO communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set the servo motor speed for the home position return. The fractional portion of the 100.00
parameter will be rounded down. The setting value will be clamped at the [r/min]/
instantaneous permissible speed. [mm/s]

This parameter corresponds to "Speed during search for switch (Class ID: 64h, Ins
ID: 6099h, Attr ID: 1)". When this parameter is mapped for the I/O communication,
the value written with Setup software (MR Configurator2TM) is overwritten with the
upper side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set the servo motor speed for the home position return. The fractional portion of the 100.00
parameter will be rounded down. The setting value will be clamped at the [r/min]/
instantaneous permissible speed. [mm/s]

This parameter corresponds to "Speed during search for switch (PNU: 24729, Sub:
0)". When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

PT06 Set a creep speed after proximity dog at home position return. The fractional portion 10.00
CRF of the parameter will be rounded down. The setting value will be clamped at the [r/min]/
Creep speed instantaneous permissible speed. [mm/s]

This parameter corresponds to "Speed during search for zero (Index: 6099h, Sub:
2)". When this parameter is mapped for the PDO communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set a creep speed after proximity dog at home position return. The fractional portion 10.00
of the parameter will be rounded down. The setting value will be clamped at the [r/min]/
instantaneous permissible speed. [mm/s]

This parameter corresponds to "Speed during search for switch (Class ID: 64h, Ins
ID: 6099h, Attr ID: 2)". When this parameter is mapped for the I/O communication,
the value written with Setup software (MR Configurator2TM) is overwritten with the
upper side. Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set a creep speed after proximity dog at home position return. The fractional portion 10.00
of the parameter will be rounded down. The setting value will be clamped at the [r/min]/
instantaneous permissible speed. [mm/s]

This parameter corresponds to "Speed during search for switch (PNU: 24729, Sub:
1)". When this parameter is mapped for the Process Data communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

5 - 76
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT07 Set a shift distance from the Z-phase pulse detection position or the position that 0
ZST has been set by the travel distance after proximity dog in the encoder. Refer
Home Up to 22147483647 can be set with [Pr. PT69]. to
position shift The unit will be as follows with the setting of [Pr. PA01]. Function
distance column
In the cyclic synchronous mode
for unit.
The unit is [pulse].
In the profile mode and the point table method
The unit can be changed to [μm], 10-4 [inch], 10-3 [degree] or
[pulse] with the setting of [Pr. PT01].
In the indexer method
It will be command unit [pulse]. (A load-side rotation expressed
by the number of servo motor resolution pulses) Refer to the
Function column of [Pr. PA10] for the command unit [pulse].
Setting range: 0 to 65535
PT09 Set a travel distance after proximity dog at home position return for the count type 0
DCT (front end detection, Z-phase reference) (Homing method -2, -34) and the following Refer
Travel dog references. to
distance after Dog type rear end reference home position return (Homing Function
proximity dog column
method -6, -38)
for unit.
Count type front end reference home position return (Homing
method -7, -39)
Dog type front end reference home position return (Homing
method -10, -42)
Homing without index pulse (Homing method 19, 20, 21, 22,
23, 24, 27, 28)
Up to 2147483647 can be set with the setting of [Pr. PT71].
This function will be enabled in the cyclic synchronous mode, profile mode and point
table method.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] with
the setting of [Pr. PT01].
Setting range: 0 to 65535
PT10 Set a time from a moving part touches the stopper and torques reaches to the 100
ZTM torque limit of [Pr. PT11 Stopper type home position return - Torque limit value] to a [ms]
Stopper type home position is set for the stopper type home position return.
home This function will be enabled in the cyclic synchronous mode, profile mode and point
position table method.
return stopper Setting range: 5 to 1000
time
PT11 Set a torque limit value with [%] to the maximum torque at stopper type home 15.0
ZTT position return. [%]
Stopper type This function will be enabled in the cyclic synchronous mode, profile mode and point
home table method.
position Setting range: 0.1 to 100.0
return torque
limit value
PT12 Set a range of the command remaining distance which outputs S_CPO (Rough 0
CRP match). This function will be enabled in the point table method and the indexer Refer
Rough match method. The unit will be as follows, depending on the control mode. to
output range In the point table method Function
column
The unit can be changed to 10STM [µm], 10(STM-4) [inch], 10-3
for unit.
[degree] or [pulse] with the setting of [Pr. PT01].
In the indexer method
It will be command unit [pulse]. (A load-side rotation expressed
by the number of servo motor resolution pulses) Refer to the
Function column of [Pr. PA10] for the command unit [pulse].
Setting range: 0 to 65535

5 - 77
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT15 Set an address increasing side of the software stroke limit. 0000h
LMPL Upper and lower are a set. Refer
Software limit Set an address in hexadecimal. to
+ Function
(lower four Setting address: column
digits) for unit.
Upper four Lower four
digits digits
[Pr. PT15]
[Pr. PT16]

Setting an identical value for "Software limit -" and this parameter will disable the
software limit. (Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the cyclic synchronous mode, profile mode and point
table method.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Max position limit (Index: 607Dh, Sub: 2)". When
this parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

Set an address increasing side of the software stroke limit. 0000h
Upper and lower are a set. Refer
Set an address in hexadecimal. to
Function
Setting address: column
for unit.
Upper four Lower four
digits digits
[Pr. PT15]
[Pr. PT16]

Setting an identical value for "Software limit -" and this parameter will disable the
software limit. (Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the profile mode.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Max position limit (Class ID: 64h, Ins ID: 607Dh,
Attr ID: 2)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

5 - 78
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT15 Set an address increasing side of the software stroke limit. 0000h
LMPL Upper and lower are a set. Refer
Software limit Set an address in hexadecimal. to
+ Function
(lower four Setting address: column
digits) for unit.
Upper four Lower four
digits digits
[Pr. PT15]
[Pr. PT16]

Setting an identical value for "Software limit -" and this parameter will disable the
software limit. (Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the profile mode and point table method.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Max position limit (PNU: 24701, Sub: 1)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

PT16 Set an address increasing side of the software stroke limit. 0000h
LMPH Upper and lower are a set. Refer
Software limit Refer to [Pr. PT15] for details. to
+ The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] Function
(upper four according to the setting of [Pr. PT01]. column
digits) for unit.

5 - 79
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT17 Set an address decreasing side of the software stroke limit. 0000h
LMNL Upper and lower are a set. Refer
Software limit Set an address in hexadecimal. to
- Function
(lower four Setting address: column
digits) for unit.
Upper four Lower four
digits digits
[Pr. PT17]
[Pr. PT18]

Setting a same value with "Software limit +" will disable the software stroke limit.
(Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the cyclic synchronous mode, profile mode and point
table method.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Min position limit (Index: 607Dh, Sub: 1)". When
this parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

Set an address decreasing side of the software stroke limit. 0000h
Upper and lower are a set. Refer
Set an address in hexadecimal. to
Function
Setting address: column
for unit.
Upper four Lower four
digits digits
[Pr. PT17]
[Pr. PT18]

Setting a same value with "Software limit +" will disable the software stroke limit.
(Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the profile mode.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Min position limit (Class ID: 64h, Ins ID: 607Dh, Attr
ID: 1)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

5 - 80
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT17 Set an address decreasing side of the software stroke limit. 0000h
LMNL Upper and lower are a set. Refer
Software limit Set an address in hexadecimal. to
- Function
(lower four Setting address: column
digits) for unit.
Upper four Lower four
digits digits
[Pr. PT17]
[Pr. PT18]

Setting a same value with "Software limit +" will disable the software stroke limit.
(Refer to section 5.3.)
When changing the setting with the parameter, change it during servo-off, in the
homing mode (hm), velocity mode, or torque mode.
In the position mode during servo-on, changing the setting in a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
This function will be enabled in the profile mode and point table method.
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse]
according to the setting of [Pr. PT01].

This parameter corresponds to "Min position limit (PNU: 24701, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

PT18 Set an address decreasing side of the software stroke limit. 0000h
LMNH Upper and lower are a set. Refer
Software limit Refer to [Pr. PT17] for details. to
- The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] Function
(upper four according to the setting of [Pr. PT01]. column
digits) for unit.
PT19 Set an address increasing side of the position range output address. 0000h
*LPPL Upper and lower are a set. Set a range which S_POT (Position range) turns on with Refer
Position [Pr. PT19] to [Pr. PT22]. to
range output Function
address + Setting address: column
(lower four for unit.
digits) Upper four Lower four
digits digits
[Pr. PT19]
PT20 [Pr. PT20] 0000h
*LPPH Refer
Position to
This function will be enabled in the point table method. Function
range output
The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] with column
address +
the setting of [Pr. PT01]. for unit.
(upper four
digits) Setting range: 00000000h to FFFFFFFFh

5 - 81
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT21 Set an address decreasing side of the position range output address. 0000h
*LNPL Upper and lower are a set. Set a range which S_POT (Position range) turns on with Refer
Position [Pr. PT19] to [Pr. PT22]. to
range output Function
address - Setting address: column
(lower four for unit.
digits) Upper four Lower four
digits digits
[Pr. PT21]
PT22 0000h
[Pr. PT22]
*LNPH Refer
Position to
range output This function will be enabled in the point table method. Function
address - The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] with column
(upper four the setting of [Pr. PT01]. for unit.
digits)
Setting range: 00000000h to FFFFFFFFh

PT26 ___x Electronic gear fraction clear selection 0h

*TOP2 0: Disabled
Function 1: Enabled
selection T-2 Selecting "Enabled" will clear a fraction of the previous command by the electronic
gear at start of the profile position mode (pp) and the point table mode (pt).
This function will be enabled in the profile mode.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PT27 ___x For manufacturer setting 0h
*ODM __x_ Jog mode method selection 0h
Indexer 0: Station JOG operation
method - 1: JOG operation
Operation This function will be enabled in the indexer method.
mode
_x__ For manufacturer setting 0h
selection
x___ 0h
PT28 Set the number of stations per rotation (number of indexer stations). 8
*STN Setting "2" or less will be "2". [Stations]
Number of This function will be enabled in the indexer method.
stations per
rotation Setting range: 0 to 255

5 - 82
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT29 Set the DOG polarity.
*TOP3 ___x _ _ _ x (BIN): DOG (Proximity dog) polarity selection 0h
Function (HEX) Profile mode, cyclic synchronous mode and point table method
selection T-3
0: Dog detection with off
1: Dog detection with on
Indexer method
0: Dog detection with on
1: Dog detection with off
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Setting
BIN HEX
DOG (Proximity dog) polarity selection 0
0
0
0
0

PT34 Use this parameter when initializing point tables. 0000h

**PDEF A point table will be the following status by being initialized.
Point table Point table: All "0"
default
Initialize the point tables with the following procedures:
1) Set "5001h" to this parameter.
2) Cycle the power of the driver.
After the driver power is on, the initialization completes in about 20 s. After the
initialization, the setting of this parameter will be "0000h" automatically.
This function will be enabled in the point table method.
PT35 ___x Superimposed synchronous control selection 0h
*TOP5 0: Disabled
Function 1: Enabled
selection T-5 This function will be enabled in the profile mode. Setting "1" in other control modes
will trigger [AL. 37 Parameter error].
This function will be enabled in the standard control mode. Setting "1" in other
operation modes will trigger [AL. 37 Parameter error].
This function can be used when the scale measurement function is enabled. Setting
"1" when the scale measurement function is disabled will trigger [AL. 37 Parameter
error].
Setting "1" when the MR-D30 has been connected or the degree unit has been set
will trigger [AL. 37 Parameter error].
For details, refer to chapter 18,19,20.
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 83
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT39 Set the delay time from outputting S_MEND (Travel completion) to enabling "Torque 100
INT limit value2 (Index: 2D6Bh)". [ms]
Torque limit This function will be enabled in the indexer method.
delay time
Setting range: 0 to 1000
Set the delay time from outputting S_MEND (Travel completion) to enabling "Torque 100
limit value2 (PNU: 11627, Sub: 0)". [ms]
This function will be enabled in the indexer method.

Setting range: 0 to 1000

PT40 Set a station home position shift distance with encoder pulse unit at home position 0
*SZS return. [pulse]
Station home Setting this parameter enables to shift the station home position (station No. 0) to
position shift the position for home position return.
distance The following shows cautions for the setting.
The setting of the station home position shift is disabled at home position return.
Cycling the power will enable the setting.
When a home position shift distance is longer than the in-position range,
INP/S_INP (In-position) will not be on regardless of cycle of the power after home
position return.
This function will be enabled in the indexer method.

Setting range: -32000 to 32000

PT41 ___x Home position return inhibit selection 0h
ORP 0: Disabled (home position return allowed)
Home position 1: Enabled (home position return inhibited)
return inhibit __x_ For manufacturer setting 0h
function
_x__ 0h
selection
x___ 0h

5 - 84
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT45 Set a home position return type. 37
HMM Refer to the following table for details.
Home If the home position return starts after a value other than the setting values is set,
position "Homing error" occurs and home position return cannot be executed. In the indexer
return type method, if the home position return starts after values other than "-1", "-33", "-3",
"35" and "37" are set, "Homing error" occurs and home position return cannot be
executed.

This parameter corresponds to "Homing method (Index: 6098h)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).
Set a home position return type. 37
Refer to the following table for details.
If the home position return starts after a value other than the setting values is set,
"Homing error" occurs and home position return cannot be executed.

This parameter corresponds to "Homing method (Class ID: 64h, Ins ID: 6098h, Attr
ID: 0)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).
Set a home position return type. 37
Refer to the following table for details.
If the home position return starts after a value other than the setting values is set,
"Homing error" occurs and home position return cannot be executed. In the indexer
method, if the home position return starts after values other than "-1", "-33", "-3",
"35" and "37" are set, "Homing error" occurs and home position return cannot be
executed.

This parameter corresponds to "Homing method (PNU: 24728, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

5 - 85
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT45
HMM Setting Home position return How to execute Setting Home position return How to execute
Home value direction home position return value direction home position return
position -1 Dog type (Rear end -33 Dog type (Rear end
detection Zphase detection Zphase
return type
reference)/torque reference)/torque
limit changing dog limit changing dog
type (Front end type (Front end
detection, Zphase detection, Zphase
reference) reference)
-2 Count type (front -34 Count type (front
end detection, Z- end detection, Z-
phase reference) phase reference)
-3 Data set type/torque -36 Stopper type
limit changing data (stopper position
set type reference)
-4 Stopper type -38 Address decreasing Dog type (rear end
(stopper position direction detection, rear end
Address increasing reference) reference)
direction
-6 Dog type (rear end -39 Count type (front
detection, rear end end detection, front
reference) end reference)
-7 Count type (front -40 Dog cradle type
end detection, front -41 Dog type last Z-
end reference) phase reference
-8 Dog cradle type -42 Dog type front end
-9 Dog type last Z- reference
phase reference -43 Dogless Z-phase
-10 Dog type front end reference
reference
-11 Dogless Z-phase
reference

Setting Home position return How to execute Setting Home position return How to execute
value direction home position return value direction home position return
3 Address increasing Method 3 21 Address decreasing Method 21
direction direction
4 Address increasing Method 4 22 Address decreasing Method 22
direction direction
5 Address decreasing Method 5 23 Address increasing Method 23
direction direction
6 Address decreasing Method 6 24 Address increasing Method 24
direction direction
7 Address increasing Method 7 27 Address decreasing Method 27
direction direction
8 Address increasing Method 8 28 Address decreasing Method 28
direction direction
11 Address decreasing Method 11 33 Address decreasing Method 33
direction direction
12 Address decreasing Method 12 34 Address increasing Method 34
direction direction
19 Address increasing Method 19 35 Method 35
direction
20 Address increasing Method 20 37 Method 37 (Data set
direction type)

PT46 Set a primary delay filter time constant to the synchronous encoder command. 0
ESTC Setting this parameter reduces vibration. However, a delay in response to the [ms]
Synchronous synchronous encoder will be generated.
encoder filter A setting value when Synchronous control command (C_STS) is turned on will be
time constant applied to this parameter.

Setting range: 0 to 5000

5 - 86
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT49 Set an acceleration time taken from 0 r/min or 0 mm/s to the rated speed for the 0
STA command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
Acceleration mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
time constant Profile mode
Set the acceleration time constant in the position mode and
the velocity mode.
Point table method
Set the acceleration time constant in the Jog mode (jg).
Indexer method
Set the acceleration time constant in the indexer mode (idx)
and Jog mode (jg).
If the preset speed command is lower
Servo motor speed
than the rated speed, acceleration/
Rated deceleration time w ill be shorter.
speed

0 r/min Time
(0 mm/s)
[Pr. PT49] setting [Pr. PT50] setting

For example, for the servo motor with the rated speed of 3000 r/min, set 3000 (3 s)
to increase speed from 0 r/min to 1000 r/min in 1 s.

This parameter corresponds to "Profile acceleration (Index: 6083h)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

Set an acceleration time taken from 0 r/min or 0 mm/s to the rated speed for the 0
command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
Profile mode
Set the acceleration time constant in the position mode and
the velocity mode.
If the preset speed command is lower
Servo motor speed
than the rated speed, acceleration/
Rated deceleration time w ill be shorter.
speed

0 r/min Time
(0 mm/s)
[Pr. PT49] setting [Pr. PT50] setting

For example, for the servo motor with the rated speed of 3000 r/min, set 3000 (3 s)
to increase speed from 0 r/min to 1000 r/min in 1 s.

This parameter corresponds to "Profile acceleration (Class ID: 64h, Ins ID: 6083h,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

5 - 87
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT49 Set an acceleration time taken from 0 r/min or 0 mm/s to the rated speed for the 0
STA command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
Acceleration mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
time constant Profile mode
Set the acceleration time constant in the position mode and
the velocity mode.
Point table method
Set the acceleration time constant in the Jog mode (jg).
Indexer method
Set the acceleration time constant in the indexer mode (idx)
and Jog mode (jg).
If the preset speed command is lower
Servo motor speed
than the rated speed, acceleration/
Rated deceleration time w ill be shorter.
speed

0 r/min Time
(0 mm/s)
[Pr. PT49] setting [Pr. PT50] setting

For example, for the servo motor with the rated speed of 3000 r/min, set 3000 (3 s)
to increase speed from 0 r/min to 1000 r/min in 1 s.

This parameter corresponds to "Profile acceleration (PNU: 24707, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

5 - 88
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT50 Set the deceleration time taken from the rated speed to 0 r/min or 0 mm/s to the 0
STB command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
Deceleration mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
time constant Profile mode
Set the deceleration time constant in the position mode and
the velocity mode.
Point table method
Set the deceleration time constant in the Jog mode (jg).
Indexer method
Set the deceleration time constant in the indexer mode (idx)
and Jog mode (jg).

This parameter corresponds to "Profile deceleration (Index: 6084h)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

Set the deceleration time taken from the rated speed to 0 r/min or 0 mm/s to the 0
command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
Profile mode
Set the deceleration time constant in the position mode and
the velocity mode.

This parameter corresponds to "Profile deceleration (Class ID: 64h, Ins ID: 6084h,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

Set the deceleration time taken from the rated speed to 0 r/min or 0 mm/s to the 0
command. When a value exceeding 2000 ms is set in other than the profile velocity [ms]
mode (pv), [AL. F4] will occur and the servo motor cannot be driven.
Profile mode
Set the deceleration time constant in the position mode and
the velocity mode.
Point table method
Set the deceleration time constant in the Jog mode (jg).
Indexer method
Set the deceleration time constant in the indexer mode (idx)
and Jog mode (jg).

This parameter corresponds to "Profile deceleration (PNU: 24708, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 50000

5 - 89
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT51 This parameter is used to smooth the start/stop of the servo motor or linear servo 0
STC motor. [ms]
S-pattern Set the time of the arc part for S-pattern acceleration/deceleration.
acceleration/ Setting "0" will make it linear acceleration/deceleration.
deceleration
Acceleration time Deceleration time
time constant constant constant
Rated speed

Preset speed

Servo motor
speed Ta: Time until preset
speed is reached
0 [r/min] Tb: Time until stop
Ta Tb + STC
Ta + STC Tb

Long setting of STA (acceleration time constant) or STB (deceleration time

constant) may produce deviation in the set time of the arc part for the S-pattern
acceleration/deceleration time constant. The setting will be disabled at home
position return. To enable the parameter values, cycle the power after setting.
Profile mode
When a value exceeding 1000 ms is set in other than the
profile velocity mode (pv), the parameter value will be clamped
to 1000 ms.
Specify STA (acceleration time constant) and STB
(deceleration time constant) with "Profile acceleration (Index:
6083h)" and "Profile deceleration (Index: 6084h)".
This function will be enabled in the profile position mode (pp)
and profile velocity mode (pv).
Point table method
When a value exceeding 1000 ms is set, the parameter value
will be clamped to 1000 ms.
Specify STA (acceleration time constant) and STB
(deceleration time constant) with the point table.

The upper limit value of the actual arc part time is limited by

2000000 2000000
for acceleration or by for deceleration.
STA STB

(Example) When STA = 20000, STB = 5000 and STC = 200, the actual arc part
times are as follows.

At acceleration: 100 ms
2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
At deceleration: 200 ms
2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.

Setting range: 0 to 5000

5 - 90
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT51 This parameter is used to smooth the start/stop of the servo motor or linear servo 0
STC motor. [ms]
S-pattern Set the time of the arc part for S-pattern acceleration/deceleration.
acceleration/ Setting "0" will make it linear acceleration/deceleration.
deceleration
Acceleration time Deceleration time
time constant constant constant
Rated speed

Preset speed

Servo motor
speed Ta: Time until preset
speed is reached
0 [r/min] Tb: Time until stop
Ta Tb + STC
Ta + STC Tb

Long setting of STA (acceleration time constant) or STB (deceleration time

constant) may produce deviation in the set time of the arc part for the S-pattern
acceleration/deceleration time constant. The setting will be disabled at home
position return. To enable the parameter values, cycle the power after setting.
Profile mode
When a value exceeding 1000 ms is set in other than the
profile velocity mode (pv), the parameter value will be clamped
to 1000 ms.
Specify STA (acceleration time constant) and STB
(deceleration time constant) with "Profile acceleration (Class
ID: 64h, Ins ID: 6083h, Attr ID: 0)" and "Profile deceleration
(Class ID: 64h, Ins ID: 6084h, Attr ID: 0).
This function will be enabled in the profile position mode (pp)
and profile velocity mode (pv).

The upper limit value of the actual arc part time is limited by

2000000 2000000
for acceleration or by for deceleration.
STA STB

(Example) When STA = 20000, STB = 5000 and STC = 200, the actual arc part
times are as follows.

At acceleration: 100 ms
2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
At deceleration: 200 ms
2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.

Setting range: 0 to 5000

5 - 91
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT51 This parameter is used to smooth the start/stop of the servo motor or linear servo 0
STC motor. [ms]
S-pattern Set the time of the arc part for S-pattern acceleration/deceleration.
acceleration/ Setting "0" will make it linear acceleration/deceleration.
deceleration
Acceleration time Deceleration time
time constant constant constant
Rated speed

Preset speed

Servo motor
speed Ta: Time until preset
speed is reached
0 [r/min] Tb: Time until stop
Ta Tb + STC
Ta + STC Tb

Long setting of STA (acceleration time constant) or STB (deceleration time

constant) may produce deviation in the set time of the arc part for the S-pattern
acceleration/deceleration time constant. The setting will be disabled at home
position return. To enable the parameter values, cycle the power after setting.
Profile mode
When a value exceeding 1000 ms is set in other than the
profile velocity mode (pv), the parameter value will be clamped
to 1000 ms.
Specify STA (acceleration time constant) and STB
(deceleration time constant) with "Profile acceleration (PNU:
24707, Sub: 0)" and "Profile deceleration (PNU: 24708, Sub:
0)".
This function will be enabled in the profile position mode (pp)
and profile velocity mode (pv).
Point table method
When a value exceeding 1000 ms is set, the parameter value
will be clamped to 1000 ms.
Specify STA (acceleration time constant) and STB
(deceleration time constant) with the point table.

The upper limit value of the actual arc part time is limited by

2000000 2000000
for acceleration or by for deceleration.
STA STB

(Example) When STA = 20000, STB = 5000 and STC = 200, the actual arc part
times are as follows.

At acceleration: 100 ms
2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
At deceleration: 200 ms
2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.

Setting range: 0 to 5000

5 - 92
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT53 Set the rate of change of the torque command per second. 0.0
TQS However, setting "0.0" will disable the torque slope. [%/s]
Torque slope This function will be enabled in the profile torque mode (tq).

This parameter corresponds to "Torque slope (Index: 6087h)". When this parameter
is mapped for the PDO communication, the value written with Setup software (MR
Configurator2TM) is overwritten with the upper side. Thus, do not write a value with
Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000000.0

Set the rate of change of the torque command per second. 0.0
However, setting "0.0" will disable the torque slope. [%/s]
This function will be enabled in the profile torque mode (tq).

This parameter corresponds to "Torque slope (Class ID: 64h, Ins ID: 6087h, Attr ID:
0)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000000.0

Set the rate of change of the torque command per second. 0.0
However, setting "0.0" will disable the torque slope. [%/s]
This function will be enabled in the profile torque mode (tq).

This parameter corresponds to "Torque slope (PNU: 24711, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 0.0 to 1000000.0

PT55 ___x Home position return - Deceleration time constant selection 0h
*TOP8 Set a value used for the acceleration time constant and deceleration time constant
Function at home position return.
selection T-8 0: Using [Pr. PT56] for both acceleration time constant and deceleration time
constant
1: Using [Pr. PT56] for acceleration time constant, and [Pr. PT57] for deceleration
time constant
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h

5 - 93
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT56 Set the acceleration time constant for the home position return. Set the acceleration 0
HMA time taken from 0 r/min or 0 mm/s to the rated speed. [ms]
Home When "Use [Pr. PT56] as both acceleration time constant and deceleration time
position constant (0 _ _ _)" is selected in [Pr. PT55] Home position return - Deceleration
return time constant selection, the value set in this parameter is used as a deceleration
acceleration time constant at home position return.
time constant
This parameter corresponds to "Homing acceleration (Index: 609Ah)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0 to 20000

Set the acceleration time constant for the home position return. Set the acceleration 0
time taken from 0 r/min or 0 mm/s to the rated speed. [ms]
When "Use [Pr. PT56] as both acceleration time constant and deceleration time
constant (0 _ _ _)" is selected in [Pr. PT55] Home position return - Deceleration
time constant selection, the value set in this parameter is used as a deceleration
time constant at home position return.

This parameter corresponds to "Homing acceleration (Class ID: 64h, Ins ID: 609Ah,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 20000

Set the acceleration time constant for the home position return. Set the acceleration 0
time taken from 0 r/min or 0 mm/s to the rated speed. [ms]
When "Use [Pr. PT56] as both acceleration time constant and deceleration time
constant (0 _ _ _)" is selected in [Pr. PT55] Home position return - Deceleration
time constant selection, the value set in this parameter is used as a deceleration
time constant at home position return.

This parameter corresponds to "Homing acceleration (PNU: 24730, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0 to 20000

PT57 Set the deceleration time constant at the home position return. Set a deceleration 0
HMB time from the rated speed to 0 r/min or 0 mm/s. [ms]
Home The parameter will be enabled when you select "Using [Pr. PT56] for acceleration
position time constant, and [Pr. PT57] for deceleration time constant (1 _ _ _)" of "Home
return position return - Deceleration time constant selection" in [Pr. PT55].
deceleration
time constant Setting range: 0 to 20000
PT65 Set the speed of the profile speed command. The fractional portion of the parameter 100.00
PVC will be rounded down. The setting value will be clamped at the instantaneous [r/min]/
Profile speed permissible speed. [mm/s]
command This function will be enabled in the profile position mode (pp), Jog mode (jg) and
indexer mode (idx).

This parameter corresponds to "Profile velocity (Index: 6081h)". When this

parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

5 - 94
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT65 Set the speed of the profile speed command. The fractional portion of the parameter 100.00
PVC will be rounded down. The setting value will be clamped at the instantaneous [r/min]/
Profile speed permissible speed. [mm/s]
command This function will be enabled in the profile position mode (pp).

This parameter corresponds to "Profile velocity (Class ID: 64h, Ins ID: 6081h, Attr
ID: 0)". When this parameter is mapped for the I/O communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set the speed of the profile speed command. The fractional portion of the parameter 100.00
will be rounded down. The setting value will be clamped at the instantaneous [r/min]/
permissible speed. [mm/s]
This function will be enabled in the profile position mode (pp), Jog mode (jg) and
indexer mode (idx).

This parameter corresponds to "Profile velocity (PNU: 24705, Sub: 0)". When this
parameter is mapped for the Process Data communication, the value written with
Setup software (MR Configurator2TM) is overwritten with the upper side. Thus, do
not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

PT66 Set the maximum profile speed. 20000.00
MPVC This function will be enabled in the profile position mode (pp), profile velocity mode [r/min]/
Maximum (pv), Jog mode (jg) and indexer mode (idx). [mm/s]
profile speed The fractional portion of this parameter will be rounded down in the profile position
mode (pp), Jog mode (jg) and indexer mode (idx).

This parameter corresponds to "Max profile velocity (Index: 607Fh)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 20000.00

Set the maximum profile speed. 20000.00
This function will be enabled in the profile position mode (pp) and profile velocity [r/min]/
mode (pv). [mm/s]
The fractional portion of this parameter will be rounded down in the profile position
mode (pp).

This parameter corresponds to "Max profile velocity (Class ID: 64h, Ins ID: 607Fh,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 20000.00

Set the maximum profile speed. 20000.00
This function will be enabled in the profile position mode (pp), profile velocity mode [r/min]/
(pv), Jog mode (jg) and indexer mode (idx). [mm/s]
The fractional portion of this parameter will be rounded down in the profile position
mode (pp), Jog mode (jg) and indexer mode (idx).

This parameter corresponds to "Max profile velocity (PNU: 24703, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 20000.00

5 - 95
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT67 Set the maximum speed in the torque control. The setting value will be clamped at 500.00
VLMT the instantaneous permissible speed. [r/min]/
Speed limit This function will be enabled in the profile torque mode (tq) and cyclic synchronous [mm/s]
torque mode (cst).

This parameter corresponds to "Velocity limit value (Index: 2D20h)". When this
parameter is mapped for the PDO communication, the value written with Setup
software (MR Configurator2TM) is overwritten with the upper side. Thus, do not write
a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set the maximum speed in the torque control. The setting value will be clamped at 500.00
the instantaneous permissible speed. [r/min]/
This function will be enabled in the profile torque mode (tq). [mm/s]

This parameter corresponds to "Velocity limit value (Class ID: 64h, Ins ID: 2D20h,
Attr ID: 0)". When this parameter is mapped for the I/O communication, the value
written with Setup software (MR Configurator2TM) is overwritten with the upper side.
Thus, do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

Set the maximum speed in the torque control. The setting value will be clamped at 500.00
the instantaneous permissible speed. [r/min]/
This function will be enabled in the profile torque mode (tq). [mm/s]

This parameter corresponds to "Velocity limit value (PNU: 11522, Sub: 0)". When
this parameter is mapped for the Process Data communication, the value written
with Setup software (MR Configurator2TM) is overwritten with the upper side. Thus,
do not write a value with Setup software (MR Configurator2TM).

Setting range: 0.00 to 167772.15

PT69 This parameter is the extension parameter of [Pr. PT07]. 0
ZSTH When [Pr. PT69] is used, the home position shift distance is calculated as follows. Refer
Home Home position shift distance = [Pr. PT07] + ([Pr. PT69] × 65536) to
position shift The unit of this parameter will be as follows depending on the setting of [Pr. PA01]. Function
distance column
In the cyclic synchronous mode
(extension for unit.
parameter) The unit is [pulse].
Profile mode and point table method
The unit can be changed to [μm], 10-4 [inch], 10-3 [degree] or
[pulse] with the setting of [Pr. PT01].
Indexer method
It will be command unit [pulse]. (A load-side rotation expressed
by the number of servo motor resolution pulses) Refer to the
Function column of [Pr. PA10] for the command unit [pulse].
Additionally, when a value equal to or more than "1001" is set,
the value will be clamped to "1000".

Setting range: 0 to 32767

5 - 96
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT71 This parameter is the extension parameter of [Pr. PT09]. 0
DCTH When [Pr. PT71] is used, the travel distance after proximity dog is calculated as Refer
Travel follows. to
distance after Travel distance after proximity dog = [Pr. PT09] + ([Pr. PT71] × 65536) Function
proximity dog This function will be enabled in the profile mode and cyclic synchronous mode. column
(extension The unit can be changed to 10STM [μm], 10(STM-4) [inch], 10-3 [degree] or [pulse] for unit.
parameter) according to the setting of [Pr. PT01].

Setting range: 0 to 32767

PT72 Set an electronic gear numerator for converting a synchronous encoder command 0000h
ECMXL into a command unit. Upper and lower are a set.
Synchronous Set the electronic gear in hexadecimal.
encoder
electronic Setting value of this parameter:
gear -
Numerator Upper four Lower four
(lower four digits digits
digits) [Pr. PT72]
[Pr. PT73]

Set a value within the following range. When a value outside the range is set,
synchronous control error will occur and synchronous control will not start even
though Synchronous control command (Control DI7 bit 12) is input.
Setting "0" will apply "1".

1 Synchronous encoder electronic gear - Numerator

< < 6000
16000 Synchronous encoder electronic gear - Denominator

To enable the parameter value, cycle the power or turn on Analysis command
(Control DI 7 bit 14).

This parameter corresponds to "External encoder gear numerator (Class ID: 64h,
Ins ID: 2DF0h, Attr ID: 1)". When this parameter is mapped for the I/O
communication, the value written with Setup software (MR Configurator2TM) is
overwritten with the upper side. Thus, do not write a value with Setup software (MR
Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

PT73 Set an electronic gear numerator for converting a synchronous encoder command 0000h
ECMXH into a command unit. Upper and lower are a set.
Synchronous Refer to [Pr. PT72] for details.
encoder
electronic
gear -
Numerator
(upper four
digits)

5 - 97
5. PARAMETERS

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PT74 Set an electronic gear denominator for converting a synchronous encoder command 0000h
ECDVL into a command unit. Upper and lower are a set.
Synchronous Set the electronic gear in hexadecimal.
encoder
electronic Setting value of this parameter:
gear -
Denominator Upper four Lower four
digits digits
(lower four
digits) [Pr. PT74]
[Pr. PT75]

Set a value within the following range. When a value outside the range is set,
synchronous control error will occur and synchronous control will not start even
though Synchronous control command (Control DI7 bit 12) is input.
Setting "0" will apply "1".

1 Synchronous encoder electronic gear - Numerator

< < 6000
16000 Synchronous encoder electronic gear - Denominator

To enable the parameter value, cycle the power or turn on Analysis command
(Control DI 7 bit 14).

This parameter corresponds to "External encoder gear denominator (Class ID: 64h,
Ins ID: 2DF0h, Attr ID: 2)". When this parameter is mapped for the I/O
communication, the value written with Setup software (MR Configurator2TM) is
overwritten with the upper side. Thus, do not write a value with Setup software (MR
Configurator2TM).

Setting range: 00000000h to FFFFFFFFh

PT75 Set an electronic gear denominator for converting a synchronous encoder command 0000h
ECDVH into a command unit. Upper and lower are a set.
Synchronous Refer to [Pr. PT74] for details.
encoder
electronic
gear -
Denominator
(upper four
digits)

5 - 98
5. PARAMETERS

5.2.8 Network setting parameters ([Pr. PN_ _ ])

Initial Network
No./ Setting
Function value
symbol/name digit ECT EIP PNT
[unit]
PN01 Set the node address of the network. 0000h
**NADR When using the parameter, set the axis selection rotary switch to "00h". The
Node parameter will be enabled for the EtherCAT.
address
setting Setting range: 0000h to FFFFh
PN02 Set the time until [AL. 86.1 Network communication error 1] is detected. 0
CERT Refer to
Sync Error Sync Error Counter Limit Function
[Pr. PN06] [Pr. PN02]
Counter Limit (Index: 10F1h: 2) column
setting Automatic 0 The threshold at which [AL. 86.1] is for unit.
setting detected is automatically set at 7 ms.
(0 _ _ _) Other than 0 The threshold at which [AL. 86.1] is
(Note 3) detected is automatically set at ([Pr.
PN02]/96) ms.
Manual setting 0 (Note 2) Disabled (0) [AL. 86.1] is not detected.
(1 _ _ _) Other than 0 The value of [Pr. PN02] is set. [AL.
(Note 1) (Note 3) 86.1] is detected at (([Pr.PN02]/3) x
communication cycle) ms.

2. If the setting value is set to "0", the servo motor cannot be stopped when a
communication error occurs.
3. If the setting value is increased, it takes longer for the servo motor to stop
at the occurrence of a communication error. Be careful when changing the
setting value as it may cause a collision.

This parameter corresponds to "Sync Error Counter Limit (Index: 10F1h, Sub:2)".

Setting range: 0 to 32767

PN06 ___x For manufacturer setting 0h
*NOP1 __x_ 0h
Function _x__ 0h
selection N-1
x___ Sync Error Counter Limit setting 0h
0: Automatic setting
1: Manual setting
The threshold at which [AL. 86.1 Network communication error 1] is detected can be
set according to the setting value in this digit and the value of [Pr. PN02]. Refer to
the function column [Pr. PN02] for details.

5.3 Software limit

The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end.
Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be
disabled in the velocity mode, torque mode, and homing mode (hm). Setting a same value to "Software limit
+" and "Software limit -" will disable this function. Setting a larger value to "Software limit -" than "Software
limit +" will disable this function.

Inhibited range
Movable range
Travel Travel possible
impossible
Current position
Softw are limit

5 - 99
5. PARAMETERS

5.4 How to set the electronic gear

5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method

POINT
The position data unit that can be set vary depending on the control mode.
Refer to [Pr. PT01 Position data unit] for details.

(1) Setting [mm], [inch], or [pulse] with "Position data unit" of [Pr. PT01]
Adjust [Pr. PA06] and [Pr. PA07] to match the driver setting with the travel distance of the machine.
Electronic gear
([Pr. PA06]/[Pr. PA07])
Servo motor
CMX +
T ravel distance Deviation counter M
CDV -

Encoder
Pt: Servo motor encoder resolution: 4194304 [pulse/rev]
ΔS: Travel distance per servo motor revolution [mm/rev]/[inch/rev]/[pulse/rev]
CMX/CDV = P t/ΔS

The following setting example explains how to calculate the electronic gear.

POINT
To calculate the electronic gear, the following specification symbols are required.
Pb: Ball screw lead [mm]
1/n: Reduction ratio
Pt: Servo motor encoder resolution [pulse/rev]
ΔS: Travel distance per servo motor revolution [mm/rev]

(a) Setting example of a ball screw

1/n
Machine specifications 1/n = Z 1/Z2 = 1/2
Z2
Pb = 10 [mm]
Ball screw lead Pb = 10 [mm] Z1
Reduction ratio: 1/n = Z1/Z2 = 1/2 Servo motor encoder resolution
4194304 [pulse/rev]
Z1: Number of gear teeth on servo motor side
Z2: Number of gear teeth on load gear
Servo motor encoder resolution Pt = 4194304 [pulse/rev]

CMX Pt Pt 4194304 4194304 524288

= = = = =
CDV ΔS 1/n Pb α(Note) 1/2 10 1000 5000 625

Note. Because the command unit is "mm", α is 1000. When the unit is "inch", α is 10000. When the unit is "pulse", α is 1.

Therefore, set CMX = 524288 and CDV = 625.

5 - 100
5. PARAMETERS

(b) Setting example of a conveyor

r = 160 [mm]
Machine specifications

Pulley diameter: r = 160 [mm] 1/n

Servo motor encoder resolution
4194304 [pulse/rev]
Reduction ratio: 1/n = Z1/Z2 = 1/3 Z2 Z1
Z1: Number of gear teeth on servo motor side 1/n = Z 1/Z2 = 1/3
Z2: Number of gear teeth on load gear

Servo motor encoder resolution Pt = 4194304 [pulse/rev]

CMX Pt Pt 4194304 4194304 524288

= = = =
CDV ΔS 1/n r πα(Note) 1/3 160 π1000 167551.61 20944

Note. Because the command unit is "mm", α is 1000. When the unit is "inch", α is 10000. When the unit is "pulse", α is 1.

Reduce CMX and CDV to within the setting range or lower and round off each value to the closest
whole number.
Therefore, set CMX = 524288 and CDV = 20944.

(2) Setting [degree] with "Position data unit" of [Pr. PT01].

Set the number of gear teeth on machine side to [Pr. PA06] and the number of gear teeth on servo motor
side to [Pr. PA07].
Electronic gear
([Pr. PA06]/[Pr. PA07])
Servo motor
CMX Pt +
Travel distance Deviation counter M
CDV 360000 -

Encoder
Pt: Servo motor encoder resolution: 4194304 [pulse/rev]

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter
error].

(a) Set values to make numerator and denominator 16384 or lower if the electronic gear (CMX/CDV) is
reduced to its lowest terms.

(b) Set values to make numerator and denominator 16777216 or lower if (CMX × Pt)/(CDV × 360000) is
reduced to its lowest terms.

The following shows a setting example of the electronic gear.

Number of gear teeth on machine side: 25, number of gear teeth on servo motor side: 11
Set [Pr. PA06] = 25 and [Pr. PA07] = 11.
Machine

Servo motor Z2
Z1

Pt (Servo motor resolution): 4194304 pulses/rev

Z1: Number of gear teeth on servo motor side
Z2: Number of gear teeth on machine side
Z1: Z2 = 11:25

5 - 101
5. PARAMETERS

5.4.2 Electronic gear setting in the indexer method

Adjust [Pr. PA06] and [Pr. PA07] to align the rotation amount "m" of the servo motor shaft necessary to rotate
the load side for "n" times. The following shows a setting example of the electronic gear.

(1) Number of pulley teeth on machine side: 50, number of pulley teeth on servo motor side: 20
Set [Pr. PA06] = 50 and [Pr. PA07] = 20.
Number of pulley teeth
on machine side: 50

Servo motor

Number of pulley teeth

on servo motor side: 20

(2) Number of pulley teeth on machine side: 50, number of pulley teeth on servo motor side: 20, with geared
servo motor of 1/9
Set [Pr. PA06] = 450 and [Pr. PA07] = 20.
Number of pulley teeth 50 9 450
on machine side: 50 × =
20 1 20

Servo motor

Number of pulley teeth

on servo motor side: 20
Reduction ratio of geared servo motor: 1/9

5 - 102
6. NORMAL GAIN ADJUSTMENT

6. NORMAL GAIN ADJUSTMENT .................................................................................................................2

6.1 Different adjustment methods ................................................................................................................2
6.1.1 Adjustment on a single driver ..........................................................................................................2
6.1.2 Adjustment using setup software (MR Configurator2TM) ..............................................................3
6.2 One-touch tuning .....................................................................................................................................4
6.2.1 One-touch tuning flowchart .............................................................................................................5
6.2.2 Display transition and operation procedure of one-touch tuning ..................................................6
6.2.3 Caution for one-touch tuning .........................................................................................................11
6.3 Auto tuning ............................................................................................................................................12
6.3.1 Auto tuning mode............................................................................................................................12
6.3.2 Auto tuning mode basis ..................................................................................................................13
6.3.3 Adjustment procedure by auto tuning ...........................................................................................14
6.3.4 Response level setting in auto tuning mode ..................................................................................15
6.4 Manual mode .........................................................................................................................................16
6.5 2gain adjustment mode ........................................................................................................................20

6- 1
6. NORMAL GAIN ADJUSTMENT

6. NORMAL GAIN ADJUSTMENT

POINT
In the torque control mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
For the vibration suppression control tuning mode, the setting range of [Pr.
PB07] is limited. Refer to section 7.1.5 (4) for details.

6.1 Different adjustment methods

6.1.1 Adjustment on a single driver
The following table shows the gain adjustment modes that can be set on a single driver. For gain adjustment,
first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, execute "Auto
tuning mode 2" and "Manual mode" in this order.
.

(1) Gain adjustment mode explanation

Estimation of load to motor Automatically set Manually set
Gain adjustment mode [Pr. PA08] setting
inertia ratio parameters parameters
Auto tuning mode 1 ___1 Always estimated GD2 ([Pr. PB06]) RSP ([Pr. PA09])
(initial value) PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Auto tuning mode 2 ___2 Fixed to [Pr. PB06] value PG1 ([Pr. PB07]) GD2 ([Pr. PB06])
PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Manual mode ___3 GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 1 ___0 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07])
(interpolation mode) PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])

2 gain adjustment mode 2 ___4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08]) GD2 ([Pr. PB06])
VG2 ([Pr. PB09]) PG1 ([Pr. PB07])
VIC ([Pr. PB10]) RSP ([Pr. PA09])

6- 2
6. NORMAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

Start

Interpolation Yes 2 gain adjustment mode 1

made for 2 or more (interpolation mode)
axes?
No

The load fluctuation Yes

i s large duri ng dri vi ng?

No

One-touch tuning Handle the error

Yes

No Error handling No
Finished normally? is possible? Auto tuning mode 1

Yes
Yes
Adjustment OK?

No

Auto tuning mode 2

Yes
Adjustment OK?

No No
Adjustment OK?

2 gain adjustment mode 2

Yes

Yes
Adjustment OK?

No

Manual mode

End

6.1.2 Adjustment using setup software (MR Configurator2TM)

This section explains the functions and adjustment using the driver with setup software (MR
Configurator2TM).
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance
the characteristic of the mechanical system frequency and determine the notch
can be measured by giving a random frequency of the machine resonance
vibration command from a personal suppression filter.
computer to the servo and measuring the
machine response.

6- 3
6. NORMAL GAIN ADJUSTMENT

6.2 One-touch tuning

POINT
After the one-touch tuning is completed, "Gain adjustment mode selection" in [Pr.
PA08] will be set to "2 gain adjustment mode 2 (_ _ _ 4)". To estimate [Pr. PB06
Load to motor inertia ratio], set "Gain adjustment mode selection" in [Pr. PA08] to
"Auto tuning mode 1 (_ _ _ 1)".
When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning
function selection] is "_ _ _ 1" (initial value).
For one-touch tuning via a network, refer to chapter 17.

Connect setup software (MR Configurator2TM) and open the one-touch tuning window, and you can use the
function. The following parameters are set automatically with one-touch tuning.

Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name
PA08 ATU Auto tuning mode PB16 NHQ2 Notch shape selection 2
PA09 RSP Auto tuning response PB18 LPF Low-pass filter setting
PB01 FILT Adaptive tuning mode (adaptive filter II) PB19 VRF11 Vibration suppression control 1 -
PB02 VRFT Vibration suppression control tuning Vibration frequency
mode (advanced vibration suppression PB20 VRF12 Vibration suppression control 1 -
control II) Resonance frequency
PB06 GD2 Load to motor inertia ratio PB21 VRF13 Vibration suppression control 1 -
Vibration frequency damping
PB07 PG1 Model loop gain PB22 VRF14 Vibration suppression control 1 -
PB08 PG2 Position loop gain Resonance frequency damping
PB09 VG2 Speed loop gain PB23 VFBF Low-pass filter selection
PB10 VIC Speed integral compensation PB47 NHQ3 Notch shape selection 3
PB12 OVA Overshoot amount compensation PB48 NH4 Machine resonance suppression filter 4
PB13 NH1 Machine resonance suppression filter 1 PB49 NHQ4 Notch shape selection 4
PB14 NHQ1 Notch shape selection 1 PB51 NHQ5 Notch shape selection 5
PB15 NH2 Machine resonance suppression filter 2 PE41 EOP3 Function selection E-3

6- 4
6. NORMAL GAIN ADJUSTMENT

6.2.1 One-touch tuning flowchart

Make one-touch tuning as follows.

Start

Startup a system referring to chapter 4.

Startup of the system

Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if
Operation the servo motor is not operating.)

Start one-touch tuning of setup software (MR Configurator2TM).

One-touch tuning start

Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of
Response mode selection setup software (MR Configurator2TM).

Click "start" to start one-touch tuning. Click it during servo motor driving.
One-touch tuning execution When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.

End

6- 5
6. NORMAL GAIN ADJUSTMENT

6.2.2 Display transition and operation procedure of one-touch tuning

(1) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of setup software (MR
Configurator2TM).

Response mode Explanation

High mode This mode is for high-rigid system. (Note)
Basic mode This mode is for standard system.
Low mode This mode is for low-rigid system.

Note. If the communication cycle of the controller is 2 ms or more, the gain may be
adjusted higher. In this case, readjust the gain in the basic mode or the low mode.

6- 6
6. NORMAL GAIN ADJUSTMENT

Refer to the following table for selecting a response mode.

Table 6.3 Guideline for response mode

Response mode Machine characteristic
Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response

Arm robot

General machine
tool conveyor

Precision w orking
machine

Inserter
Mounter
Bonder

High response

6- 7
6. NORMAL GAIN ADJUSTMENT

(2) One-touch tuning execution

POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning -
Overshoot permissible level] will shorten the settling time and improve the
response.

After the response mode is selected in (1) in this section, clicking "Start" will start one-touch tuning. If
"Start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error
code. (Refer to (4) in this section for error codes.)

During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be
completed at 100%.

Completing the one-touch tuning will start writing tuning parameters to the driver, and the following
window will be displayed. Select whether or not to reflect the tuning result in the project.

6- 8
6. NORMAL GAIN ADJUSTMENT

(3) Stop of one-touch tuning

During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.

(4) If an error occurs

If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the
following error code will be displayed in status. Check the cause of tuning error.
Error code Name Description Action
C000 Tuning canceled The stop button was pushed during one-touch
tuning.
C001 Overshoot exceeded The overshoot amount is larger than the Increase the in-position range.
value set in [Pr. PA10 In-position range].
C002 Servo-off during tuning The one-touch tuning was attempted during Perform the one-touch tuning after servo-on.
servo-off.
C003 Control mode error The one-touch tuning was attempted while Select the position mode or velocity mode for
the torque mode was selected in the control the control mode from the controller, and then
modes. make one-touch tuning.
C004 Time-out 1. 1 cycle time during the operation has been Set the 1 cycle time during the operation to
over 30 s. 30 s or less.
2. The command speed is low. Set the servo motor speed to100 r/min or
higher.
3. The operation interval of the continuous Maintain the operation interval during motor
operation is short. driving about 200 ms.
C005 Load to motor inertia 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
ratio misestimated ratio at one-touch tuning was a failure. follows.
The acceleration/deceleration time
constant to reach 2000 r/min is 5 s or less.
Servo motor speed is 150 r/min or higher.
The load to servo motor inertia ratio is 100
times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
2. The load to motor inertia ratio was not Set to the auto tuning mode that does not
estimated due to such as an oscillation. estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] properly with
manual setting.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)".

6- 9
6. NORMAL GAIN ADJUSTMENT

(5) If an alarm occurs

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.

(6) If a warning occurs

If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be
continued.
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will
be stopped.

(7) Initializing one-touch tuning

You can clear the parameter values set with one-touch tuning.
Refer to table 6.1 for the parameters which you can clear.
Clicking "Return to value before adjustment" in the one-touch tuning window of setup software (MR
Configurator2TM) enables to return the parameter to the value before clicking "start".
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the
parameter to the initial value.

When the initialization of one-touch tuning is completed, the following window will be displayed.
(returning to initial value)

6 - 10
6. NORMAL GAIN ADJUSTMENT

6.2.3 Caution for one-touch tuning

(1) The tuning is not available in the torque mode.

(2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor
driving is occurring.

(3) The tuning is not available during the following test operation mode.

(a) Output signal (DO) forced output

(b) Motor-less operation

(4) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or unusual
noise may occur during the tuning.

6 - 11
6. NORMAL GAIN ADJUSTMENT

6.3 Auto tuning

6.3.1 Auto tuning mode
The driver has a real-time auto tuning function which estimates the machine characteristic (load to motor
inertia ratio) in real time and automatically sets the optimum gains according to that value. This function
permits ease of gain adjustment of the driver.

(1) Auto tuning mode 1

The driver is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min is 5 s or less.
Speed is 150 r/min or higher.
The load to servo motor inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia
ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter Symbol Name
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

6 - 12
6. NORMAL GAIN ADJUSTMENT

6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Load moment
Automatic setting of inertia

Encoder
Command + Loop gain +
PG1, PG2, Current
control M
- VG2, VIC -

Current feedback Servo motor

Set 0 or 1 to turn on. Real-time Position/speed

auto tuning section feedback

Load to motor
Gain table i nerti a rati o
esti mati on section
Sw itch Speed feedback

[Pr. PA08] [Pr. PA09] [Pr. PB06 Load to

motor inertia rati o]
0 0 0
Gain adjustment mode selection Response
level setting

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the setup software (MR Configurator2TM).
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off
the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the driver every 60 minutes since power-on. At power-
on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial
value.

POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.

6 - 13
6. NORMAL GAIN ADJUSTMENT

6.3.3 Adjustment procedure by auto tuning

Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as required
completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load to m otor inertia rati o

esti mati on value stabl e?

No

Auto tuning conditions

are not satisfied? (Estimation of No
l oad to motor i nerti a ratio i s
diffi cul t.)

Yes
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia ratio]
m anual ly.

Adjust response level setting so

that desired response is achieved
on vibration-f ree level.

Acceleration/deceleration repeated

No
Requested performance
satisfied?

Yes

End To 2 gain adjustment

mode 2

6 - 14
6. NORMAL GAIN ADJUSTMENT

6.3.4 Response level setting in auto tuning mode

Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased,
trackability to a command improves and settling time decreases, but setting the response level too high will
generate vibration.
Set a value to obtain the desired response level within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.1.1 and 7.1.2 for
settings of the adaptive tuning mode and machine resonance suppression filter.

[Pr. PA09]
Machine characteristic Machine characteristic
Setting Guideline for Setting Guideline for
value Response machine resonance value Response machine resonance
frequency [Hz] frequency [Hz]
1 Low 2.7 21 Middle 67.1
2 response 3.6 22 response 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 Middle 52.9 39 High 571.5
20 response 59.6 40 response 642.7

6 - 15
6. NORMAL GAIN ADJUSTMENT

6.4 Manual mode

If you are not satisfied with the adjustment of auto tuning, you can adjust all gains manually.

POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.1.1 to 7.1.2.)

(1) For speed control

(a) Parameter
The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a small value to the model loop gain.
4
Set a large value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place.gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
7
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
8 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain. Fine adjustment

6 - 16
6. NORMAL GAIN ADJUSTMENT

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression.

2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)

3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value
improves trackability to a speed command, but a too high value will make overshoot liable to
occur at settling.

Speed loop gain 1 1

Model loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8

(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

6 - 17
6. NORMAL GAIN ADJUSTMENT

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio. (If the
3 estimate value with auto tuning is correct, setting change is not
required.)
Set a small value to the model loop gain and the position loop
4 gain.
Set a large value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the position loop gain, and return slightly if vibration Increase the position loop
7
takes place. gain.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
8
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
9 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fine- Fine adjustment
10
adjust each gain.

(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load to motor inertia ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression.

2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)

6 - 18
6. NORMAL GAIN ADJUSTMENT

3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.

Speed loop gain 1 1

Position loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8

4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value
improves trackability to a position command, but a too high value will make overshoot liable to
occur at settling.

Speed loop gain 1 1

Model loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8

6 - 19
6. NORMAL GAIN ADJUSTMENT

6.5 2gain adjustment mode

The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command trackability. Other parameters for gain
adjustment are set automatically.

(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameter

The following parameters are adjustable manually.
Parameter Symbol Name
PA09 RSP Auto tuning response
PB07 PG1 Model loop gain

(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.

(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
Parameter Symbol Name
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameter

The following parameters are adjustable manually.
Parameter Symbol Name
PA09 RSP Auto tuning response
PB06 GD2 Load to motor inertia ratio
PB07 PG1 Model loop gain

6 - 20
6. NORMAL GAIN ADJUSTMENT

(3) Adjustment procedure of 2 gain adjustment mode

POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.

Step Operation Description

Select the auto tuning
1 Set to the auto tuning mode.
mode 1.
During operation, increase the response level setting value in Adjustment in auto tuning
2
[Pr. PA09], and return the setting if vibration occurs. mode 1.
Check value of the model loop gain and the load to motor inertia Check the upper setting
3
ratio in advance. limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0). Select the 2 gain
4 adjustment mode 1
(interpolation mode).
When the load to motor inertia ratio is different from the design
value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) Check the load to motor
5
and then set the load to motor inertia ratio manually in [Pr. inertia ratio.
PB06].
Set the model loop gain of all the axes to be interpolated to the
6 same value. At that time, adjust to the setting value of the axis, Set model loop gain.
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
7 Fine adjustment
fine-adjust the model loop gain and response level setting.

(4) Parameter adjustment

[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
trackability to a position command, but a too high value will make overshoot liable to occur at settling.
Number of droop pulses is determined by the following expression.

Position command frequency [pulse/s]

Number of droop pulses [pulse] =
Model loop gain setting

Position command frequency differs depending on the operation mode.

Position command frequency

Speed [r/min]
= × Encoder resolution (number of pulses per servo motor revolution)
60

6 - 21
7. SPECIAL ADJUSTMENT FUNCTIONS

7. SPECIAL ADJUSTMENT FUNCTIONS .........................................................................................................2

7.1 Filter setting ...............................................................................................................................................2
7.1.1 Machine resonance suppression filter ................................................................................................2
7.1.2 Adaptive filter II ...................................................................................................................................5
7.1.3 Shaft resonance suppression filter .....................................................................................................7
7.1.4 Low-pass filter ....................................................................................................................................8
7.1.5 Advanced vibration suppression control II ..........................................................................................8
7.1.6 Command notch filter .......................................................................................................................13
7.2 Gain switching function ...........................................................................................................................14
7.2.1 Applications ......................................................................................................................................14
7.2.2 Function block diagram ....................................................................................................................15
7.2.3 Parameter .........................................................................................................................................16
7.2.4 Gain switching procedure .................................................................................................................19
7.3 Tough drive function ................................................................................................................................23
7.3.1 Vibration tough drive function ...........................................................................................................23
7.3.2 Instantaneous power failure tough drive function .............................................................................25
7.4 Compliance with SEMI-F47 standard ......................................................................................................29
7.5 Model adaptive control disabled ..............................................................................................................31
7.6 Lost motion compensation function ........................................................................................................32
7.7 Super trace control ..................................................................................................................................35

7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS

7. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.

7.1 Filter setting

The following filters are available with LECSN□-T□ drivers.
Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]
control Machine Machine Machine
Low -pass
Command Command + resonance resonance resonance
filter filter suppression suppression suppression
pulse train - setting filter 1 filter 2 filter 3

Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter

7.1.1 Machine resonance suppression filter

POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on setup software (MR Configurator2TM). This allows the required notch
frequency and notch characteristics to be determined.

If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the
resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain
of the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency), gain decreasing depth and width.

characteristics mechanical system

Response of
Machine resonance point

Frequency

Notch w idth
Notch

Notch depth
Frequency
Notch frequency

You can set five machine resonance suppression filters at most.

Parameter that is Parameter
reset with vibration automatically
Filter Setting parameter Precaution
tough drive adjusted with one-
function touch tuning
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13 PB01/PB13/PB14
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15 PB15/PB16
suppression filter 2
Machine resonance PB46/PB47 PB46/PB47
suppression filter 3
Machine resonance PB48/PB49 Enabling the machine resonance PB48/PB49
suppression filter 4 suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the PB51
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.

7- 3
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression
filter 1 ([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the
setting of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection"
in [Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection"
in [Pr. PB47].
How to set the machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection"
in [Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
resonance suppression filter.
How to set the machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection"
in [Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine
resonance suppression filter 5.
How to set the machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) is the same
as for the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).

7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.2 Adaptive filter II

POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control gain
is generated. To allow a filter margin against machine resonance, increase the
notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the driver detects machine vibration for a
predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need
not be conscious of the resonance frequency of a mechanical system.
mechanical system
mechanical system

Response of
Response of

Machine resonance point Machine resonance point

Frequency Frequency
Notch depth
Notch depth

Frequency Frequency
Notch frequency Notch frequency

When machine resonance is large and When machine resonance is small and
frequency is low frequency is high
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr. PB01]

0 0 0
Filter tuning mode selection
Setting
value Filter tuning mode selection Automatically set parameter

0 Disabled
1 Automatic setting PB13/PB14
2 Manual setting

7- 5
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Adaptive tuning mode procedure

Adaptive tuning

Operation

Yes Is the target response

reached?

No

Increase the response setting.

Has vibration or unusual No

noise occurred?

Yes

Execute or re-execute adaptive

tuning. (Set [Pr. PB01] to "_ _ _ 1".)

Tuning ends automatically after the

predetermined period of time. If assumption fails after tuning is executed at a large vibration or
([Pr. PB01] will be "_ _ _ 2" or oscillation, decrease the response setting temporarily down to
"_ _ _ 0".) the vibration level and execute again.

Yes
Has vibration or unusual
noise been resolved?

No

Factor
Decrease the response until vibration Using the machine analyzer, set the The response has increased to the machine limit.
or unusual noise is resolved. filter manually. The machine is too complicated to provide the
optimum filter.

End

7- 6
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.3 Shaft resonance suppression filter

POINT
This filter is set properly by default according to servo motor you use and load
moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"
(automatic setting) because changing "Shaft resonance suppression filter
selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may
lower the performance.

(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
generate a mechanical vibration at high frequency. The shaft resonance suppression filter
suppresses the vibration.
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you
use and the load to motor inertia ratio. The disabled setting increases the response of the driver for
high resonance frequency.

(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]

0 0 0
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.

Shaft resonance suppression filter setting frequency selection

Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.4 Low-pass filter

(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a
default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following
equation.

VG2
Filter frequency ([rad/s]) = × 10
1 + GD2

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2
value.
To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23].

(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr. PB23]

0 0 0
Low -pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled

7.1.5 Advanced vibration suppression control II

POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression control
tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, set
manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].

7- 8
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Position

Position
Servo motor side Servo motor side
Load side Load side
t t
Vibration suppression: off (normal) Vibration suppression control: on

When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].

(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]

0 0
Vibration suppression control 1 tuning mode
Setting Vibration suppression control 1
value tuning mode selection Automatically set parameter

___0 Disabled
___1 Automatic setting PB19/PB20/PB21/PB22
___2 Manual setting

Vibration suppression control 2 tuning mode

Setting Vibration suppression control 2
value tuning mode selection Automatically set parameter

__0_ Disabled
__1_ Automatic setting PB52/PB53/PB54/PB55
__2_ Manual setting

7- 9
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.

Vibration suppression control tuning

Operation

Yes Is the target response

reached?

No

Increase the response setting.

Has vibration of w orkpiece No

end/device increased?

Yes

Stop operation.

Execute or re-execute vibration

suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)

Resume operation.

Tuning ends automatically after

positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)

Has vibration Yes

of w orkpiece end/device
been resolved?

No

Using a machine analyzer or Factor

Decrease the response until vibration considering load-side vibration Estimation cannot be made as load-side vibration
of w orkpiece end/device is resolved. waveform, set the vibration has not been transmitted to the servo motor side.
suppression control manually. The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).

End

7 - 10
7. SPECIAL ADJUSTMENT FUNCTIONS

(4) Vibration suppression control manual mode

POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value but
set different values to improve the vibration suppression performance.
The setting range of [Pr. PB19], [Pr. PB20], [Pr. PB52], and [Pr. PB53] varies,
depending on the value in [Pr. PB07]. If a value out of the range is set, the
vibration suppression control will be disabled.

Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Vibration suppression Vibration suppression
Setting item
control 1 control 2
Vibration suppression control - Vibration
[Pr. PB19] [Pr. PB52]
frequency
Vibration suppression control - Resonance
[Pr. PB20] [Pr. PB53]
frequency
Vibration suppression control - Vibration
[Pr. PB21] [Pr. PB54]
frequency damping
Vibration suppression control - Resonance
[Pr. PB22] [Pr. PB55]
frequency damping

Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].
Step 2 Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -
Resonance frequency" as follows.

However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have
the following usable range and recommended range.
Vibration suppression Usable range Recommended setting range
control
Vibration suppression [Pr. PB19] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
control 1 [Pr. PB20] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
Vibration suppression [Pr. PB52], [Pr. PB53] > 6.25 Hz
control 2 [Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PB52]/[Pr. PB19] < 4
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])

7 - 11
7. SPECIAL ADJUSTMENT FUNCTIONS

(a) When a vibration peak can be confirmed with machine analyzer using setup software (MR
Configurator2TM), or external equipment.
Vibration suppression control 2 -
Vi bration frequency
(anti -resonance frequency)
[Pr. PB52]
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]

Gain characteristics

1 Hz 300 Hz
Resonance of more than
Vibration suppression control 1 - 300 Hz is not the target of control.
Vibration frequency Vibration suppression control 1 -
(anti -resonance frequency) Resonance frequency
[Pr. PB19] [Pr. PB20]
Phase
-90 degrees

(b) When vibration can be confirmed using monitor signal or external sensor

Motor-side vibration External acceleration pickup signal, etc.

(droop pulses)

Position command frequency

t t

Vibration suppression control -

Vibration frequency
Vibration cycle [Hz] Vibration suppression control - Vibration cycle [Hz]
Resonance frequency

Set the same value.

Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".

7 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS

7.1.6 Command notch filter

POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).

(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base shake,
can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be set.

Position
Position

Load side Load side

t t

Command notch filter: disabled Command notch filter: enabled

7 - 13
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr. PB45]

0
Notch depth Command notch f ilter setting f requency
Setting Depth Setting Frequency Setting Frequency Setting Frequency
value [dB] value [Hz] value [Hz] value [Hz]
0 -40.0 00 Disabled 20 70 40 17.6
1 -24.1 01 2250 21 66 41 16.5
2 -18.1 02 1125 22 62 42 15.6
3 -14.5 03 750 23 59 43 14.8
4 -12.0 04 562 24 56 44 14.1
5 -10.1 05 450 25 53 45 13.4
6 -8.5 06 375 26 51 46 12.8
7 -7.2 07 321 27 48 47 12.2
8 -6.0 08 281 28 46 48 11.7
9 -5.0 09 250 29 45 49 11.3
A -4.1 0A 225 2A 43 4A 10.8
B -3.3 0B 204 2B 41 4B 10.4
C -2.5 0C 187 2C 40 4C 10.0
D -1.8 0D 173 2D 38 4D 9.7
E -1.2 0E 160 2E 37 4E 9.4
F -0.6 0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5

7.2 Gain switching function

You can switch gains with the function. You can switch gains during rotation and during stop, and can use
an input device to switch gains during operation.

7.2.1 Applications
T The following shows when you use the function.
(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during
rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the
load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7 - 14
7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.2 Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].

Control command from CDP

controller (C_CDP) and [Pr. PB26]
Input device CDP
(Gain sw itching).

Command pulse
frequency +
-

Droop pulses +
-
Changing
Model speed +
-

CDL Comparator
[Pr. PB27]

GD2 VRF11
[Pr. PB06] [Pr. PB19]
Enabled Enabled
GD2B GD2 value VRF11B VRF11 value
[Pr. PB29] [Pr. PB33]

PG1 VRF12
[Pr. PB07] [Pr. PB20]
Enabled Enabled
PG1B PG1 value VRF12B VRF12 value
[Pr. PB60] [Pr. PB34]

PG2 VRF13
[Pr. PB08] [Pr. PB21]
Enabled Enabled
PG2B PG2 value VRF13B VRF13 value
[Pr. PB30] [Pr. PB35]

VG2 VRF14
[Pr. PB09] [Pr. PB22]
Enabled Enabled
VG2B VG2 value VRF14B VRF14 value
[Pr. PB31] [Pr. PB36]

VIC VRF21
[Pr. PB10] [Pr. PB52]
Enabled Enabled
VICB VIC value VRF21B VRF21 value
[Pr. PB32] [Pr. PB56]

VRF22
[Pr. PB53]
Enabled
VRF22B VRF22 value
[Pr. PB57]

VRF23
[Pr. PB54]
Enabled
VRF23B VRF23 value
[Pr. PB58]

VRF24
[Pr. PB55]
Enabled
VRF24B VRF24 value
[Pr. PB59]

7 - 15
7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.

(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description
PB26 CDP Gain switching function Select a switching condition.
PB27 CDL Gain switching condition [kpulse/s] Set a switching condition values.
/[pulse]
/[r/min]
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at switching.

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.
[Pr. PB26]

0
Gain sw itching selection
0: Disabled
1: Switching is enabled by control command from controller (C_CDP)
and Input device CDP (Gain sw itching)
2: Command frequency
3: Droop pulses
4: Servo motor speed

Gain sw itching condition

0: Gain after sw itching is enabled w ith gain sw itching condition or more
1: Gain after sw itching is enabled w ith gain sw itching condition or less

Gain sw itching time constant disabling condition selection

0: Sw itching time constant enabled
1: Sw itching time constant disabled
2: Return time constant disabled

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed" with the gain switching selection in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]

(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for example.

7 - 16
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia ratio PB06 GD2 Load to motor inertia ratio PB29 GD2B Load to motor inertia ratio
after gain switching
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain
switching
Speed integral PB10 VIC Speed integral PB32 VICB Speed integral
compensation compensation compensation after gain
switching
Vibration suppression PB19 VRF11 Vibration suppression PB33 VRF11B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency frequency frequency after gain
switching
Vibration suppression PB20 VRF12 Vibration suppression PB34 VRF12B Vibration suppression
control 1 - Resonance control 1 - Resonance control 1 - Resonance
frequency frequency frequency after gain
switching
Vibration suppression PB21 VRF13 Vibration suppression PB35 VRF13B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB22 VRF14 Vibration suppression PB36 VRF14B Vibration suppression
control 1 - Resonance control 1 - Resonance control 1 - Resonance
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB52 VRF21 Vibration suppression PB56 VRF21B Vibration suppression
control 2 - Vibration control 2 - Vibration control 2 - Vibration
frequency frequency frequency after gain
switching
Vibration suppression PB53 VRF22 Vibration suppression PB57 VRF22B Vibration suppression
control 2 - Resonance control 2 - Resonance control 2 - Resonance
frequency frequency frequency after gain
switching
Vibration suppression PB54 VRF23 Vibration suppression PB58 VRF23B Vibration suppression
control 2 - Vibration control 2 - Vibration control 2 - Vibration
frequency damping frequency damping frequency damping after
gain switching
Vibration suppression PB55 VRF24 Vibration suppression PB59 VRF24B Vibration suppression
control 2 - Resonance control 2 - Resonance control 2 - Resonance
frequency damping frequency damping frequency damping after
gain switching

(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the
values of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral
compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching
while the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.

7 - 17
7. SPECIAL ADJUSTMENT FUNCTIONS

(c) [Pr. PB29 Load to motor inertia ratio after gain switching]
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain
switching], and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.

(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr.
PB59]), and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and model loop gain are used only with control
command from the PC or PLC…etc.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.

7 - 18
7. SPECIAL ADJUSTMENT FUNCTIONS

7.2.4 Gain switching procedure

This operation will be described by way of setting examples.

(1) When you choose switching by control command from the PC or PLC…etc
(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to motor 4.00 [Multiplier]
mass ratio
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration 50 [Hz]
frequency
PB20 VRF12 Vibration suppression control 1 - 50 [Hz]
Resonance frequency
PB21 VRF13 Vibration suppression control 1 - Vibration 0.20
frequency damping
PB22 VRF14 Vibration suppression control 1 - 0.20
Resonance frequency damping
PB52 VRF21 Vibration suppression control 2 - Vibration 20 [Hz]
frequency
PB53 VRF22 Vibration suppression control 2 - 20 [Hz]
Resonance frequency
PB54 VRF23 Vibration suppression control 2 - Vibration 0.10
frequency damping
PB55 VRF24 Vibration suppression control 2 - 0.10
Resonance frequency damping
PB29 GD2B Load to motor inertia ratio/load to motor 10.00 [Multiplier]
mass ratio after gain switching
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain 50 [ms]
switching
PB26 CDP Gain switching function 0001
(Switch by control command
from the controller (C_CDP)
and Input device CDP (Gain
switching).)
PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration 60 [Hz]
frequency after gain switching
PB34 VRF12B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain switching
PB35 VRF13B Vibration suppression control 1 - Vibration 0.15
frequency damping after gain switching
PB36 VRF14B Vibration suppression control 1 - 0.15
Resonance frequency damping after gain
switching
PB56 VRF21B Vibration suppression control 2 - Vibration 30 [Hz]
frequency after gain switching
PB57 VRF22B Vibration suppression control 2 - 30 [Hz]
Resonance frequency after gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration 0.05
frequency damping after gain switching
PB59 VRF24B Vibration suppression control 2 - 0.05
Resonance frequency damping after gain
switching

7 - 19
7. SPECIAL ADJUSTMENT FUNCTIONS

(b) Switching timing chart

Control command OFF OFF
PC or PLC…etc
from controller ON

After-sw itching gain

63.4%
Before-sw itching gain
Gain sw itching
CDT = 100 ms

Model loop gain 100 → 50 → 100

Load to motor inertia ratio/load to motor
4.00 → 10.00 → 4.00
mass ratio
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 -
50 → 60 → 50
Vibration frequency
Vibration suppression control 1 -
50 → 60 → 50
Resonance frequency
Vibration suppression control 1 -
0.20 → 0.15 → 0.20
Vibration frequency damping
Vibration suppression control 1 -
0.20 → 0.15 → 0.20
Resonance frequency damping
Vibration suppression control 2 -
20 → 30 → 20
Vibration frequency
Vibration suppression control 2 -
20 → 30 → 20
Resonance frequency
Vibration suppression control 2 -
0.10 → 0.05 → 0.10
Vibration frequency damping
Vibration suppression control 2 -
0.10 → 0.05 → 0.10
Resonance frequency damping

(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching
cannot be used.
(a) Setting
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to 4.00 [Multiplier]
motor mass ratio
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio/load to 10.00 [Multiplier]
motor mass ratio after gain
switching
PB30 PG2B Position loop gain after gain 84 [rad/s]
switching
PB31 VG2B Speed loop gain after gain 4000 [rad/s]
switching
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
PB28 CDT Gain switching time constant 100 [ms]

7 - 20
7. SPECIAL ADJUSTMENT FUNCTIONS

(b) Switching timing chart

Command pulses Droop pulses

Command pulses

+CDL
Droop pulses
0
[pulse] -CDL

After-sw itching gain

63.4%
Before-sw itching gain
Gain sw itching
CDT = 100 ms

Load to motor inertia ratio 4.00 → 10.00 → 4.00 → 10.00

Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50

3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Command pulses

Droop pulses
+100 pulses
Droop pulses [pulse] 0
-100 pulses

Sw itching time constant After-sw itching gain

After-sw itching gain
disabled
Sw itching at 0 ms
63.4%
Gain sw itching Before-sw itching gain
Sw itching at 0 ms
CDT = 100 ms
Sw itching at [Pr. PB28 (CDT)] = 100 [ms] only w hen gain sw itching off (w hen returning)

7 - 21
7. SPECIAL ADJUSTMENT FUNCTIONS

(b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28
(CDT)] = 100 [ms].
OFF OFF
CDP (Gain sw itching) ON

After-sw itching gain

Return time constant disabled

Sw itching at 0 ms
63.4%
Before-sw itching gain
Gain sw itching

CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)

7 - 22
7. SPECIAL ADJUSTMENT FUNCTIONS

7.3 Tough drive function

POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)

This function makes the equipment continue operating even under the condition that an alarm occurs. The
tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.

7.3.1 Vibration tough drive function

This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to
varied vibration frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.

(1) One-touch tuning execution (section 6.1)

(2) Manual setting (section 4.2.2)

The vibration tough drive function operates when a detected machine resonance frequency is within ±30% for
a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation detection
level].

POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.

7 - 23
7. SPECIAL ADJUSTMENT FUNCTIONS

The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and
reset a machine resonance frequency of a parameter whose set value is closer.
Parameter that is
reset with vibration
Filter Setting parameter Precaution
tough drive
function
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15
suppression filter 2
Machine resonance PB46/PB47
suppression filter 3
Machine resonance PB48/PB49 Enabling the machine resonance
suppression filter 4 suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.

Updates the parameter Vibration tough drive

whose setting is the
closest to the machine
resonance frequency.

[Pr. PB13] [Pr. PB15] [Pr. PB46]

Machine Machine Machine
Command Command + resonance resonance resonance
pulse train filter - suppression suppression suppression
filter 1 filter 2 filter 3

Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter

[Pr. PF23 Vibration tough drive - Oscillation detection level]

Torque

Detects the machine resonance and reconfigures the filter automatically.

ALM ON
(Malfunction) OFF
5s
WNG ON
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
MTTR ON
(During tough drive) OFF

7 - 24
7. SPECIAL ADJUSTMENT FUNCTIONS

7.3.2 Instantaneous power failure tough drive function

The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the tolerance against instantaneous power failure using the electrical
energy charged in the capacitor in the driver and will change an alarm level of [AL. 10 Undervoltage]
simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the control circuit
power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus voltage is changed
automatically.

POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at
instantaneous power failure" in [Pr. PA26], if an instantaneous power failure
occurs during operation, you can save electric energy charged in the capacitor in
the driver by limiting torque at acceleration. You can also delay the time until the
occurrence of [AL. 10.2 Voltage drop in the main circuit power]. Doing this will
enable you to set a longer time in [Pr. PF25 SEMI-F47 function - Instantaneous
power failure detection time].
When the load of instantaneous power failure is large, [AL. 10.2] caused by the
bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47
function - Instantaneous power failure detection time].
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms) in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection
time]. When the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage,
the power may be normally turned off even if a value larger than 200 ms is set in
the parameter.

7 - 25
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
MTTR (During tough drive) turns on after detecting the instantaneous power failure.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.

Instantaneous power failure time of the control circuit power supply

ON (energization)
Control circuit
pow er supply OFF (pow er failure)
[Pr. PF25]

Bus voltage

Undervoltage level
(Note)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF
MBR ON
(Electromagnetic
brake interlock) OFF

ON
Base circuit
OFF
Note. Refer to table 7.1 for the undervoltage level.

7 - 26
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
Operation status differs depending on how bus voltage decrease.

(a) When the bus voltage decrease lower than undervoltage level within the instantaneous power failure
time of the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than undervoltage level
regardless of the enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control circuit power supply

ON (energization)
Control circuit
pow er supply OFF (pow er failure)
[Pr. PF25]

Bus voltage

Undervoltage level
(Note)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF
MBR ON
(Electromagnetic
brake interlock) OFF

ON
Base circuit
OFF

Note. Refer to table 7.1 for the undervoltage level.

7 - 27
7. SPECIAL ADJUSTMENT FUNCTIONS

(b) When the bus voltage does not decrease lower than 158 V DC within the instantaneous power failure
time of the control circuit power supply
The operation continues without alarming.
Instantaneous pow er failure time of the
control circuit pow er supply

ON (energization)
Control circuit
pow er supply OFF (pow er failure)
[Pr. PF25]

Bus voltage

Undervoltage level
(Note)

ALM ON
(Malfunction) OFF

WNG ON
(Warning) OFF

MTTR ON
(During tough drive) OFF
MBR ON
(Electromagnetic
brake interlock) OFF

ON
Base circuit
OFF

Note. Refer to table 7.1 for the undervoltage level.

7 - 28
7. SPECIAL ADJUSTMENT FUNCTIONS

7.4 Compliance with SEMI-F47 standard

POINT
The control circuit power supply of the the driver can comply with SEMI-F47
standard. However, a back-up capacitor may be necessary for instantaneous
power failure in the main circuit power supply depending on the power supply
impedance and operating situation.
Use a 3-phase for the input power supply of the driver. Using a 1-phase 100 V
AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.
Be sure to perform actual machine tests and detail checks for power supply
instantaneous power failure of SEMI-F47 standard with your equipment.

The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage
sag immunity test".
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in
the capacitor in case that an instantaneous power failure occurs during operation.

(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47.
Setting
Parameter Description
value
PA20 _1__ SEMI-F47 selection
PF25 200 Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power]
occurrence.

Enabling SEMI-F47 will change operation as follows.

(a) The voltage will drop in the control circuit power at "Rated voltage × 50% or less". After 200 ms, [AL.
10.1 Voltage drop in the control circuit power] will occur.

(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.

Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]

Bus voltage which triggers alarm

158 V DC

(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control
circuit power] occurs.

7 - 29
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Requirements and recommended conditions of SEMI-F47 standard

Table 7.1 shows the permissible time of instantaneous power failure for instantaneous power failure
of SEMI-F47 standard.

Table 7.2 Requirements conditions of SEMI-F47 standard

Permissible time of
Instantaneous power
instantaneous power
failure voltage
failure [s]
Rated voltage × 80% 1
Rated voltage × 70% 0.5
Rated voltage × 50% 0.2

(3) Calculation of tolerance against instantaneous power failure

Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure voltage
is "rated voltage × 50%" and instantaneous power failure time is 200 ms.

Table 7.3 Tolerance against instantaneous power failure (instantaneous

power failure voltage = rated voltage × 50%, instantaneous power
failure time = 200 ms)
Tolerance against
Instantaneous maximum instantaneous
driver
output [W] power failure [W]
(voltage drop between lines)
LECSN2-T5 350 250
LECSN2-T7 700 420
LECSN2-T8 1400 630
LECSN2-T9 2625 1150

Instantaneous maximum output means power which driver can output in maximum torque at rated
speed. You can examine margins to compare the values of following conditions and instantaneous
maximum output.
Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the
maximum output. This can be handled as a margin.
The following shows the conditions of tolerance against instantaneous power failure.

(a) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage
between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines
(between L1 and L2, L2 and L3, or L3 and L1).

(b) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in
the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations, between
three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the lines and
the neutral point (between L1 and N, L2 and N, or L3 and N).

7 - 30
7. SPECIAL ADJUSTMENT FUNCTIONS

7.5 Model adaptive control disabled

POINT
Change the parameters while the servo motor stops.
When setting auto tuning response ([Pr. PA09]), change the setting value one by
one to adjust it while checking operation status of the servo motor.

(1) Summary
The driver has a model adaptive control. The driver has a virtual motor model and drives the servo motor
following the output of the motor model in the model adaptive control. At model adaptive control disabled,
the driver drives the motor with PID control without using the model adaptive control.
The following shows the available parameters at model adaptive control disabled.
Parameter Symbol Name
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(2) Parameter setting

Set [Pr. PB25] to "_ _ _ 2".

(3) Restrictions
The following functions are not available at model adaptive control disabled.
Function Explanation
Disabling the model adaptive control while the forced stop
deceleration function is enabled, [AL. 37] will occur.
Forced stop deceleration function
The forced stop deceleration function is enabled at factory
([Pr. PA04])
setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop
deceleration function disabled).
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20]) The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
Vibration suppression control 2 disable the vibration suppression control.
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
The overshoot amount compensation uses data used by
Overshoot amount compensation the model adaptive control. Disabling the model adaptive
([Pr. PB12]) control will also disable the overshoot amount
compensation.
The super trace control uses the model adaptive control.
Super trace control
Disabling the model adaptive control will also disable the
([Pr. PA22])
super trace control.

7 - 31
7. SPECIAL ADJUSTMENT FUNCTIONS

7.6 Lost motion compensation function

POINT
The lost motion compensation function is enabled only in the position control
mode.

The lost motion compensation function corrects response delays (caused by a non-sensitive band due to
friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function
contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a
quadrant change during circular cutting.
This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y
table.

Compensation

T ravel
di recti on

The locus before compensation The locus after compensation

(1) Parameter setting

Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.

(a) Lost motion compensation function selection ([Pr. PE48])

Select the lost motion compensation function.
[Pr. PE48]

0 0
Lost motion compensation selection
0: Lost motion compensation disabled
1: Lost motion compensation enabled

Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit
1: 1 kpulse unit

(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches
to the reverse rotation and when the reverse rotation switches to the forward rotation. When the
heights of protrusions differ depending on the travel direction, set the different compensation for each
travel direction. Set a value twice the usual friction torque and adjust the value while checking
protrusions.

(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is
usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the
unbalanced torque. The torque offset does not need to be set for a machine not generating
unbalanced torque.

7 - 32
7. SPECIAL ADJUSTMENT FUNCTIONS

(d) Lost motion compensation timing ([Pr. PE49])

You can set the delay time of the lost motion compensation start timing with this parameter. When a
protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion
occurrence timing.

(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion
compensation is triggered by the travel direction switching. By setting the lost motion compensation
non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the
setting value or less. This prevents unnecessary lost motion compensation.
When the value of this parameter is changed, the compensation timing is changed. Adjust the value
of Lost motion compensation timing ([Pr. PE49]).

(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set
in this parameter, the high-pass filter output value of the set time constant is applied to the
compensation and lost motion compensation continues.

(2) Adjustment procedure of the lost motion compensation function

(a) Measuring the load current
Measure the load currents during the forward direction feed and reverse direction feed with setup
software (MR Configurator2TM).

(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value
twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.

|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|
Friction torque [%] =
2

(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.

7 - 33
7. SPECIAL ADJUSTMENT FUNCTIONS

(d) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation
by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation is
excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are
eliminated. Different values can be set as the compensation for each of when the forward rotation
(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the
forward rotation (CCW).

Compensation

T ravel
di recti on

The locus before compensation The locus after compensation

(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value,
or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant
change points. In this case, you can suppress the quadrant projections by delaying the lost motion
compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of
[Pr. PE49] from 0 ms (initial value) by approximately 0.5 ms to adjust the compensation timing.

Compensation

T ravel
direction

Before timing delay compensation After timing delay compensation

(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost
motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not
compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion
compensation timing of (2) (e) in this section.

Compensation

T ravel
direction

Before timing delay compensation After timing delay compensation

7 - 34
7. SPECIAL ADJUSTMENT FUNCTIONS

7.7 Super trace control

(1) Summary
In the normal position control, droop pulses are generated against the position control command from the
PC or PLC...etc. Using the feed forward gain sets droop pulses at a constant speed to almost 0.
However, droop pulses generated during acceleration/deceleration cannot be suppressed.
With the ideal model in the driver, the super trace control enables to set constant speed and uniform
acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain.
Control Position command (the same command) Droop pulses
Servo motor speed

Droop pulses
Normal
control

Time
Time
Droop pulses are always generated.
Servo motor speed

Feed Droop pulses

forward gain

Time Time
Droop pulses are generated during acceleration/
deceleration.
Servo motor speed

Droop pulses

Super trace
control

Time Time
Droop pulses are almost 0 including the time of
acceleration or deceleration.

7 - 35
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Adjustment procedure

POINT
In the super trace control, droop pulses are near 0 during the servo motor
control. Thus, the normal INP (In-position) may always be turned on. Be sure to
set "INP (In-position) on condition selection" in [Pr. PD31] to " _ 1 _ _".
When you use the super trace control, it is recommended that the acceleration
time constant up to the rated speed be set to 1 s or more.

The following shows the adjustment procedure.

Step Operation
Execute the gain adjustment with one-touch tuning, auto tuning,
1
etc. Refer to chapter 6 for details.
Change the setting of auto tuning mode to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Change the setting of feed forward gain ([Pr. PB04]), and adjust
3
that droop pulses will be 0 at a constant speed.
Set the setting of INP (In-position) on condition selection ([Pr.
4
PD31]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
Change the setting of model loop gain ([Pr. PB07]), and adjust
6
droop pulses during acceleration/deceleration.

7 - 36
8. TROUBLESHOOTING

8. TROUBLESHOOTING....................................................................................................................................2
8.1 Explanations of the lists ............................................................................................................................2
8.2 Alarm list ...................................................................................................................................................3
8.3 Warning list .............................................................................................................................................11
8.4 Remedies for alarms ...............................................................................................................................14
8.5 Remedies for warnings ...........................................................................................................................54
8.6 Troubleshooting at power on ...................................................................................................................65
8.7 Trouble which does not trigger an alarm/warning ...................................................................................66

8- 1
8. TROUBLESHOOTING

8. TROUBLESHOOTING
POINT
As soon as an alarm occurs, make the servo-off status and interrupt the main
circuit power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are
not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. If an alarm or
warning is displayed, remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.

8.1 Explanations of the lists

(1) No./Name/Detail No./Detail name
Indicates the alarm or warning No., name, detail No., and detail name.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops
with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or
"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced
stop deceleration.

(3) Alarm deactivation

After the alarm cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is
removed. Alarms are deactivated by alarm reset, communication reset (network), or power cycling.
Alarm deactivation Explanation
Alarm reset 1. Error reset command from the upper side
2. Click "Occurring Alarm Reset" in the "Alarm Display" window of Setup software
(MR Configurator2TM).
Communication reset (Network) 1. Disconnect the computer from the network, and connect it again.
For details of the disconnection methods, refer to chapter 18,19,20.
2. After the network communication from the upper side has been shifted to the
initial state, connect it again.
Cycling the power Turning the power off and then turning it on again.

8- 2
8. TROUBLESHOOTING

8.2 Alarm list

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
power
No. Name Detail No. Detail name method

reset
(Note 2, 3)

10.1 Voltage drop in the control circuit power EDB

Alarm

10 Undervoltage
10.2 Voltage drop in the main circuit power SD
Axis number setting error/
11.1 DB
11 Switch setting error Station number setting error
11.2 Disabling control axis setting error DB
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12.3 RAM error 3 DB
12 Memory error 1 (RAM)
12.4 RAM error 4 DB
12.5 RAM error 5 DB
12.6 RAM error 6 DB
13.1 Clock error 1 DB
13 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14.2 Control process error 2 DB
14.3 Control process error 3 DB
14.4 Control process error 4 DB
14.5 Control process error 5 DB
14 Control process error 14.6 Control process error 6 DB
14.7 Control process error 7 DB
14.8 Control process error 8 DB
14.9 Control process error 9 DB
14.A Control process error 10 DB
14.B Control process error 11 DB
15.1 EEP-ROM error at power on DB
Memory error 2
15 15.2 EEP-ROM error during operation DB
(EEP-ROM)
15.4 Home position information read error DB
Encoder initial communication - Receive
16.1 DB
data error 1
Encoder initial communication - Receive
16.2 DB
data error 2
Encoder initial communication - Receive
16.3 DB
data error 3
Encoder initial communication -
16.4 DB
Encoder malfunction (Note 6)
Encoder initial communication -
16.5 DB
Transmission data error 1
Encoder initial communication -
16.6 DB
Transmission data error 2
Encoder initial communication -
16.7 DB
Encoder initial Transmission data error 3
16
communication error 1 Encoder initial communication -
16.8 DB
Incompatible encoder (Note 6)
Encoder initial communication - Process
16.A DB
error 1
Encoder initial communication - Process
16.B DB
error 2
Encoder initial communication - Process
16.C DB
error 3
Encoder initial communication - Process
16.D DB
error 4
Encoder initial communication - Process
16.E DB
error 5
Encoder initial communication - Process
16.F DB
error 6

8- 3
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

17.1 Board error 1 DB

Alarm

17.3 Board error 2 DB

17.4 Board error 3 DB
17.5 Board error 4 DB
17 Board error
17.6 Board error 5 DB
17.7 Board error 7 DB
17.8 Board error 6 (Note 6) EDB
17.9 Board error 8 DB
19.1 Flash-ROM error 1 DB
Memory error 3
19 19.2 Flash-ROM error 2 DB
(Flash-ROM)
19.3 Flash-ROM error 3 DB
1A.1 Servo motor combination error 1 DB
Servo motor combination Servo motor control mode combination
1A 1A.2 DB
error error
1A.4 Servo motor combination error 2 DB
1B Converter error 1B.1 Converter unit error DB

Encoder initial 1E.1 Encoder malfunction DB

1E
communication error 2 1E.2 Load-side encoder malfunction DB

Encoder initial 1F.1 Incompatible encoder DB

1F
communication error 3 1F.2 Incompatible load-side encoder DB
Encoder normal communication -
20.1 EDB
Receive data error 1
Encoder normal communication -
20.2 EDB
Receive data error 2
Encoder normal communication -
20.3 EDB
Receive data error 3
Encoder normal communication -
20.5 EDB
Encoder normal Transmission data error 1
20
communication error 1 Encoder normal communication -
20.6 EDB
Transmission data error 2
Encoder normal communication -
20.7 EDB
Transmission data error 3
Encoder normal communication -
20.9 EDB
Receive data error 4
Encoder normal communication -
20.A EDB
Receive data error 5
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
21.3 Encoder data waveform error EDB
Encoder normal
21 21.4 Encoder non-signal error EDB
communication error 2
21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
Ground fault detected by hardware
24.1 DB
detection circuit
24 Main circuit error
Ground fault detected by software
24.2 DB
detection function
Servo motor encoder - Absolute position
25.1 DB
erased
25 Absolute position erased
Scale measurement encoder - Absolute
25.2 DB
position erased

8- 4
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

Initial magnetic pole detection -

Alarm

27.1 DB
Abnormal termination
Initial magnetic pole detection - Time
27.2 DB
out error
Initial magnetic pole detection - Limit
27.3 DB
switch error
Initial magnetic pole Initial magnetic pole detection -
27 27.4 DB
detection error Estimated error
Initial magnetic pole detection - Position
27.5 DB
deviation error
Initial magnetic pole detection - Speed
27.6 DB
deviation error
Initial magnetic pole detection - Current
27.7 DB
error
28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB
2A.1 Linear encoder error 1-1 EDB
2A.2 Linear encoder error 1-2 EDB
2A.3 Linear encoder error 1-3 EDB
2A.4 Linear encoder error 1-4 EDB
2A Linear encoder error 1
2A.5 Linear encoder error 1-5 EDB
2A.6 Linear encoder error 1-6 EDB
2A.7 Linear encoder error 1-7 EDB
2A.8 Linear encoder error 1-8 EDB
2B.1 Encoder counter error 1 EDB
2B Encoder counter error
2B.2 Encoder counter error 2 EDB

30.1 Regeneration heat error DB

(Note 1) (Note 1) (Note 1)

30 Regenerative error 30.2 Regeneration signal error DB

(Note 1) (Note 1) (Note 1)

30.3 Regeneration feedback signal error DB

(Note 1) (Note 1) (Note 1)
31 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at hardware
32.1 DB
detection circuit (during operation)
Overcurrent detected at software
32.2 DB
detection function (during operation)
32 Overcurrent
Overcurrent detected at hardware
32.3 DB
detection circuit (during a stop)
Overcurrent detected at software
32.4 DB
detection function (during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB

34.1 SSCNET receive data error SD

(Note 5)
34.2 SSCNET connector connection error SD
34.3 SSCNET communication data error SD
34 SSCNET receive error 1 34.4 Hardware error signal detection SD
SSCNET receive data error (safety
34.5 SD
observation function)
SSCNET communication data error
34.6 SD
(safety observation function)
Command frequency
35 35.1 Command frequency error SD
error
36.1 Continuous communication data error SD
36 SSCNET receive error 2 Continuous communication data error
36.2 SD
(safety observation function)
37.1 Parameter setting range error DB
37.2 Parameter combination error DB
37 Parameter error 37.3 Point table setting error DB
Command electronic gear setting error
37.4 DB
2

8- 5
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

39.1 Program error DB

Alarm

39.2 Instruction argument external error DB

39 Program error
39.3 Register No. error DB
39.4 Non-correspondence instruction error DB
Inrush current
3A 3A.1 Inrush current suppression circuit error EDB
suppression circuit error
Parameter combination error for driver
3D.1 DB
Parameter setting error communication on slave
3D
for driver communication Parameter combination error for driver
3D.2 DB
communication on master
3E.1 Operation mode error DB
3E Operation mode error
3E.6 Operation mode switch error DB
42.1 Servo control error by position deviation EDB (Note 4) (Note 4)
Servo control error
42.2 Servo control error by speed deviation EDB (Note 4) (Note 4)
(for linear servo motor
and direct drive motor) Servo control error by torque/thrust
42.3 EDB (Note 4) (Note 4)
deviation
Fully closed loop control error by
42 42.8 EDB (Note 4) (Note 4)
Fully closed loop control position deviation
error Fully closed loop control error by speed
42.9 EDB (Note 4) (Note 4)
(for fully closed loop deviation
control) Fully closed loop control error by
42.A EDB (Note 4) (Note 4)
position deviation during command stop

45.1 Main circuit device overheat error 1 SD

Main circuit device (Note 1) (Note 1) (Note 1)
45
overheat
45.2 Main circuit device overheat error 2 SD
(Note 1) (Note 1) (Note 1)

46.1 Abnormal temperature of servo motor 1 SD

(Note 1) (Note 1) (Note 1)

46.2 Abnormal temperature of servo motor 2 SD

(Note 1) (Note 1) (Note 1)

46.3 Thermistor disconnected error SD

(Note 1) (Note 1) (Note 1)
46 Servo motor overheat
46.4 Thermistor circuit error SD
(Note 1) (Note 1) (Note 1)

46.5 Abnormal temperature of servo motor 3 DB

(Note 1) (Note 1) (Note 1)

46.6 Abnormal temperature of servo motor 4 DB

(Note 1) (Note 1) (Note 1)
47.1 Cooling fan stop error SD
47 Cooling fan error
47.2 Cooling fan speed reduction error SD
Thermal overload error 1 during
50.1 SD
operation (Note 1) (Note 1) (Note 1)
Thermal overload error 2 during
50.2 SD
operation (Note 1) (Note 1) (Note 1)
Thermal overload error 4 during
50.3 SD
operation (Note 1) (Note 1) (Note 1)
50 Overload 1
50.4 Thermal overload error 1 during a stop SD
(Note 1) (Note 1) (Note 1)

50.5 Thermal overload error 2 during a stop SD

(Note 1) (Note 1) (Note 1)

50.6 Thermal overload error 4 during a stop SD

(Note 1) (Note 1) (Note 1)
Thermal overload error 3 during
51.1 DB
operation (Note 1) (Note 1) (Note 1)
51 Overload 2
51.2 Thermal overload error 3 during a stop DB
(Note 1) (Note 1) (Note 1)
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 EDB

8- 6
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

54 Oscillation detection 54.1 Oscillation detection error EDB

Alarm

56.2 Over speed during forced stop EDB

56 Forced stop error Estimated distance over during forced
56.3 EDB
stop
61 Operation error 61.1 Point table setting range error DB
63.1 STO1 off DB
63 STO timing error 63.2 STO2 off DB
63.5 STO by functional safety unit DB
64.1 STO input error DB
Functional safety unit
64 64.2 Compatibility mode setting error DB
setting error
64.3 Operation mode setting error DB
Functional safety unit communication
65.1 SD
error 1
Functional safety unit communication
65.2 SD
error 2
Functional safety unit communication
65.3 SD
error 3
Functional safety unit communication
65.4 SD
error 4
Functional safety unit Functional safety unit communication
65 65.5 SD
connection error error 5
Functional safety unit communication
65.6 SD
error 6
Functional safety unit communication
65.7 SD
error 7
Functional safety unit shut-off signal
65.8 DB
error 1
Functional safety unit shut-off signal
65.9 DB
error 2
Encoder initial communication - Receive
66.1 data error 1 (safety observation DB
function)
Encoder initial communication - Receive
66.2 data error 2 (safety observation DB
Encoder initial function)
communication error Encoder initial communication - Receive
66
(safety observation 66.3 data error 3 (safety observation DB
function) function)
Encoder initial communication -
66.7 Transmission data error 1 (safety DB
observation function)
Encoder initial communication - Process
66.9 DB
error 1 (safety observation function)
Encoder normal communication -
67.1 Receive data error 1 (safety observation DB
function)
Encoder normal communication -
67.2 Receive data error 2 (safety observation DB
function)
Encoder normal
Encoder normal communication -
communication error 1
67 67.3 Receive data error 3 (safety observation DB
(safety observation
function)
function)
Encoder normal communication -
67.4 Receive data error 4 (safety observation DB
function)
Encoder normal communication -
67.7 Transmission data error 1 (safety DB
observation function)
68 STO diagnosis error 68.1 Mismatched STO signal error DB

8- 7
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

Forward rotation-side software limit

Alarm

69.1 SD
detection - Command excess error
Reverse rotation-side software limit
69.2 SD
detection - Command excess error
Forward rotation stroke end detection -
69.3 SD
Command excess error
69 Command error
Reverse rotation stroke end detection -
69.4 SD
Command excess error
Upper stroke limit detection - Command
69.5 SD
excess error
Lower stroke limit detection - Command
69.6 SD
excess error
Load-side encoder initial communication
70.1 DB
- Receive data error 1
Load-side encoder initial communication
70.2 DB
- Receive data error 2
Load-side encoder initial communication
70.3 DB
- Receive data error 3
Load-side encoder initial communication
70.4 DB
- Encoder malfunction (Note 6)
Load-side encoder initial communication
70.5 DB
- Transmission data error 1
Load-side encoder initial communication
70.6 DB
- Transmission data error 2
Load-side encoder initial communication
70.7 DB
Load-side encoder initial - Transmission data error 3
70
communication error 1 Load-side encoder initial communication
70.8 DB
- Incompatible encoder (Note 6)
Load-side encoder initial communication
70.A DB
- Process error 1
Load-side encoder initial communication
70.B DB
- Process error 2
Load-side encoder initial communication
70.C DB
- Process error 3
Load-side encoder initial communication
70.D DB
- Process error 4
Load-side encoder initial communication
70.E DB
- Process error 5
Load-side encoder initial communication
70.F DB
- Process error 6
Load-side encoder normal
71.1 EDB
communication - Receive data error 1
Load-side encoder normal
71.2 EDB
communication - Receive data error 2
Load-side encoder normal
71.3 EDB
communication - Receive data error 3
Load-side encoder normal
71.5 communication - Transmission data EDB
Load-side encoder error 1
71 normal communication Load-side encoder normal
error 1 71.6 communication - Transmission data EDB
error 2
Load-side encoder normal
71.7 communication - Transmission data EDB
error 3
Load-side encoder normal
71.9 EDB
communication - Receive data error 4
Load-side encoder normal
71.A EDB
communication - Receive data error 5

8- 8
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

72.1 Load-side encoder data error 1 EDB

Alarm

72.2 Load-side encoder data update error EDB

Load-side encoder 72.3 Load-side encoder data waveform error EDB
72 normal communication 72.4 Load-side encoder non-signal error EDB
error 2 72.5 Load-side encoder hardware error 1 EDB
72.6 Load-side encoder hardware error 2 EDB
72.9 Load-side encoder data error 2 EDB
74.1 Option card error 1 DB
74.2 Option card error 2 DB
74 Option card error 1 74.3 Option card error 3 DB
74.4 Option card error 4 DB
74.5 Option card error 5 DB
75.3 Option card connection error EDB
75 Option card error 2
75.4 Option card disconnected DB
Functional safety unit power voltage
79.1 DB
error (Note 7)
79.2 Functional safety unit internal error DB
Abnormal temperature of functional
79.3 SD
Functional safety unit safety unit (Note 7)
79
diagnosis error 79.4 Driver error SD
79.5 Input device error SD
79.6 Output device error SD
79.7 Mismatched input signal error SD
79.8 Position feedback fixing error DB
Parameter verification error (safety
7A.1 DB
observation function)
Parameter setting range error (safety
Parameter setting error 7A.2 DB
observation function)
7A (safety observation
Parameter combination error (safety
function) 7A.3 DB
observation function)
Functional safety unit combination error
7A.4 DB
(safety observation function)
Encoder diagnosis error 1 (safety
7B.1 DB
observation function)
Encoder diagnosis error 2 (safety
Encoder diagnosis error 7B.2 DB
observation function)
7B (safety observation
Encoder diagnosis error 3 (safety
function) 7B.3 DB
observation function)
Encoder diagnosis error 4 (safety
7B.4 DB
observation function)
Functional safety unit Functional safety unit communication
communication diagnosis 7C.1 setting error (safety observation SD
(Note 7)
7C error function)
(safety observation Functional safety unit communication
7C.2 SD
function) data error (safety observation function) (Note 7)

7D.1 Stop observation error DB

(Note 3)
7D Safety observation error
7D.2 Speed observation error DB
(Note 7)
Master-slave operation
82 82.1 Master-slave operation error 1 EDB
error 1
84.1 Network card undetected error DB
Network card initialization
84 84.2 Network card initialization error 1 DB
error
84.3 Network card initialization error 2 DB
85.1 Network card error 1 SD
85 Network card error 85.2 Network card error 2 SD
85.3 Network card error 3 SD

8- 9
8. TROUBLESHOOTING

Alarm deactivation

Communication
Stop

Alarm reset

Cycling the
No. Name Detail No. Detail name method

power
reset
(Note 2, 3)

86.1 Network communication error 1 SD

Alarm

Network communication
86 86.2 Network communication error 2 SD
error
86.3 Network communication error 3 SD
USB communication USB communication time-out
time-out error/ 8A.1 error/serial communication time-out SD
serial communication error
8A time-out error/
Modbus RTU Modbus RTU communication time-out
communication time-out 8A.2 SD
error
error
8D.1 CC-Link IE communication error 1 SD
8D.2 CC-Link IE communication error 2 SD
8D.3 Master station setting error 1 DB
8D.5 Master station setting error 2 DB
CC-Link IE
8D 8D.6 CC-Link IE communication error 3 SD
communication error
8D.7 CC-Link IE communication error 4 SD
8D.8 CC-Link IE communication error 5 SD
8D.9 Synchronization error 1 SD
8D.A Synchronization error 2 SD
USB communication receive error/serial
8E.1 SD
communication receive error
USB communication checksum error/
8E.2 SD
serial communication checksum error
USB communication character error/
8E.3 SD
USB communication serial communication character error
error/ USB communication command error/
8E.4 SD
serial communication serial communication command error
8E
error/ USB communication data number
Modbus RTU 8E.5 error/serial communication data number SD
communication error error
Modbus RTU communication receive
8E.6 SD
error
Modbus RTU communication message
8E.7 SD
frame error
8E.8 Modbus RTU communication CRC error SD
88888 Watchdog 8888._ Watchdog DB

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.
2. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the driver without dynamic brake.)
[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]
EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the
specified servo motors will be DB.

Series Servo motor

LE-□-□ LE-T5-□, LE-T6-□, LE-T7-□, LE-T8-□
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to
DB using [Pr. PA04].
5. In some upper side communication status, the alarm factor may not be removed.
6. This alarm will occur only in the J3 compatibility mode.
7. Reset this while all the safety observation functions are stopped.

8 - 10
8. TROUBLESHOOTING

8.3 Warning list

Stop
No. Name Detail No. Detail name method
(Note 2, 3)
90.1 Home position return incomplete
Warning

Home position return Home position return abnormal

90 90.2
incomplete warning termination
90.5 Z-phase unpassed
Driver overheat warning
91 91.1 Main circuit device overheat warning
(Note 1)
Encoder battery cable disconnection
Battery cable 92.1
92 warning
disconnection warning
92.3 Battery degradation
ABS data transfer ABS data transfer requirement warning
93 93.1
warning during magnetic pole detection
95.1 STO1 off detection DB
95.2 STO2 off detection DB
STO warning 1 (safety observation
95.3 DB
function)
95 STO warning
STO warning 2 (safety observation
95.4 DB
function)
STO warning 3 (safety observation
95.5 DB
function)
96.1 In-position warning at home positioning
Command input warning at home
96.2
Home position setting positioning
96
warning 96.3 Servo off warning at home positioning
Home positioning warning during
96.4
magnetic pole detection
Positioning specification 97.1 Program operation disabled warning
97
warning 97.2 Next station position warning
Forward rotation-side software stroke
98.1
limit reached
98 Software limit warning
Reverse rotation-side software stroke
98.2
limit reached
99.1 Forward rotation stroke end off (Note 4)
99.2 Reverse rotation stroke end off (Note 4)
99 Stroke limit warning
99.4 Upper stroke limit off
99.5 Lower stroke limit off
Optional unit input data 9A.1 Optional unit input data sign error
9A
error warning 9A.2 Optional unit BCD input data error
9B.1 Excess droop pulse 1 warning
9B.3 Excess droop pulse 2 warning
9B Error excessive warning
Error excessive warning during 0 torque
9B.4
limit
9C Converter error 9C.1 Converter unit error
9D.1 Station number switch change warning
9D.2 Master station setting warning
9D CC-Link IE warning 1
9D.3 Overlapping station number warning
9D.4 Mismatched station number warning
9E CC-Link IE warning 2 9E.1 CC-Link IE communication warning
9F.1 Low battery
9F Battery warning
9F.2 Battery degradation warning
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning

8 - 11
8. TROUBLESHOOTING

Stop
No. Name Detail No. Detail name method
(Note 2, 3)
Thermal overload warning 1 during
Warning

E1.1
operation
Thermal overload warning 2 during
E1.2
operation
Thermal overload warning 3 during
E1.3
operation
E1 Overload warning 1
Thermal overload warning 4 during
E1.4
operation
E1.5 Thermal overload error 1 during a stop
E1.6 Thermal overload error 2 during a stop
E1.7 Thermal overload error 3 during a stop
E1.8 Thermal overload error 4 during a stop
Servo motor overheat
E2 E2.1 Servo motor temperature warning
warning
Multi-revolution counter travel distance
E3.1
excess warning
E3.2 Absolute position counter warning
Absolute position counter
E3 Absolute positioning counter EEP-ROM
warning E3.4
writing frequency warning
Encoder absolute positioning counter
E3.5
warning
E4 Parameter warning E4.1 Parameter setting range error warning
E5.1 Time-out during ABS data transfer
E5 ABS time-out warning E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6.1 Forced stop warning SD
SS1 forced stop warning 1 (safety
Servo forced stop E6.2 SD
E6 observation function)
warning
SS1 forced stop warning 2 (safety
E6.3 SD
observation function)
Upper side forced stop
E7 E7.1 Upper side forced stop input warning SD
warning
Cooling fan speed E8.1 Decreased cooling fan speed warning
E8
reduction warning E8.2 Cooling fan stop
Servo-on signal on during main circuit
E9.1 DB
off
Bus voltage drop during low speed
E9.2 DB
E9 Main circuit off warning operation
Ready-on signal on during main circuit
E9.3 DB
off
E9.4 Converter unit forced stop DB
EA ABS servo-on warning EA.1 ABS servo-on warning
The other axis error
EB EB.1 The other axis error warning DB
warning
EC Overload warning 2 EC.1 Overload warning 2
Output watt excess
ED ED.1 Output watt excess warning
warning
Instantaneous power failure tough drive
F0.1
F0 Tough drive warning warning
F0.3 Vibration tough drive warning
Drive recorder - Area writing time-out
Drive recorder - F2.1
F2 warning
Miswriting warning
F2.2 Drive recorder - Data miswriting warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning

8 - 12
8. TROUBLESHOOTING

Stop
No. Name Detail No. Detail name method
(Note 2, 3)
Target position setting range error
Warning

F4.4
warning
Acceleration time constant setting range
F4.6
error warning
F4 Positioning warning
Deceleration time constant setting
F4.7
range error warning
F4.8 Control command input error warning
F4.9 Home position return type error warning
Cam data - Area writing time-out
Simple cam F5.1
warning
F5 function - Cam data
F5.2 Cam data - Area miswriting warning
miswriting warning
F5.3 Cam data checksum error
Cam axis one cycle current value
F6.1
restoration failed
Cam axis feed current value restoration
Simple cam F6.2
failed
F6 function - Cam control
F6.3 Cam unregistered error
warning
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7.1 Vibration failure prediction warning
Machine diagnosis F7.2 Friction failure prediction warning
F7
warning Total travel distance failure prediction
F7.3
warning

Note 1. After resolving the source of trouble, cool the equipment for approximately 30
minutes.
2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the driver without dynamic brake.)
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of
SD can be changed to DB using [Pr. PA04].

8 - 13
8. TROUBLESHOOTING

8.4 Remedies for alarms

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the
alarm to restart operation. Otherwise, it may cause injury.
If [AL. 25 Absolute position erased] occurs, always make home position setting
CAUTION again. Otherwise, it may cause an unexpected operation.
As soon as an alarm occurs, make the Servo-off status and interrupt the main
circuit power.

POINT
When any of the following alarms occurs, do not deactivate the alarm repeatedly
to restart. Doing so will cause a malfunction of the driver and servo motor.
Remove its cause and allow 30 minutes or more for cooling, and then resume
the operation.
[AL. 30 Regenerative error] [AL. 45 Main circuit device overheat]
[AL. 46 Servo motor overheat] [AL. 50 Overload 1]
[AL. 51 Overload 2]
[AL. 37 Parameter error] is not recorded in the alarm history.

Refer to this section and remedies for alarms, remove the cause of the alarm.
Use Setup software (MR Configurator2TM) to refer for the cause of alarm occurrence.

8 - 14
8. TROUBLESHOOTING

Alarm No.: 10 Name: Undervoltage

The voltage of the control circuit power supply has dropped.
Alarm content
The voltage of the main circuit power supply has dropped.
Detail
Detail name Cause Check method Check result Action
No.
10.1 Voltage drop in (1) The control circuit power Check the connection It has a failure. Connect it correctly.
the control supply connection is of the control circuit
circuit power incorrect. power supply.
It has no failure. Check (2).
(2) The voltage of the Check if the voltage The voltage is the Review the voltage of the
control circuit power prescribed value or control circuit power supply.
of the control circuit
supply is low. lower.
power supply is
lower than The voltage is Check (3).
higher than the
prescribed value.
prescribed value.
160 V AC
(3) The power was cycled Check if the power has It has a problem. Cycle the power after the
before the internal a problem. seven-segment LED of
control circuit power the driver is turned off.
supply stopped.
It has no problem. Check (4).
(4) An instantaneous power Check if the power has It has a problem. Review the power.
failure has occurred for a problem.
longer time than the
specified time.
The time will be 60 ms
when [Pr. PA20] is "_ 0
_ _".
The time will be the
It has no problem. Check (5).
value set in [Pr. PF25]
when [Pr. PA20] is "_ 1
_ _".
The time will be 60 ms
when [Pr. PX25] is "_ 0
_ _" and the J3
extension function is
used. The time will be
the value set in [Pr.
PX28] when [Pr. PX25]
is "_ 1 _ _".

(5) When a power Check if the power has It has no problem. Review the setting of
regeneration converter a problem. "[AL. 10 Undervoltage]
is used, the voltage of When power supply detection method
the control circuit power impedance is high, selection" with the
supply is distorted. power supply voltage following parameters.
will be distorted due to [Pr. PC27]
current at power
regeneration, and it
may be recognized as
undervoltage.
10.2 Voltage drop in (1) The main circuit power Check the main circuit It is disconnected. Connect it correctly
the main circuit supply wiring was power supply wiring.
power disconnected. Check the main circuit
For the drive unit, the power supply wiring of
main circuit power the converter unit.
supply wiring of the It is connected. Check (2).
converter unit was
disconnected.
(2) The wiring between P3 Check the wiring It is disconnected. Connect it correctly.
and P4 was between P3 and P4. It is connected. Check (3).
disconnected. Check the wiring
For the drive unit, the between P1 and P2 of
wiring between P1 and the converter unit.
P2 of the converter unit
was disconnected.
(3) For the drive unit, the Check the magnetic It is disconnected. Connect it correctly.

8 - 15
8. TROUBLESHOOTING

magnetic contactor contactor control It has no failure. It is disconnected.

control connector of the connector of the
converter unit was converter unit.
disconnected.
(4) For the drive unit, the Check the bus bar It is disconnected. Connect it correctly.
bus bar between the between the converter
converter unit and drive unit and drive unit. It has no failure. Check (5).
unit was disconnected
(5) The voltage of the main Check if the voltage of The voltage is the Increase the voltage of
circuit power supply is the main circuit power prescribed value or the main circuit power
low. supply is the lower. supply.
prescribed The voltage is higher Check (6).
value or lower. than the prescribed
160 V AC value.
(6) The alarm has occurred Check if the bus The voltage is lower Increase the acceleration
during acceleration. voltage during than the prescribed time constant. Or
acceleration is lower value. increase the power
than the prescribed supply capacity.
value. The voltage is equal Check (7).
200 V DC to or higher than the
prescribed value.

Alarm No.: 12 Name: Memory error 1 (RAM)

Alarm content A part (RAM) in the driver is failure.
Detail
Detail name Cause Check method Check result Action
No.
12.1 RAM error 1 (1) A part in the driver is Disconnect the cables It is repeatable. Replace the driver.
failure. except for the control It is not repeatable Check (2).
circuit power supply,
and then check the
repeatability
(2) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. the surrounding against its cause.
12.2 RAM error 2 Check it with the check method for [AL. 12.1].
12.3 RAM error 3
12.4 RAM error 4
12.5 RAM error 5
12.6 RAM error 6

Alarm No.: 13 Name: Clock error

A part in the servo driver.
Alarm content
・A clock error transmitted from the controller occurred.
Detail
Detail name Cause Check method Check result Action
No.
13.1 Clock error 1 (1) A part in the driver is Disconnect the cables It is occurring. Replace the driver.
failure. except for the control
circuit power supply,
and then check the
repeatability.
(2) Something near the Check the power There is a problem in Take ountermeasures
device caused it. supply for noise. the surrounding. against its cause.
Check if the connector
is shorted.
13.2 Clock error 2 Check it with the check method for [AL. 13.1].

8 - 16
8. TROUBLESHOOTING

Alarm No.: 14 Name: Control process error

Alarm content ・The process did not complete within the specified time.
Detail
Detail name Cause Check method Check result Action
No.
14.1 Control process (1) The parameter setting Check if the It is incorrect. Set it correctly.
error 1 is incorrect. parameter setting
is incorrect.
It is correct. Check (3).
(2) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. the against its cause.
Check if the surrounding.
connector is There is no problem Check (4).
shorted in
the surrounding.
(3) The driver is Replace the driver, It is not repeatable. Replace the driver.
malfunctioning. and then check the
repeatability.
14.2 Control process (1) The parameter setting Check if the It is incorrect. Set it correctly.
error 2 is incorrect. parameter
setting is incorrect.
It is correct. Check (5).
(2) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. the surrounding. against its cause.
Check if the There is no problem Check (6).
connector is in the surrounding.
shorted.
(3) The driver is Replace the driver, It is not repeatable. Replace the driver.
malfunctioning. and then check the
repeatability.
14.3 Control process Check it with the check method for [AL. 14.1].
error 3
14.4 Control process
error 4
14.5 Control process
error 5
14.6 Control process
error 6
14.7 Control process
error 7
14.8 Control process
error 8
14.9 Control process
error 9
14.A Control process
error 10
14.B Control process (1) The parameter setting Check if the It is incorrect. Set it correctly.
error 11 is incorrect. parameter It is correct. Check (3).
setting is incorrect.
(2) Something near the Check the power It has a failure. Take countermeasures
device caused it. supply against its cause.
for noise. Check if It has no failure. Check (4).
the connector is
shorted.
(3) The driver is Replace the driver, It is not repeatable. Replace the driver.
malfunctioning and then check
the repeatability.
14.C Control process Check it with the check method for [AL. 14.B].
error 12
14.D Control process
error 13

8 - 17
8. TROUBLESHOOTING

Alarm No.: 15 Name: Memory error 2 (EEP-ROM)

Alarm content A part (EEP-ROM) in the driver is failure.
Detail
Detail name Cause Check method Check result Action
No.
15.1 EEP-ROM error (1) EEP-ROM is Disconnect the cables It is repeatable. Replace the driver.
at power on malfunctioning at power except for the control
on. circuit power supply, It is not repeatable. Check (2).
and then check the
repeatability.
(2) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. Check the surrounding. against its cause.
if the connector is There is no problem Check (3).
shorted in the surrounding.
(3) The number of write Check if parameters, It was changed. Replace the driver. Change
times exceeded point tables, or the process to use
100,000. programs parameters, point tables, and
are changed very programs less frequently
frequently. after replacement.
15.2 EEP-ROM error (1) EEP-ROM is Check if the error It occurs. Replace the driver.
During malfunctioning during occurs
operation normal operation. when you change
parameters during
It does not occur. Check (3).
normal operation.
(2) A write error occurred Check if the alarm It takes an hour or Replace the driver.
while adjustment results occurs after an hour more
were processed. from power on. It takes less than an Check (4).
hour.
(3) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply the surrounding. against its cause.
for noise. Check if the
connector is shorted.
15.4 Home position (1) EEP-ROM is Disconnect the cables It is repeatable. Replace the driver.
information malfunctioning at power except for the control
circuit power supply, It is not repeatable. Check (2).
read error on.
and then check the
repeatability.
(2) Multiple rotation data Check if the home It is repeatable. Replace the driver.
saved as a home position was set
position and read from correctly. It is not repeatable. Check (3).
EEP-ROM were failure.
(3) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. Check the surrounding. against its cause.
if the connector is There is no problem Check (4).
shorted. in the surrounding.
(4) The number of write Check if parameters It was changed. Replace the driver. Change
times exceeded has been used very the process to use
100,000. frequently. parameters less frequently
after replacement.

8 - 18
8. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content An error occurred in the communication between an encoder and driver.
Detail
Detail name Cause Check method Check result Action
No.
16.1 Encoder initial (1) An encoder cable is Check if the encoder It has a failure. Replace or repair the
communication malfunctioning. cable is disconnected cable.
- Receive data or shorted.
error 1
It has no failure. Check (2).
(4) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability. It is repeatable. Check (5).
(5) An encoder is Replace the servo It is not repeatable. Replace the servo motor
malfunctioning. motor, and then check
the repeatability. It is repeatable. Check (6).
(6) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
vibration, etc.
16.2 Encoder initial Check it with the check method for [AL. 16.1].
communication
- Receive data
error 2

8 - 19
8. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content An error occurred in the communication between an encoder and driver
Detail
Detail name Cause Check method Check result Action
No.
16.3 Encoder initial (1) An encoder cable was Check if the encoder It is not connected Connect it correctly.
communication disconnected. cable is connected It is connected. Check (3).
- Receive data correctly.
error 3 (2) The parameter setting Check the parameter The setting is incorrect. Set it correctly.
of communication setting.
method is incorrect.
The setting is correct. Check (4).

(3) An encoder cable is Check if the encoder The setting is incorrect. Set it correctly.
malfunctioning. cable is disconnected The setting is correct. Check (5).
or
shorted.
(5) The voltage of the Check the voltage of An instantaneous power Review the power and
control circuit power the control circuit failure is occurring at the related parts
supply has been power supply. control circuit power
unstable. supply.
It has no failure. Check (8).
(6) The driver is Replace the driver, and It is not repeatable. Replace thedriver.
malfunctioning. then check the It is repeatable. Check (9).
repeatability.
(7) An encoder is Replace the servo It is not repeatable. Replace the servo
malfunctioning. motor,and then check motor
the repeatability. It is repeatable. Check (10).
(8) Something near the Check the noise, There is a problem in the Take countermeasures
device caused it. ambient temperature, surrounding. against its cause.
vibration,etc.
16.5 Encoder initial Check it with the check method for [AL. 16.1].
communication
- Transmission
data error 1
16.6 Encoder initial
communication
- Transmission
data error 2
16.7 Encoder initial
communication
- Transmission
data error 3

8 - 20
8. TROUBLESHOOTING

Alarm No.: 16 Name: Encoder initial communication error 1

Alarm content An error occurred in the communication between an encoder and driver.
Detail Detail name
Cause Check method Check result Action
No.
16.A Encoder initial (1) The driver is Replace the driver, and It is not repeatable. Replace the driver.
communication malfunctioning. then check the It is repeatable. Check (2).
- Process error repeatability.
1 (2) An encoder is Replace the servo It is not repeatable. Replace the driver.
malfunctioning. motor, and then check It is repeatable. Check (3 ).
the repeatability
(3) Something near the Check the noise, There is a problem in Take
device caused it. ambient the surrounding. countermeasures
temperature, vibration, against its cause.
etc.
16.B Encoder initial Check it with the check method for [AL. 16.A].
communication
- Process error
2
16.C Encoder initial
communication
- Process error
3
16.D Encoder initial
communication
- Process error
4
16.E Encoder initial
communication
- Process error
5
16.F Encoder initial
communication
- Process error
6

Alarm No.: 17 Name: Board error

Alarm content A part in the driver is malfunctioning.
Detail
Detail name Cause Check method Check result Action
No.
17.1 Board error 1 (1) A current detection Check if the alarm It occurs. Replace the driver.
circuit is occurs It does not occur. Check (2).
malfunctioning. during the servo-on
status.
(2) Something near the Check the noise, There is a problem Take countermeasures
device caused it. ambient in the surrounding. against its cause.
temperature, etc.
17.3 Board error 2 Check it with the check method for [AL. 17.1].

17.4 Board error 3 (1) The driver recognition Disconnect the cables It is repeatable. Replace the driver.
signal was not read except for the control It is not repeatable. Check (2).
properly. circuit power supply,
and then check the
repeatability.
(2) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc.
17.7 Board error 7 (1) Check it with the check method for [AL. 17.4].

8 - 21
8. TROUBLESHOOTING

Alarm No.: 19 Name: Memory error 3 (Flash-ROM)

Alarm content A part (Flash-ROM) in the driver is failure.
Detail
Detail name Cause Check method Check result Action
No.
19.1 Flash-ROM (1) The Flash-ROM is Disconnect the cables It is repeatable. Replace the driver.
error 1 malfunctioning. except for the control
circuit power supply, It is not repeatable. Check (2).
and then check the
repeatability.
(2) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc.
19.2 Flash-ROM Check it with the check method for [AL. 19.1].
error 2
19.3 Flash-ROM
error 3

Alarm No.: 1A Name: Servo motor combination error

Alarm content ・The combination of driver and servo motor is incorrect.
Detail
Detail name Cause Check method Check result Action
No.
1A.1 Servo motor (1) The driver and the Check the model name The combination is Use them in the correct
combination servo motor was of the servo motor and incorrect. combination.
error 1 connected incorrectly. corresponding driver. The combination is Check (2).
correct.
(2) The setting of [Pr. Check the [Pr. PA01] The combination is Set [Pr. PA01] correctly.
PA01] is not setting. incorrect. When using a linear
corresponding to Rotary servo motor: "0" servo motor, also check (3).
the connected servo The combination is Check (3).
motor. correct.
(3) An encoder is Replace the servo motor, It is not repeatable. Replace the servo motor
malfunctioning. and then check the
repeatability.
1A.2 Servo motor (1) The setting of [Pr. Check the [Pr. PA01] The combination is Set [Pr. PA01] correctly.
control mode PA01] is not setting. incorrect.
combination corresponding to Rotary servo motor: "0"
error the connected servo
motor
(2) When the fully closed Check the connection The connection Connect it correctly.
loop control mode is destination of the destination of the
selected, encoders of encoder. encoder is incorrect
the servo motor side
and the machine side
are connected
reversely.
1A.4 Servo motor (1) Thedriver is Replace the driver, and It is not repeatable. Replace the driver.
combination malfunctioning. then check the
error 2 repeatability.

Alarm No.: 1B Name: Converter alarm

Alarm content An alarm occurred in the converter unit during the servo-on.
Detail
Detail name Cause Check method Check result Action
No.
1B.1 Converter unit (1) The protection Check the protection It is not connected. Connect it correctly.
error coordination cable is coordination cable It is connected. Check
not correctly connected connection. (2).
It is connected. Check (2).
(2) An alarm occurred in Check the alarm of the converter unit, and take the action following the
the converter unit remedies for alarms of the converter unit.
during the servo-on.

8 - 22
8. TROUBLESHOOTING

Alarm No.: 1E Name: Encoder initial communication error 2

Alarm content An encoder is malfunctioning.
Detail
Detail name Cause Check method Check result Action
No.
1E.1 Encoder (1) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunction malfunctioning. motor, and then check
the repeatability. It is repeatable. Check (2).
(2) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, vibration,
etc.

Alarm No.: 1F Name: Encoder initial communication error 3

Alarm content The connected encoder is not compatible with the driver.
Detail
Detail name Cause Check method Check result Action
No.
1F.1 Incompatible (1) A servo motor encoder, Check the model of the It is not compatible Replace it with a
encoder which is not compatible servo motor encoder. with the driver. compatible one.
with the driver, was
connected.
It is compatible with Check (2).
the driver.
(2) The software version of Check if the software It is not compatible. Replace the driver to one
the driver does not version supports the which software version
support the servo motor. servo motor encoder. supports the servo motor
encoder
It is compatible. Check (3).
(3) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor, and then check
It is repeatable Replace the driver.
the repeatability.

8 - 23
8. TROUBLESHOOTING

Alarm No.: 20 Name: Encoder normal communication error 1

Alarm content An error occurred in the communication between an encoder and driver.
Detail
Detail name Cause Check method Check result Action
No.
20.1 Encoder normal (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the cable.
communication malfunctioning. cable is disconnected It has no failure. Check (2).
- Receive data or shorted. When you
error 1 use an A/B/Z-phase
differential output linear
encoder, check the
wiring of the linear
encoder.
(2) The external conductor Check if it is It is not connected. Connect it correctly.
of the encoder cable is connected. It is connected. Check (3).
not connected to the
ground plate of the
connector.
(3) The parameter setting Check the parameter The setting is Set it correctly.
of communication setting. incorrect.
method is incorrect.
[Pr. PC22] The setting is Check (4).
correct.
(4) In the parallel drive Check the parameter The setting is Set it correctly.
system, the setting of setting. incorrect.
[Pr. PF40] is incorrect. The setting is Check (5).
correct.
(5) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the It is repeatable. Check (6).
repeatability.
(6) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor, and then check
the repeatability. It is repeatable. Check (7).
(7) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
vibration,etc.
20.2 Encoder normal Check it with the check method for [AL. 20.1].
communication
- Receive data
error 2
20.3 Encoder normal
communication
- Receive data
error 3
20.5 Encoder normal (2) An encoder cable is Check it with the check method for [AL. 20.1].
communication malfunctioning.
- Transmission
data error 1
(3) The external conductor
of the encoder cable is
not connected to the
ground plate of the
connector.
(5) The driver is
malfunctioning.
(6) An encoder is
malfunctioning.
(7) Something near the
device caused it.

8 - 24
8. TROUBLESHOOTING

Alarm No.: 20 Name: Encoder normal communication error 1

Alarm content An error occurred in the communication between an encoder and driver.
Detail
Detail name Cause Check method Check result Action
No.
20.6 Encoder (2) An encoder cable is Check it with the check method for [AL. 20.1].
normal malfunctioning.
communication (3) The external conductor
- Transmission of the encoder cable is
data error 2 not connected to the
ground plate of the
connector.
(4) When you use an A/B/
Z-phase differential
output linear encoder,
the parameter setting is
incorrect.
(5) The driver is
malfunctioning.
(6) An encoder is
malfunctioning.
(7) Something near the
device caused it.
20.7 Encoder normal Check it with the check method for [AL. 20.1].
communication
- Transmission
data error 3
20.9 Encoder normal
communication
- Receive data
error 4
20.A Encoder normal
communication
- Receive data
error 5

8 - 25
8. TROUBLESHOOTING

Alarm No.: 21 Name: Encoder normal communication error 2

Alarm content The encoder detected an error signal.
Detail
Detail name Cause Check method Check result Action
No.
21.1 Encoder data (1) The encoder detected a Decrease the loop It is not repeatable. Use the encoder with low
error 1 high speed/acceleration gain, and then check loop gain.
rate due to an oscillation the repeatability.
or other factors.
It is repeatable. Check (2).
(2) The external conductor Check if it is It is not connected. Connect it correctly.
of the encoder cable is connected. It is connected. Check (3).
not connected to the
ground plate of the
connector.
(3) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor, It is repeatable. Check (4).
and then check the
repeatability.
(4) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the against its cause.
temperature, vibration, surrounding.
etc.
21.2 Encoder data (1) An encoder is Replace the servo It is not repeatable. Replace the servo motor
update error malfunctioning. motor,
and then check the It is repeatable. Check (2).
repeatability.

(2) The external conductor Check if it is It is not connected. Connect it correctly.

of the encoder cable is connected
not connected to the It is connected. Check (3).
ground plate of the
connector.
(3) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the against its cause
temperature, etc. surrounding.
21.3 Encoder data Check it with the check method for [AL. 21.2].
waveform error
21.4 Encoder (1) A signal of the encoder Check if the encoder It has a failure. Review the wiring.
nonsignal has not been inputted. cable is wired
error correctly
It has no failure. Check (2).
(2) The external conductor Check if it is It is not connected. Connect it correctly.
of the encoder cable is connected.
not connected to the It is connected. Check (3).
ground plate of the
connector.
(3) Something near the
device caused it.
21.5 Encoder Check it with the check method for [AL. 21.2].
hardware error
1
21.6 Encoder
hardware error
2
21.9 Encoder data Check it with the check method for [AL. 21.1].
error 2

8 - 26
8. TROUBLESHOOTING

Alarm No.: 24 Name: Main circuit error

・A ground fault occurred on the servo motor power lines.
Alarm content
・A ground fault occurred at the servo motor.
Detail
Detail name Cause Check method Check result Action
No.
24.1 Ground fault (1) The driver is Disconnect the servo It occurs. Replace the driver.
detected by malfunctioning. motor power cables
hardware (U/V/ W) and check if
detection the alarm occurs. It does not occur. Check (2).
circuit

(2) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (3).
(3) A ground fault occurred Disconnect the servo It is shorted. Replace the servo motor.
at the servo motor. motor power cables on
motor side, and check
insulation of the motor It is not shorted. Check (4).
(between U/V/W/ ).

(4) The main circuit power Shut off the power, and They are in contact. Correct the wiring.
supply cable and servo check if the main circuit
motor power cable power supply cable and
were shorted. servo motor power cableThey are not in Check (5).
are in contact. contact.

(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, etc.
24.2 Ground fault (1) The driver is Disconnect the servo It occurs. Replace the driver.
detected by malfunctioning. motor power cable
software (U/V/W), and check if It does not occur. Check (3).
detection the alarm occurs.
function (2) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (4).
(3) A ground fault occurred Disconnect the servo It is shorted. Replace the servo motor.
at the servo motor. motor power cables on
motor side, and check It is not shorted. Check (5).
insulation between
phases (U/V/W/ ).
(4) The main circuit power Shut off the power, and They are in contact. Correct the wiring.
supply cable and servo check if the main circuit
motor power cable power supply cable and They are not in Check (6).
were servo motor power contact.
shorted. cable are in contact.
(5) Something near the Check the noise, There is a problem in
device caused it. ambient temperature, the surrounding.
etc.

8 - 27
8. TROUBLESHOOTING

Alarm No.: 25 Name: Absolute position erased

・The absolute position data is faulty.
・Power was switched on for the first time in the absolute position detection system.
Alarm content
・After the scale measurement encoder was set to the absolute position detection system, the power
was switched on for the first time.
Detail
Detail name Cause Check method Check result Action
No.
25.1 Servo motor (1) Power was switched on Check if this is the first This is the first time. Check that the battery is
encoder - for the first time in the
time you switched on mounted correctly, and
Absolute absolute position the power in the make home position
position erased detection system. absolute position return.
detection system.
This is not the first Check (2).
time.
(2) 1) When a battery Check if the battery It was removed. Check that the battery is
Battery case was used, was removed in this mounted correctly, and
CN4 of the driver was way when the control make home position
disconnected during circuit power supply return.
control circuit power was off.
supply off.

(6) The battery voltage is Check the battery It is less than 3 V Replace the battery.
low. The battery is voltage with a tester. DC.
consumed. It is 3 V DC or Check (7).
more.
(7) The voltage has Check if a It is not used. Use a recommended
dropped greatly in the recommended wire.
encoder cable wired to cable is used for the It is used. Check (8).
the battery. encoder cable.
(8) A battery cable is Check for the loose It has a failure. Replace the battery
malfunctioning. connection with a cable.
tester. It has no failure. Check (9).
(9) There is a loose Check for the loose It has a failure. Repair or replace the
connection of the connection with a encoder cable.
encoder cable on the tester.
It has no failure. Check (10).
servo motor side. Measure the voltage on
the servo motor side.
(11) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the It is repeatable. Check (12).
repeatability.
(12) An encoder is Replace the servo It is not repeatable. Replace the servo motor
malfunctioning. motor,and then check
the repeatability.

8 - 28
8. TROUBLESHOOTING

Alarm No.: 2B Name: Encoder counter error

Alarm content Data which encoder created is failure.
Detail
Detail name Cause Check method Check result Action
No.
2B.1 Encoder (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the
counter error 1 malfunctioning. cable is disconnected cable.
or shorted. It has no failure. Check (2).
(2) The external conductor Check if it is It is not connected. Connect it correctly.
of the encoder cable is connected. It is connected. Check (3).
not connected to the
ground plate of the
connector.
(3) Something near the Check the noise, There is a problem in Take
device caused it. ambient the surrounding. countermeasures
temperature, vibration, against its cause.
etc. There is no problem Check (4).
in
the surrounding.
(4) An encoder is Replace the direct drive It is not repeatable. Replace the direct
malfunctioning. motor, and then check Replace drive motor.
the repeatability.
2B.2 Encoder Check it with the check method for [AL. 2B.1].
counter error 2

Alarm No.: 30 Name: Regenerative error

Permissible regenerative power of the built-in regenerative resistor or regenerative option is
Alarm content exceeded.
・A regenerative transistor in the driver is malfunctioning.
Detail
Detail name Cause Check method Check result Action
No.
30.1 Regeneration (1) The setting of the Check the regenerative The setting value is Set it correctly.
heat error regenerative resistor resistor (regenerative incorrect.
(regenerative option) is option) and [Pr. PA02] It is set correctly. Check (2).
incorrect. setting.
(2) The regenerative Check if the It is not connected Connect it correctly
resistor (regenerative regenerative correctly.
option) is not connected. resistor (regenerative It is connected Check (3).
option) is connected correctly.
correctly.
(3) The combination of Check if the The combination is Use them in the
regenerative resistor regenerative resistor incorrect. correct combination.
(regenerative option) and (regenerative option) The combination is Check (4).
driver is incorrect. and the driver are correct.
connected in the
specified combination.
(4) The power supply Check if the voltage of It is higher than the Reduce the power
voltage is high. the input power supply prescribed value. supply voltage.
is over the prescribed
value.
264 V AC
It is at the prescribed Check (5).
value or lower.

8 - 29
8. TROUBLESHOOTING

(5) The regenerative load Check the regenerative It is 100% or more Reduce the frequency of
ratio exceeded 100%. load ratio when alarm positioning. Increase the
occurs. deceleration time
constant. Reduce the
load. Use a regenerative
option if it is not being
used. Review the
regenerative option
capacity.
30.2 Regeneration (1) A detection circuit of the Check if the It is overheating Replace the driver.
signal error driver is regenerative abnormally.
malfunctioning. resistor (regenerative
option) is
overheating.
30.3 Regeneration (1) A detection circuit of the Remove the The alarm occurs. Replace thedriver.
feedback signal driver is malfunctioning. regenerative option or The alarm does not Check (2).
error built-in regenerative occur.
resistor, and then
check if the alarm
occurs at power on.
(2) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ground fault, ambient the surrounding. against its cause.
temperature, etc.

Alarm No.: 31 Name: Overspeed

Alarm content ・The servo motor speed has exceeded the instantaneous permissible speed.
Detail
Detail name Cause Check method Check result Action
No.
31.1 Abnormal motor (1) The command pulse Check the command The command pulse Check operation pattern.
speed frequency is high. pulse frequency. frequency is high.
The command pulse Check (2).
frequency is low.
(2) The settings of the Check the setting value The setting value is Review the settings.
electronic gear are of the electronic gear. incorrect.
incorrect. The setting value is Check (5).
correct.
(3) The servo motor was at Check if the torque It is the maximum Increase the
the maximum torque (thrust) at the time of torque acceleration/deceleration
(maximum thrust) at the acceleration is the (maximum thrust). time constant. Or reduce the
time of acceleration. maximum torque load.
(maximum thrust). It is less than the Check (6).
[GF]
maximum torque
(maximum thrust).
(4) The servo system is Check if the servo It is oscillating. Adjust the servo gain. Or
unstable and motor reduce the load.
oscillating. is oscillating. It is not oscillating. Check (7).
(5) The velocity waveform Check if it is It is overshooting. Increase the
has overshot. overshooting because acceleration/deceleration
the acceleration time time constant.
constant is too short. It is not Check (8).
overshooting.
(7) The connection of the Check the wiring of It is incorrect. Set it correctly.
servo motor is U/V/W.
incorrect. It is correct. Check (11).
(8) The encoder or linear Check if the alarm is It is occurring during Replace the servo motor.
encoder is occurring during less less than
malfunctioning. than instantaneous instantaneous
permissible speed. permissible speed.

8 - 30
8. TROUBLESHOOTING

Alarm No.: 32 Name: Overcurrent

Alarm content ・A current higher than the permissible current was applied to the driver.
Detail
Detail name Cause Check method Check result Action
No.
32.1 Overcurrent (1) The driver is Disconnect the servo It occurs. Replace the driver.
detected at malfunctioning. motor power cables
hardware (U/V/W) and check if
detection circuit the alarm occurs. It does not occur. Check (2).
(during
operation)
(2) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (3).
(3) The servo motor is Disconnect the servo A ground fault is Replace the servo motor.
malfunctioning. motor power cables on occurring.
motor side, and check
insulation of the A ground fault is not Check (4).
motor (between occurring.
U/V/W/ /―)
(4) The dynamic brake is Check if the alarm It occurs. Replace the driver.
malfunctioning. occurs It does not occur. Check (7).
when you turn on the
servo-on command.
(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc. There is no problem Check it with the check
in the surrounding method for [AL. 45.1].

Alarm No.: 32 Name: Overcurrent

Alarm content ・A current higher than the permissible current was applied to the driver.
Detail
Detail name Cause Check method Check result Action
No.
32.2 Overcurrent (1) The servo gain is high. Check if an oscillation An oscillation is Reduce the speed loop
detected at is occurring. occurring. gain ([Pr. PB09]).
software An oscillation is not Check (2).
detection occurring.
function (during
(2) The driver is Disconnect the servo It occurs. Replace the driver.
operation)
malfunctioning. motor power cables It does not occur. Check (3).
(U/V/W) and check if
the alarm occurs.
(3) A ground fault or short Check if only the servo It is shorted. Replace the servo motor
occurred at the servo motor power cable is power cable.
motor power cable. shorted. It is not shorted. Check (4).
(4) The servo motor is Disconnect the servo A ground fault is Replace the servo motor.
malfunctioning. motor power cables on occurring.
motor side, and check
insulation of the motor A ground fault is not Check (5).
(between U/V/W/ / ). occurring.

(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc.
32.3 Overcurrent Check it with the check method for [AL. 32.1].
detected at
hardware
detection circuit
(during a stop)
32.4 Overcurrent Check it with the check method for [AL. 32.2].
detected at
software
detection
function (during
a stop))

8 - 31
8. TROUBLESHOOTING

Alarm No.: 33 Name: Overvoltage

Alarm content ・The value of the bus voltage exceeded the prescribed value.
Detail
Detail name Cause Check method Check result Action
No.
33.1 Main circuit (1) The setting of the Check the regenerative The setting value is Set it correctly.
voltage error regenerative resistor resistor (regenerative incorrect.
(regenerative option) is option) and [Pr. PA02] It is set correctly. Check (2).
incorrect. setting.
(2) The regenerative Check if the It is not connected Connect it correctly.
resistor (regenerative regenerative correctly.
option) is not connected.resistor (regenerative It is connected Check (3).
option) is connected correctly.
correctly.
(3) Wire breakage of builtin Measure the resistance The resistance is When using a built-in
regenerative resistor of the built-in abnormal. regenerative resistor, replace
or regenerative option regenerative resistor or the driver. When using a
regenerative option. regenerative option, replace
the regenerative option.
The resistance is Check (4).
normal.
(4) The regeneration Set a longer It is not repeatable. When using a built-in
capacity is insufficient. deceleration time regenerative resistor, use
constant, and then a regenerative option.
check the repeatability. When using a regenerative
option, use a larger capacity
one.
It is repeatable. Check (5).
(5) Power supply voltage Check if the voltage of It is higher than the Reduce the power supply
high. the input power supply prescribed value. voltage.
is over the prescribed It is at the prescribed Check (6).
value. value or lower.
264 V AC
(6) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, etc.

Alarm No.: 35 Name: Command frequency error

Alarm content Input pulse frequency of command pulse is too high.
Detail
Detail name Cause Check method Check result Action
No.
35.1 Command (1) The command pulse Check the command The command pulse Check operation
frequency error frequency is high. pulse frequency. frequency is high. pattern.
The command pulse Check (2).
frequency is low.
(2) The setting of Check if the command It is out of setting Review the filter
"Command input pulse pulse frequency is range. setting.
train filter selection" in within the setting range It is within the setting Check (6).
[Pr. PA13] is not of the filter. range.
correct.
(3) Inputted frequency with a Check the inputted The command pulse Reduce the inputted
manual pulse frequency of the frequency is high. frequency of the
generator is high. manual pulse generator manual pulse
generator.
The command pulse Check (6).
frequency is low.

(4) Something near the Check the noise, There is a problem in Take ountermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc.

8 - 32
8. TROUBLESHOOTING

Alarm No.: 37 Name: Parameter error

・Parameter setting is incorrect.
Alarm content
・Point table setting is incorrect.
Detail
Detail name Cause Check method Check result Action
No.
37.1 Parameter (1) A parameter was set Check the parameter It is out of setting Check operation pattern.
setting range out of setting range. error No. and setting range.
error value. It is within the setting Check (2).
range.
(2) A parameter setting Check the parameter A setting value is Review the filter setting.
contradicts another. error No. and setting incorrect.
value. A setting value is Check (6).
correct.
(3) The parameter setting Replace thedriver, and It is not repeatable. Replace the driver.
has changed due to a then check the
driver repeatability.
malfunction.
37.2 Parameter (1) A parameter setting Check the parameter A setting value is Correct the setting value.
combination contradicts another. error No. and setting incorrect. (When the master-slave
error value. function is set, also
check (2).)
37.3 Point table (1) The setting of point Check if the setting of A setting value is Correct the setting value.
setting error tables is incorrect. point tables is within incorrect.
the setting range.
Check the parameter
error No. and point
Check (2).
table error No. with the A setting value is
point table error No. correct.
display on the display
of the driver. Or check
the setting value with
the point table display
of setup software (MR
Configurator2TM).
(2) A point table setting has Replace the driver, and It is not repeatable. Replace the driver.
changed due to a driver then check the
malfunction. repeatability.

8 - 33
8. TROUBLESHOOTING

Alarm No.: 39 Name: Program error

Alarm content A program used for the program operation is incorrect.
Detail
Detail name Cause Check method Check result Action
No..
39.1 Program error (1) A checksum of the Check if an error It has a failure. Rewrite the program.
program did not match occurred (such as It has no failure. Check (2).
at power-on. (The entered noise, power-
program has an error.) off) at program write.
(2) A program has changed Replace the driver, and It is not repeatable. Replace the driver.
due to a driver then check
malfunction. the repeatability.

39.2 Instruction (1) A program has never Check if a program It was not executed. Write the program.
argument been written since was written.
external error program initialization.
It was executed. Check (3).

(2) A command argument Check if the command It has a failure. Correct the command
is using a value out of description has a description.
specifications. failure. It has no failure. Check (3).

(3) A program has changed Replace the driver, and It is not repeatable. Replace the driver.
due to a driver then check the
malfunction. repeatability.
39.3 Register No. (1) A specified number of Check if the command It has a failure. Correct the command
error the general purpose description has a description.
register used for a failure. Check (2).
It has no failure.
command is a value out
of specifications.
(2) A program has changed Replace the driver, and It is not repeatable. Replace the driver.
due to a driver then check the
malfunction. repeatability.
39.4 Noncorresponde (1) A used command is not Check if the command It has a failure. Correct the command
nce correspondent to the description has a description.
instruction error program. failure. It has no failure. Check (2).
(2) A program has changed Replace the driver, and It has no failure. Replace the driver.
due to a driver then check the
malfunction. repeatability.

Alarm No.: 3A Name: Inrush current suppression circuit error

Alarm content The inrush current suppression circuit error was detected.
Detail
Detail name Cause Check method Check result Action
No.
3A.1 Inrush current (1) Inrush current Replace the driver, and It is not repeatable. Replace the driver.
suppression suppressor circuit is then check the
circuit error malfunctioning. repeatability.

Alarm content Name: Operation mode error

Alarm content ・The operation mode setting was changed.
Detail
Detail name Cause Check method Check result Action
No.
3E.6 Operation mode (1) A method of positioning Check if the positioning It was changed. After changing the
switch error data memorized in the mode (point table (with a purpose) positioning mode,
driver (point method/program After changing the initialize the point table
table method/program method) was changed. positioning mode, method/ program method.
method) is different Positioning mode: initialize (Refer to section
from the actual [Pr. PA01] "_ _ _ x" 7.2.8 [Pr. PT34] of "MRJ4-_
positioning mode (point A_-RJ driver Instruction
table method/program Manual (Positioning
method). Mode)")
It was changed by Set the positioning mode
mistake. back to the correct setting.

8 - 34
8. TROUBLESHOOTING

Alarm No.: 45 Name: Main circuit device overheat

Alarm content ・Inside of the driver overheated.
Detail
Detail name Cause Check method Check result Action
No.
45.1 Main circuit (1) Ambient temperature Check the ambient It is over 55 ℃. Lower the ambient
device overheat has exceeded 55 ℃.. temperature. temperature.
error 1 It is less than 55℃. Check (2).
(2) The close mounting is Check the It is out of Use within the range of
out of specifications. specifications specifications. specifications.
of close mounting.
It is within Check (3).
specifications.
(3) Turning on and off were Check if the overload It occurred. Check operation pattern.
repeated under the status occurred many It did not occur. Check (4).
overload status. times.
(4) A cooling fan, heat sink,
Clean the cooling fan, It is not repeatable. Clean it periodically.
or openings is clogged heat sink, or openings, It is repeatable. Check (5).
with foreign matter. and then check the
repeatability.
(5) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check
the repeatability.
45.2 Main circuit (1) Check it with the check method for [AL. 45.1].
device overheat
error 2

8 - 35
8. TROUBLESHOOTING

Alarm No.: 46 Name: Servo motor overheat

Alarm content ・The servo motor overheated.
Detail
Detail name Cause Check method Check result Action
No.
46.1 Abnormal (1) Ambient temperature of Check the ambient It is over 40℃ Lower the ambient
temperature of the servo motor has temperature of the temperature.
servo motor 1 exceeded 40℃. servomotor. It is less than 40 ℃ Check (2).
(2) Servo motor is Check the effective The effective load Reduce the load or
overloaded. load ratio. ratio is high. review the operation
pattern.
The effective load Check (3).
ratio is small.
(3) The thermal sensor in Check the servo motor The servo motor Replace the servo motor.
the encoder is temperature when the temperature is low.
malfunctioning. alarm occurs.
46.3 Thermistor (1) In the parallel drive Check the settings of It is not set Set the parameter and the
disconnected system, the parameter [Pr.PF37 Parallel drive correctly. axis number
error settings and the axis -Encoder ID setting 1]. correctly.
number settings are Check if the setting of It is set correctly. Check (2).
incorrect. [Pr. PF40 Parallel drive
-Servo motor side
system setting]
matches the
setting of the axis
number set with the
combination of SW2-3,
SW2-4, and SW1.
(2) In the parallel drive Check if the encoder It is not connected. Connect the encoder
system, the encoder cable from the servo cable of the servo motor to
cable from the servo motor is connected to the encoder master
motor is not connected the encoder master driver.Connect the encoder
to the encoder master driver. master driver and the
driver. encoder slave driver in the
order of the axis number.
It is connected. Check (3).
(3) A thermistor wire is not Check the thermistor It is not connected. Connect it correctly.
connected. wire. It is connected. Check (4).
(5) The thermistor wire is Check the thermistor It is disconnected. Repair the lead wire.
disconnected. wire. It is not Replace the servo motor.
disconnected.
46.4 Thermistor (1) A thermistor circuit of Replace the driver, and It is not repeatable. Replace the driver.
circuit error the driver is then check the
malfunctioning. repeatability
46.5 Abnormal Check it with the check method for [AL. 46.1].
temperature of
servo motor 3
46.6 Abnormal (1) A current was applied to Check the effective The effective load Reduce the load or
temperature of the driver in load ratio. ratio is high. review the operation
servo motor 4 excess of its continuous pattern. Or use a larger
output current. capacity motor.

8 - 36
8. TROUBLESHOOTING

Alarm No.: 47 Name: Cooling fan error

・The speed of the driver cooling fan decreased.
Alarm content
・Or the fan speed decreased to the alarm occurrence level or less.
Detail
Detail name Cause Check method Check result Action
No.
47.1 Cooling fan stop (1) Foreign matter was Check if a foreign Something has been Remove the foreign
error caught in the cooling matter is caught in the caught. matter.
fan. cooling fan. Nothing has been Check (2).
caught.
(2) Cooling fan life expired. Check if the cooling fan It is stopping. Replace the driver.
is stopping.
47.2 Cooling fan (1) Foreign matter was Check if a foreign Something has been Remove the foreign
speed reduction caught in the cooling matter is caught in the caught. matter.
error fan. cooling fan. Nothing has been Check (2).
caught.
(2) Cooling fan life expired. Check the cooling fan The fan speed is less Replace the driver.
speed. than the alarm
occurrence level.

Alarm No.: 50 Name: Overload 1

Alarm content Load exceeded overload protection characteristic of driver.
Detail
Detail name Cause Check method Check result Action
No.
50.1 Thermal (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
overload error 1 cable was power cable. servo motor power cable.
during disconnected.
operation It is not Check (2).
isconnected.
(2) The connection of the Check the wiring of It is incorrect. Connect it correctly.
servo motor is U/V/ W.
incorrect.
It is correct. Check (3).
(3) The electromagnetic Check if the It is not released. Release the
brake has not released. electromagnetic brake electromagnetic brake.
(The electromagnetic is released during It is released. Check (4).
brake has been operation.
activated.)
(5) A current was applied to Check the effective The effective load Reduce the load. Or use
the driver in excess of its load ratio. ratio is high. a larger capacity motor.
continuous output
current.
The effective load Check (6).
ratio is small.
(6) The servo system is Check if it is It is resonating. Adjust gains.
unstable and resonating. resonating It is not resonating. Check (8).
(7) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability.
It is repeatable. Check (9).
(8) The encoder is Replace the servo It is not repeatable. Replace the servo motor
malfunctioning. motor encoder, and encoder.
then check the
repeatability.
50.2 Thermal Check it with the check method for [AL. 50.1].
overload error 2
during operation
50.3 Thermal
overload error 4
during operation

8 - 37
8. TROUBLESHOOTING

Alarm No.: 50 Name: Overload 1

Alarm content ・Load exceeded overload protection characteristic of driver.
Detail
Detail name Cause Check method Check result Action
No.
50.4 Thermal (1) A moving part collided Check if it collided. It collided. Check operation pattern.
overload error 1 against the machine.
during a stop
It did not collide. Check (2).
(2) The servo motor power Check the servo motor It is disconnected. Repair or replace the
cable was power cable. servo motor power cable.
disconnected.
It is not Check (3).
disconnected.
(3) Hunting occurs during Check if the hunting is The hunting is Adjust gains.
servo-lock. occurring. occurring.
. The hunting is not Check (4).
occurring.
(4) The electromagnetic Check if the It is not released. Release the
brake has not released. electromagnetic brake electromagnetic brake.
(The electromagnetic is released. It is released. Check (5).
brake has been
activated.)
(6) A current was applied to Check the effective The effective load Reduce the load. Or use
the driver in load ratio. ratio is a larger capacity motor.
excess of its continuous high.
output current.
The effective load Check (7).
ratio is small.
(7) The servo system is Check if it is It is resonating. Adjust gains.
unstable and resonating.
resonating.
It is not resonating. Check (9).
(8) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the It is repeatable. Check (10).
repeatability.
(9) The encoder, servo Replace the servo It is not repeatable. Replace the servo motor.
motor, is malfunctioning. motor, and then check
the repeatability.
50.5 Thermal Check it with the check method for [AL. 50.4].
overload error 2
during a stop
50.6 Thermal
overload error 4
during a stop

8 - 38
8. TROUBLESHOOTING

Alarm No.: 51 Name: Overload 2

Alarm content ・Maximum output current flowed continuously due to machine collision or the like.
表示 Detail name Cause Check method Action Action
51.1 Thermal (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
overload error 3 cable was power cable. servo motor power cable.
during disconnected. It is not Check (2).
operation disconnected.
(2) The connection of the Check the wiring of It is incorrect. Connect it correctly.
servo motor is U/V/W. It is correct. (Check (3).
incorrect.
(3) The connection of the Check if the encoder It is incorrect. Connect it correctly.
encoder cable is cable is connected
incorrect. correctly.
It is correct. Check (4).
(5) The torque is Check the peak load The torque is Reduce the load or
insufficient. ratio. saturated. review the operation
pattern. Or use a larger
capacity motor.
The torque is not [GF] Check (6).
saturated.
(6) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check
the repeatability. It is repeatable. Check (7).
(7) An encoder or servo Replace the servo It is not repeatable. Replace the servo motor.
motor is motor,
malfunctioning. and then check the
repeatability.
51.2 Thermal (1) A moving part collided Check if it collided. It collided. Check operation pattern.
overload error 3 against the machine.
during a stop It did not collide. Refer to (2).
(2) The servo motor power Check it with the check method for [AL. 51.1].
cable was
disconnected.
(3) The connection of the
servo motor is
incorrect.
(4) The connection of the
encoder cable is
incorrect.
(6) The torque is
saturated.
(7) The driver is
malfunctioning
(8) An encoder is
malfunctioning.

8 - 39
8. TROUBLESHOOTING

Alarm No.: 52 Name: Error excessive

Alarm content ・Droop pulses have exceeded the alarm occurrence level.
Detail
Detail name Cause Check method Check result Action
No.
52.1 Excess droop (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
pulse 1 cable was power cable. servo motor power cable.
disconnected. It is not Check (2).
disconnected.
(2) The connection of the Check the wiring of It is incorrect. Connect it correctly.
servo motor is U/V/W. It is correct. Check (3).
incorrect.
(3) The connection of the Check if the encoder It is incorrect. Connect it correctly.
encoder cable is cable is connected It is correct. Check (4).
incorrect. correctly.
(4) The torque limit has Check if the limiting The limiting torque is Increase the torque limit
been enabled. torque is in progress. in value.
progress.
The limiting torque is Check (5).
not in progress.
(5) A moving part collided Check if it collided. It collided. Check operation pattern.
against the machine.
It did not collide. Check (6).
(6) The electromagnetic Check if It is not released. Release the
brake has not released. electromagnetic electromagnetic brake.
(The electromagnetic brake is released. It is released. Check (7).
brake has been
activated.)
(7) The torque is Check the peak load The torque is Reduce the load or
insufficient. ratio. saturated. review the operation
pattern. Or use a larger
capacity motor.
The torque is not Check (8).
saturated.
(8) Power supply voltage Check the bus voltage The bus voltage is Check the power supply
dropped. value. low. voltage and power
supply capacity.
The bus voltage is Check (9).
high.
(9) Acceleration/ Set a longer It is not repeatable. Increase the
deceleration time deceleration acceleration/deceleration
constant is too short. time constant, and then time constant.
check the It is repeatable. Check (10).
repeatability
(1 The position loop gain is Increase the position It is not repeatable. Increase the position
0) small. loop gain, and then loop gain ([Pr. PB08]).
check the It is repeatable. Check (11).
repeatability.
(11) The error excessive Check the setting of It is not set Set it correctly.
alarm level was not set the error excessive correctly.
correctly. alarm level.
[Pr. PC24], [Pr.PC43] It is set correctly. Check (12).

(12) Servo motor shaft was Measure the actual It is rotated by Review the machine.
rotated by external position under the external force./ It was
force. servolock status. moved by external
force.
It is not rotated by Check (13).
external force./ It was
not moved by
external force.
(13) Servo-on was enabled Measure the actual Servo is enabled Review the timing of the
while the servo motor position at servo-on. while the servo motor servo-on.
was rotating. is rotating.
Servo-on is enabled
while the linear servo
motor is moving.
Servo-on is not Check (14).
enabled while the
8 - 40
8. TROUBLESHOOTING

servo motor is
rotating Servo-on is
not enabled while the
linear servo motor is
moving.
(14) The encoder or the Replace the servo It is not repeatable. Replace the servo motor.
servo motor is motor,and then check It is repeatable. Check (15).
malfunctioning. the repeatability.
(15) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability.
52.3 Excess droop Check it with the check method for [AL. 52.1].
pulse 2
52.4 Error excessive (1) The torque limit has Check the torque limit The torque limit has Do not input a command
during 0 torque been 0. value. been 0. while the torque limit
limit value is 0.
52.5 Excess droop Check it with the check method for [AL. 52.1].
pulse 3

Alarm No.: 54 Name: Oscillation detection

Alarm content ・An oscillation of the servo motor was detected.
Detail
Detail name Cause Check method Check result Action
No.
54.1 Oscillation (1) The servo system is Check if the servo The torque ripple is Adjust the servo gain
detection error unstable and oscillating. motor is oscillating. vibrating. with the auto tuning. Set the
Check the machine resonance
torque ripple with suppression filter.
setup software (MR The torque ripple is Check (2).
Configurator2TM). not vibrating.
(2) The resonance Measure the resonance The resonance Change the setting value of
frequency has changed frequency of the frequency of the the machine
due to deterioration. equipment and equipment is different resonance suppression filter.
compare it with the from the filter setting
setting value of the value.
machine resonance The resonance Check (3).
suppression filter. frequency of the
equipment is the
same as the filter
setting value.
(3) The encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor, and then check
the repeatability.

Alarm No.: 56 Name: Forced stop error

Alarm content ・The servo motor does not decelerate normally during forced stop deceleration.
Detail
Detail name Cause Check method Check result Action
No.
56.2 Over speed (1) The forced stop Increase the parameter It is not repeatable. Adjust the deceleration
during forced deceleration time setting value, and then time constant.
stop constant is short. check the
[Pr. PC51] repeatability. It is repeatable. Check (2).
(2) The torque limit has Check if the limiting The limiting torque is Review the torque limit
been enabled. torque is in progress. in value.
progress.
The limiting torque is Check (3).
not
in progress.
(3) The servo system is Check if the servo The torque ripple is Adjust the servo gain.
unstable and motor vibrating. Set the machine
oscillating. is oscillating. Check the resonance suppression
torque ripple with filter.
setup software (MR The torque ripple is Check (4).
Configurator2TM). not vibrating.
(4) The encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor, and
then check the
repeatability.
8 - 41
8. TROUBLESHOOTING

56.3 Estimated (1) The forced stop Increase the parameter It is not repeatable. Adjust the deceleration
distance over deceleration time setting value, and then time constant.
during forced constant is short. check the It is repeatable. Check (2).
stop [Pr. PC51] repeatability.
(2) The torque limit has Check if the limiting The limiting torque is Review the torque limit
been enabled. torque is in progress. in progress. value.
The limiting torque is Check (3).
not in progress.
(3) The encoder or linear Replace the servo It is not repeatable. Replace the servo motor.
encoder is motor, and
malfunctioning. then check the
repeatability.

Alarm No.: 61 Name: Operation error

Alarm content ・An operation of the positioning function failed.
Detail
Detail name Cause Check method Check result Action
No.
61.1 Point table (1) "1" or "3" was set to the Check if "1" or "3" was It was set. Review the settings.
setting range sub function of the last set.
error point table (255).

Alarm No.: 63 Name: STO timing error

Alarm content ・STO input signal turns off while the servo motor is rotating.
Detail
Detail name Cause Check method Check result Action
No.
63.1 STO1 off (1) STO1 was turned off Check if STO1 is off It is off (enabled). Turn on STO1 (disabled).
(enabled) under the (enabled).
following speed
conditions.
1) Servo motor speed:
50 r/min or more
63.2 STO2 off (1) STO2 was turned off Check if STO2 is off It is off (enabled). Turn on STO2 (disabled).
(enabled) under the (enabled).
following speed
conditions.

Alarm No.: 63 Name: STO timing error

Alarm content ・STO input signal turns off while the servo motor is rotating.
Detail
Detail name Cause Check method Check result Action
No.
63.2 STO2 off (1) Servo motor speed:
50 r/min or more
63.5 STO by STO of the functional Check if STO of the It is off (enabled). Turn on STO
functional safety unit was turned functional safety unit is (disabled).
off (enabled) under the off (enabled).
safety unit
following speed
conditions.
1) Servo motor speed:
50 r/min or more

Alarm No.: 64 Name: Functional safety unit setting error

Alarm content ・A setting of the driver or functional safety unit was incorrect.
Detail
Detail name Cause Check method Check result Action
No.
64.1 STO input error (1) When a functional Check the connection It is connected. Turn off the control circuit
safety unit is used, a of the CN8 connector. power supply of the driver,
connector is connected and then remove the
to CN8 of the driver. connector of CN8.

8 - 42
8. TROUBLESHOOTING

Alarm No.: 65 Name: Functional safety unit connection error

Alarm content ・Communication or signal between a functional safety unit and driver failed.
Detail
Detail name Cause Check method Check result Action
No.
65.1 Functional (1) The functional safety Check the installation It is disconnected. Turn off the control circuit
safety unit unit came off. of the functional power supply of the
communication safety unit. driver, and then
error 1 connect the functional
It is connected. Check (2).
safety unit.
(2) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the
repeatability. It is repeatable. Check (3).

(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability.
It is repeatable. Check (4).

(4) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
etc.
65.2 Functional Check it with the check method for [AL. 65.1].
safety unit
communication
error 2
65.3 Functional
safety unit
communication
error 3
65.4 Functional
safety unit
communication
error 4
65.5 Functional
safety unit
communication
error 5
65.6 Functional
safety unit
communication
error 6
65.7 Functional
safety unit
communication
error 7
65.8 Functional
safety unit
shutoff
signal error 1
65.9 Functional
safety unit
shutoff
signal error 2

8 - 43
8. TROUBLESHOOTING

Alarm No.: 66 Name: Encoder initial communication error (safety observation function)
・The connected encoder is not compatible with the driver.
Alarm content
・An error has occurred in the communication between an encoder and driver.
Detail
Detail name Cause Check method Check result Action
No.
66.1 Encoder initial (1) An encoder cable is Check if the encoder It has a failure. Replace or repair the cable.
communication malfunctioning. cable is disconnected
- Receive data or shorted. It has no failure. Check (2).
error 1 (safety
observation (2) The driver is Replace the driver, and It is not Replace the driver.
function) malfunctioning. then check
repeatable.
the repeatability.

It is repeatable. Check (3).

(3) An encoder is Replace the servo It is not Replace the servo
malfunctioning. motor, and then check
repeatable. motor.
the repeatability.
It is repeatable. Check (4).

(4) Something near the Check the noise, There is a problem Take countermeasures
device caused it. ambient temperature, in the surrounding. against its cause.
vibration,etc.

66.2 Encoder initial Check it with the check method for [AL. 66.1].
communication
- Receive data
error 2 (safety
observation
function)
66.3 Encoder initial
communication
- Receive data
error 3 (safety
observation
function)
66.7 Encoder initial
communication
- Transmission
data error 1
(safety
observation
function)

Alarm No.: 66 Name: Encoder initial communication error (safety observation function)
・The connected encoder is not compatible with the driver.
Alarm content
・ An error has occurred in the communication between an encoder and driver
Detail
Detail name Cause Check method Check result Action
No.
66.9 Encoder initial (1) A servo motor with Check if a servo motor It is not a servo motor Connect a servo motor with
communication functional safety is not with functional safety is with functional safety. functional safety.
- Process error connected. connected. It is a servo motor ICheck (2).
1 (safety with functional safety.
Observation
function) (2) The functional safety unit Replace the functional It is not repeatable. Replace thesafety.
functional functional safety
is malfunctioning. safety unit, and then unit.
check the repeatability. It is repeatable. Check (3).
(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability.
It is repeatable. Check (4).

(4) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,
and then check the It is repeatable. Check (5).
(5) Something near the repeatability.
Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.

temperature, etc.
8 - 44
8. TROUBLESHOOTING

Alarm No.: 67 Name: Encoder normal communication error 1 (safety observation function)
Alarm content ・An error has occurred in the communication between an encoder and driver.
Detail
Detail name Cause Check method Check result Action
No.
67.1 Encoder normal (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the cable.
communication malfunctioning. cable is disconnected
- Receive data or shorted. It has no failure. Check (2).
error 1 (safety
observation (2) The driver is Replace the driver, and It is not repeatable. Replace the driver.
function) malfunctioning. then check the
repeatability. It is repeatable. Check (3).
(3) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,and then check
the repeatability.
It is repeatable. Check (4).

(4) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, thesurrounding. against its cause.
vibration,etc.
67.2 Encoder normal Check it with the check method for [AL. 67.1].
communication
- Receive data
error 2 (safety
observation
function)
67.3 Encoder normal
communication
- Receive data
error 3 (safety
observation
function)
67.4 Encoder normal
communication
- Receive data
error 4 (safety
observation
function)
67.7 Encoder normal
communication
- Transmission
data error 1
(safety
observation
function)

Alarm No.: 68 Name: STO diagnosis error

Alarm content ・ An error of STO input signal was detected.
Detail
Detail name Cause Check method Check result Action
No.
68.1 Mismatched (1) STO1 and STO2 are not Check if the STO1 and It is not wired Wire it correctly.
STO signal error inputted correctly. STO2 of CN8
correctly.
connector are wired
correctly. It is wired correctly. Check (2).

(2) The input states of Check the on/off states The on/off states of Set STO1 and STO2
STO1 and STO2 are of STO1 and STO2. STO1 and STO2 are to the same input
different. different. states.
The on/off states of Check (3).
STO1 and STO2 are
the same.
(3) The setting of [Pr. PF18 Set a longer time in the It is not repeatable. Review the parameter
STO diagnosis error parameter, and then setting.
detection time] ([Pr. check the repeatability.
It is repeatable. Check (4).
PX43] for when the J3
extension function is
used) is incorrect.

(4) The STO circuit is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability. It is repeatable. Check (5).

8 - 45
8. TROUBLESHOOTING

(5) Something near the Check the noise, There is a problem in Take
device caused it. ambient temperature, the surrounding. countermeasures
etc. against its cause

Alarm No.: 79 Name: Functional safety unit diagnosis error

Alarm content ・A diagnosis of the functional safety unit failed.
Detail
Detail name Cause Check method Check result Action
No.
79.1 Functional (1) The power supply of the Check the installation It has a failure. Install it correctly.
safety unit functional safety unit is of the functional safety
power voltage failure. unit.
error It has no failure. Check (2).
(2) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (3).
repeatability.
(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability. It is repeatable. Check (4).
(4) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. the surrounding. against its cause.

79.2 Functional (1) The functional safety Replace the functional It is not repeatable. Replace the functional
safety unit unit is malfunctioning. safety unit, and then safety unit.
internal error check the It is repeatable. Check (2).
repeatability.
(2) Something near the Check the power There is a problem in Take countermeasures
device caused it. supply for noise. the surrounding. against its cause.

79.3 Abnormal (1) Ambient temperature Check the ambient It is over 55 ℃ Lower the ambient
temperature of has exceeded 55 ℃. temperature. temperature.
functional safety It is less than 55 ℃ Check (2).
unit
(2) Ambient temperature is Check the ambient It is less than 0 ℃ Increase the ambient
less than 0 ℃. temperature. temperature.
It is 0℃ or more. Check (3).

(3) The close mounting is Check the It is out of Mount it correctly

out of specifications. specifications specifications.
of close mounting. It is within Check (4).
specifications.
(4) An opening is clogged Clean the opening It is not repeatable. Clean it periodically.
up. and check the
repeatability. It is repeatable. Check (5).

(5) The functional safety Replace the functional It is not repeatable. Replace the functional safety
unit is malfunctioning. safety unit, and then unit.
check the It is repeatable Check (6).
repeatability.
(6) Something near the Check the power There is a problem Take countermeasures
device caused it. supply for noise. in the surrounding. against its cause.

79.4 Driver error (1) The functional safety Check the installation It has a failure. Install it correctly.
unit came off. of the functional
safety unit. It has no failure. Check (2).

(2) The functional safety Replace the functional It is not repeatable. Replace the functional safety
unit is malfunctioning. safety unit, and then unit.
check the It is repeatable. Check (3).
repeatability.
(3) The driver is Replace the driver, It is not repeatable. Replace the driver.
malfunctioning. and then check
the repeatability. It is repeatable. Check (4).

(4) Something near the Check the noise, There is a problem Take countermeasures
device caused it. ambient in the against its cause.
temperature, etc. surrounding.

8 - 46
8. TROUBLESHOOTING

79.5 Input device (1) A signal of input device Check if the input It has a failure. Review the wiring.
error is not inputted device cable is wired
correctly. correctly. It has no failure. Check (2).

(2) The input device setting Check if the It is not set Review the parameter.
parameter is not set parameter is correctly.
correctly. set correctly. It is set correctly. Check (3).

(3) The test pulse time was Check the setting of The test pulse width Set the value longer.
not set correctly. [Pr.PSD26 Input is longer than the
device -Test pulse off set value.
time]. The test pulse width Check (4).
is shorter than the
set value.
(4) The functional safety Replace the It is not repeatable. Replace the functional
unit is malfunctioning. functional safety unit.
safety unit, and then It is repeatable Check (5).
check the
repeatability.
(5) Something near the Check the noise, There is a problem Take countermeasures
device caused it. ambient in the surrounding. against its cause.
temperature, etc.
79.6 Output device (1) A signal of an output Check if the output It has a failure. Review the wiring or load.
error device has not been device cable is wired
outputted correctly. correctly. Or check if
the load of the output It has no failure. Check (2).
device is within the
specifications.
(2) The test pulse time was Check the setting of The test pulse width Set the value longer.
not set correctly. [Pr.PSD30 Output is longer than the
device -Test pulse off set value.
time]. The test pulse width Check (3).
is shorter than the
set value.
(3) Current of the output Check if the current is Not within Reduce the output
device is excessive. used within prescribed. current.
prescribed Within prescribed. Check (4).

(4) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (5).
repeatability.
(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, etc.

8 - 47
8. TROUBLESHOOTING

79.7 Mismatched (1) A mismatch of input Check if the input It has a failure. Review the wiring.
input signal signal DI_A and DI_B device cable is wired
error continued for a fixed correctly. It has no failure. Check (2).
time ([Pr. PSD18] to [Pr.
PSD23]).
(2) An input mismatch time Check the settings of The mismatched Set the value longer.
was not set correctly. [Pr.PSD18 Mismatch time is longer than
permissible time DI1] to the set value.
[Pr. PSD23 Mismatch The mismatched Check (3).
permissible time time is shorter than
DI6]. the set value.
(3) The functional safety Replace the functional It is not Replace the functional
unit is malfunctioning. safety unit, and then repeatable. safety unit.
check the repeatability. It is repeatable. Check (4).

(4) Something near the Check the noise, There is a problem Take countermeasures
device caused it. ambient in the surrounding. against its cause.
temperature, etc.
79.8 Position (1) The position feedback Check the [Pr. PSA22] It is not set Review the parameter.
feedback fixing data do not change setting. correctly.
error within the position
feedback fixing error It is set correctly. Check (2).
detection time [Pr.
PSA22].
(2) The position feedback Check the feedback The position Perform an operation
data do not change. data by rotating the feedback which rotates the servo
servo motor. data changes. motor within the position
feedback fixing error
detection time [Pr.
PSA22].
The position Check (3).
feedback
data do not
change.
(3) The servo motor is Replace the servo It is not Replace the servo motor.
malfunctioning. motor,and then check
repeatable.
the repeatability.
It is repeatable. Check (4).

(4) The functional safety Replace the functional It is not Replace the functional
unit is malfunctioning. safety unit, and then repeatable. safety unit.
check the
repeatability.

Alarm No.: 7A Name: Parameter setting error (safety observation function)

Alarm content ・A parameter of the functional safety unit failed.
Detail
Detail name Cause Check method Check result Action
No.
7A.1 Parameter (1) A parameter of the Review the parameter. It is not Set the parameter
verification error functional safety unit is correctly.
repeatable.
(safety incorrect.
observation It is repeatable. Check (2).
function)
(2) The functional safety Replace the functional It is not Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
repeatable.
check the repeatability.
It is repeatable. Check (3).

(3) Something near the Check the noise, ambient There is a problem Take countermeasures
device caused it. temperature, etc. in the surrounding. against its cause.

7A.2 Parameter (1) The initial settings for Check the [Pr. PSA01] It is not enabled. Enable the setting with
setting range the functional safety setting. checking parameter
error (safety unit have not been contents.
observation finished. It is enabled. Check (2).
function)
(2) A parameter of the Check the value of set It is out of setting Set it within the range.
functional safety unit parameters. range.
was set out of range.

8 - 48
8. TROUBLESHOOTING

7A.3 Parameter (1) A parameter of the Check the parameter It is not set Set the parameter
combination functional safety unit or settings of the functional correctly. correctly.
error (safety driver is safety unit and driver.
observation incorrect. Functional safety unit:
function) [Pr. PSA02], [Pr. PSA18]
to [Pr. PSA21], [Pr.
PSC03], [Pr. PSD01] to
[Pr. PSD17], [Pr. PSD26]
driver:[Pr. PA14]
7A.4 Functional (1) A combination of Check if correct A different driver Return to the driver which
safety unit functional safety unit combination of driver is is connected was combined with the
combination and driver is connected. functional safety unit and
error (safety incorrect. was set the safety
observation observation function, or
function) initialize the setting.

Alarm No.: 7B Name: Encoder diagnosis error (safety observation function)

Alarm content Error occurred in encoder.
Detail
Detail name Cause Check method Check result Action
No.
7B.1 Encoder (1) An encoder cable is Check if the encoder It has a failure. Repair or replace the
diagnosis error malfunctioning. cable is disconnected cable.
1 (safety or shorted.
observation It has no failure. Check (2).
function)
(2) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,and then check
the repeatability. It is repeatable. Check (3).

(3) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (4).
repeatability
(4) The driver is Replace the driver, and It is not repeatable. Replace thedriver.
then check
It is repeatable. Check (5).
the repeatability.
(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
vibration, etc.
7B.2 Encoder Check it with the check method for [AL. 7B.1].
diagnosis error
2 (safety
observation
function)
7B.3 Encoder
diagnosis error
3 (safety
observation
function)
7B.4 Encoder (1) Ambient temperature of Check the ambient It is over 40 ℃. Lower the ambient
diagnosis error the encoder has temperature of the temperature.
exceeded 40 ℃. encoder.
4 (safety It is 40℃.or less. Check (2).
observation (2) Ambient temperature of Check the ambient It is 0 ℃ or more. Increase the ambient
function) the encoder is less than temperature of the temperature.
0 ℃.. encoder.
It is 0 ℃ or more. Check (3).

(3) Servo motor is Check the effective The effective load Reduce the load or
overloaded. load ratio. ratio is high. review the operation
pattern.
The effective load Check (4).
ratio is small.
(4) The thermal sensor in Replace the servo It is not repeatable. Replace the servo motor.
the encoder is motor, and then check
malfunctioning. the repeatability. It is repeatable. Check (5).

(5) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the
repeatability.

8 - 49
8. TROUBLESHOOTING

Alarm No.: 7D Name: Safety observation error

Alarm content ・The safety observation function detected an error.
Detail
Detail name Cause Check method Check result Action
No.
7D.1 Stop (1) During activation of Check that the actual The travel distance of Review the alarm level.
observation SOS function, the servo motor position is the
error position of the servo higher than the setting servo motor is larger
motor has changed by value of [Pr. PSA05]. than the setting value
more than the SOS in [Pr.PSA05].
allowance value set by The travel distance of Check (2).
parameter the servo motor is
smaller than the
alarm detection
level.
(2) During activation of The actual servo motor The servo motor Review the parameter
SOS function, the servo speed is higher than speed is setting.
motor speed has the setting value of higher than the
changed by larger than [Pr.PSA04]. setting value in [Pr.
the SOS allowance PSA04].
value set by parameter, The servo motor Check (3).
and that state has speed is higher than
continued for longer the setting
than the set time value in [Pr. PSA15]
(specified by and equal to or lower
[Pr.PSA15]). than that in
[Pr.PSA04].
(3) During activation of Check if the command The command from Check the operation
SOS function, the from the controller is the controller is over pattern.
speed command has over the setting valued in
changed by larger than the standstill speed set [Pr.PSA04].
the SOS allowance in The command from Check (4).
value set by parameter, [Pr. PSA04]. controller is higher
and that state has than
continued for longer the setting value in
than the set time [Pr.PSA15] and equal
(specified by [Pr. to or lower than that
PSA15]). in [Pr.PSA04].
(4) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,and then check
the repeatability. It is repeatable. Check (5).
(5) The functional safety unit Replace the functional It is not repeatable. Replace the functional
is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (6).
repeatability.
(6) The driver is Replace the driver, and It is not repeatable. Replace the servo motor.
malfunctioning. then check the
It is repeatable. Check (7).
repeatability.
(7) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the surrounding. against its cause.
vibration, etc.
7D.2 Speed (1) The command pulse Check the command The command pulse Check operation pattern.
observation frequency is high. pulse frequency. frequency is high.
error The command pulse Check (2).
[GF] frequency is low.
(2) The settings of the Check the setting value The setting value is Review the settings.
electronic gear are of the electronic incorrect.
incorrect. gear. The setting value is Check (3).
correct.
(3) The command from the Check if the command It is over the Check operation pattern.
controller is from the controller is permissible speed.
excessive. the SLS speed ([Pr.
PSA11] to [Pr. PSA14]) It is less than the
or more. Check (4).
permissible speed.
(4) A larger speed Check that the actual The servo motor Review the setting value
command than the SLS servo motor speed is speed is higher than of the SLS speed.
speed ([Pr. PSA11] to higher than the setting the SLS speed.
[Pr. PSA14]) was value of the SLS The servo motor Check (5).
inputted. speed. speed is lower than
the SLS speed.
(5) The servo system is Check if the servo It is oscillating. Adjust the servo gain. Or

8 - 50
8. TROUBLESHOOTING

unstable and oscillating. motor is oscillating. reduce the load.

It is not oscillating. Check (6).
(6) The velocity waveform Check if it is It is overshooting. Increase the
has overshot. overshooting because acceleration/deceleration
the acceleration time time constant.
constant is too short.
It is not Check (7).
overshooting.
(7) The connection Check the connection It is not correct. Wire it correctly.
destination of the destination of the
encoder cable is encoder. It is correct. Check (8).
incorrect.
(8) The encoder or linear Replace the servo It is not repeatable. Replace the servo motor.
encoder is motor,
malfunctioning. and then check the It is repeatable. Check (9).
repeatability.
(9) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (10).
repeatability.

(10) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check
the repeatability. It is repeatable. Check (11).

(11) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient temperature, the against its cause.
etc. surrounding.

Name: USB communication time-out error/serial communication time-out error/Modbus RTU

Alarm No.: 8A
communication time-out error
・Communication between the driver and a personal computer/controller stopped for the
specified time or longer.
Alarm content
・An error occurred in USB communication, serial communication (Mitsubishi Electric general-
purpose
Detail
Detail name Cause Check method Check result Action
No.
8A.1 USB (1) Communication Check if a command It was not Transmit a command.
communication commands have not was transmitted.
time-out error/ been transmitted. transmitted from the
serial personal computer, It was transmitted. Check (2).
communication etc.
time-out error (2) A communication cable Replace the It is not repeatable. Replace the
was disconnected. communication cable, communication cable.
and then check the
It is repeatable. Check (3).
repeatability.
(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check
the repeatability.

8 - 51
8. TROUBLESHOOTING

Alarm No.: 8E Name: USB communication error/serial communication error/Modbus RTU communication error
・A communication error occurred between the driver and a personal computer/controller.
・An error occurred in USB communication, serial communication (Mitsubishi Electric general-
Alarm content
purpose
・AC servo protocol), or Modbus RTU communication.
Detail
Detail name Cause Check method Check result Action
No.
8E.1 USB (1) The setting of the Check the setting of It is incorrect. Review the settings.
communication personal computer, etc. the personal computer, Check (2).
It is correct.
receive error/ is incorrect. etc.
serial (2) A communication cable Check the Replace the
It is not repeatable.
communication is malfunctioning. communication cable, communication cable.
receive error and then check the Check (3).
It is repeatable.
repeatability.
(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check the
repeatability.
8E.2 USB (1) The setting of the Check the setting of It is incorrect. Review the settings.
communication personal computer, etc. the personal computer,
checksum error/ is incorrect. etc.
serial
communication
checksum error
8E.3 USB (1) The transmitted Check the character The transmitted Correct the transmission
communication character is out of code at the time of character is out of data.
character error/ specifications. transmission. specifications.
serial The transmitted Check (2).
communication [RJ010]
character error character is within
specifications.
(2) The communication Check if transmission It is not conforming. Replace the
protocol is failure. data supports the communication cable.
communication It is conforming. Check (3).
protocol.
(3) The setting of the Check the setting of It is not repeatable. Replace the driver.
personal computer, etc. the personal computer,
is incorrect. etc.
8E.4 USB (1) The transmitted Check the command at The transmitted Correct the transmission
communication command is out of the time of command is out of data.
command error/ specifications. transmission. specifications.
serial The transmitted Check (2).
communication command is within
command error specifications.
(2) The communication Check if transmission It is not conforming. Modify the transmission
protocol is failure. data supports the data according to the
communication communication protocol.
protocol. It is conforming. Check (3).
(3) The setting of the Check the setting of It is incorrect. Review the settings.
personal computer, etc. the personal computer,
is incorrect. etc.
8E.5 USB (1) The transmitted data Check the data number The transmitted data Correct the transmission
communication number is out of at the time of number is out of data.
data number specifications. transmission. specifications.
error/serial The transmitted data Check (2).
communication number is within
data number specifications.
error
(2) The communication Check if transmission It is not conforming. Modify the transmission
protocol is failure. data supports the data according to the
communication communication protocol.
protocol. It is conforming. Check (3).
(3) The setting of the Check the setting of It is incorrect. Review the settings.
personal computer, etc. the personal computer,
is incorrect. etc.

8 - 52
8. TROUBLESHOOTING

Alarm No.: 88888 Name: Watchdog

Alarm content ・A part such as CPU is malfunctioning.
Detail
Detail name Cause Check method Check result Action
No.
88._ Watchdog (1) A part in thedriver is Replace the driver, and It is not repeatable. Replace the driver.
failure. then check the
repeatability.

8 - 53
8. TROUBLESHOOTING

8.5 Remedies for warnings

If [AL. E3 Absolute position counter warning] occurs, always make the home
CAUTION position setting again. Otherwise, it may cause an unexpected operation.

POINT
When any of the following warnings occurs, do not cycle the power of the driver
repeatedly to restart. Doing so will cause a malfunction of the driver and servo
motor. If the power of the driver is switched off/on during the warnings, allow
more than 30 minutes for cooling before resuming operation.
[AL. 91 Driver overheat warning]
[AL. E0 Excessive regeneration warning]
[AL. E1 Overload warning 1]
[AL. E2 Servo motor overheat warning]
[AL. EC Overload warning 2]
Warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm
history.

If [AL. E6] or [AL. E9] occurs, the amplifier will be the servo-off status. If any other warning occurs, operation
can be continued but an alarm may occur and proper operation may not be performed.
Refer to this section and remedies for warnings, remove the cause of a warning. Use Setup software (MR
Configurator2TM) to refer to the cause of warning occurrence.

Alarm No.: 90 Name: Home position return incomplete warning

Alarm content A home position return did not complete normally with the positioning function.
Detail
Detail name Cause Check method Check result Action
No.
90.1 Home position (1) An automatic operation Check if the home A home position Execute a home position
return was executed at home position return was not return return.
incomplete position return executed (the following was not executed.
incompletion. devices are not off.). A home position Check (2).
ZP (Home position return
return completion) was executed.
(2) A positioning operation Check if [AL. 25 [AL. 25 Absolute Check the battery
was executed without Absolute position erased] voltage and battery cable
home position setting position erased] occurred. if they have a failure and
with absolute position occurred execute a home position
after [AL. 25 Absolute using alarm history. return after remove the
position erased] failure.
occurred. [AL. 25 Absolute Check (3).
position erased] did
not occur.
(3) With the indexer method, Check if [AL. 90.1] [AL. 90.1] did not Remove the cause of
[AL. E3 Absolute occurred occur simultaneously [AL. E3], and perform
position counter warning] simultaneously with start of the home position return.
Occurred simultaneously with start of the positioning operation (Check it with the check
with the alarm. positioning operation. but occurred during method for [AL. E3].)
positioning operation.
[AL. 90.1] occurred Check (4).
simultaneously with
start of the
positioning operation.
(4) ZP (Home position Check if ZP (Home ZP (Home position Check the conditions if
return completion) position return return ZP (Home position return
turned off after the completion) is off. completion) is off. completion) can be off.
home position return (Positioning Mode)")
was executed.

8 - 54
8. TROUBLESHOOTING

Alarm No.: 90 Name: Home position return incomplete warning

Alarm content A home position return did not complete normally with the positioning function.
Detail
Detail name Cause Check method Check result Action
No.
90.2 Home position (1) The proximity dog is not Check if the proximity It is not connected. Connect it correctly.
return abnormal connected to DOG. dog is connected It is connected. Check (2).
termination correctly.
(2) The stroke limit was Check if the stroke limit The stroke limit is not Connect the stroke limit
detected after the home is connected correctly. connected. correctly.
position return start. Or check if the stroke Or the stroke limit is Review the stroke limit
limit is not reached. reached. position.
The stroke limit is Check (3).
connected.
Or the stroke limit is
not reached.
(3) A home position return Check if the proximity The proximity dog Review the dog position.
speed did not decelerate dog turned off before a turned off before the Or review the parameter
to a creep speed. home position return deceleration to a values of the home
completed deceleration creep speed. position return speed,
to a creep speed. creep speed, and travel
distance after proximity
dog.
(4) Deceleration from the Check if the home It was not turned on Review the positional
home position return position was turned on before the relationship of the stroke
speed/creep speed to before the deceleration deceleration limit and home position.
the home position failed from the home position was complete. Or review the parameter
at the indexer method. return speed/creep values of the home
speed to the home position return speed,
position was creep speed,
complete. deceleration time
constant, and home
position shift distance.
90.5 Z-phase (1) The Z-phase signal was Check if the Z-phase The Z-phase signal Review the Z-phase
unpassed not detected normally. signal of the servo was signal and wirings.
motor was detected not detected.
normally. The Z-phase signal Check (2).
was
detected.
(2) A home position return Check if the motor The Z-phase was not Review the setting
was executed while the passed the Z-phase turned on. position of the home
servo motor did not signal until the position return start and
pass the Z-phase. proximity proximity dog.
dog turned off after the
home position return
started.

Alarm No.: 91 Name: driver overheat warning

Alarm content ･ The temperature inside of the driver reached a warning level.
Detail
Detail name Cause Check method Check result Action
No.
91.1 Main circuit (1) Ambient temperature of Check the ambient It is over 55 ℃. Lower the ambient
device overheat the driver has temperature. temperature.
warning exceeded 55 ℃
It is less than 55 ℃. Check (2).
(2) The close mounting is Check the It is out of Use within the range of
out of specifications. specifications specifications. specifications.
of close mounting.

8 - 55
8. TROUBLESHOOTING

Alarm No.: 92 Name: Battery cable disconnection warning

Alarm content Battery voltage for absolute position detection system decreased.
Detail
Detail name Cause Check method Check result Action
No.
92.1 Encoder battery (1) 1) When a battery was Check if the It is not connected. Connect it correctly.
cable used, the battery was not battery is It is connected. Check (2).
disconnection connected to CN4. connected
warning correctly.
(2) A battery cable was Check if the It has a failure. Replace or repair the
disconnected. battery cable cable.
is It has no failure. Check (3).
malfunctioning.
(3) The battery voltage is Check the battery It is less than 3.1 V DC. Replace or repair the
low. The battery is voltage with a cable.
consumed. tester.
It is 3.1 V DC or more. Replace the battery.

(4) An encoder cable was Check if the It is disconnected. Replace or repair the
disconnected. encoder cable.
cable is
disconnected.
92.3 Battery (1) The battery voltage is Check the battery It is less than 3.0 V DC. Replace the battery.
degradation low. The battery is voltage with a It is 3.0 V DC or more. Check (2).
consumed tester.
(2) The battery has Replace the It is not repeatable. Replace the battery.
deteriorated. battery, and
then check the

Alarm No.: 95 Name: STO warning

・STO input signal turns off while the servo motor stops.
Alarm content ・A diagnosis of input devices was not executed.
・The safety observation function was enabled in the test mode.
Detail
Detail name Cause Check method Check result Action
No.
95.1 STO1 off (1) STO1 is not inputted Check if the STO1 of It is not wired Wire it correctly. (When
detection correctly. CN8 connector is wired correctly. not using the STO
correctly. function, attach the
shortcircuit connector came
with the driver to
CN8.)
It is wired correctly. Check (2).
(2) STO1 was turned off Check if STO1 is off It is off (enabled). Turn on STO1 (disabled).
(enabled) under the (enabled).
following speed
conditions.
1) Servo motor speed:
50 r/min or less
95.2 STO2 off (1) STO2 is not inputted Check if the STO2 of It is not wired Wire it correctly. (When not
detection correctly. CN8 connector is wired correctly. using the STO function,
correctly. attach the shortcircuit
connector came with the
driver to CN8.)
It is wired correctly. Check (2).
(2) STO2 was turned off Check if STO2 is off It is off (enabled). Turn on STO2(disabled).
(enabled) under the (enabled).
following speed
conditions.
1) Servo motor speed:
50 r/min or less

95.3 STO warning 1 (1) "Input device - Check if "Input device - It was not executed. Execute it.

8 - 56
8. TROUBLESHOOTING

(safety Fixingdiagnosis Fixing-diagnosis It was executed. Check (2).

observation Execution selection at execution selection at
function) start-up" was not start-up" was
executed. executed
(2) Set "Input device - Check if [Pr. PSD27] It is not set Review the parameter
Fixing-diagnosis and [Pr. PSD28] are correctly.
execution selection at set correctly. It is set correctly. Check (3).
start-up" correctly using
parameters.
(3) The wiring is Check if the wiring has It has a failure. Review the wiring.
incorrect. a failure.
It has no failure. Check (4).
(4) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (5).
repeatability.
(5) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, etc.
95.4 STO warning 2 (1) The test operation Check if the driver and It is not set. Set it correctly.
(safety mode was not set functional It is set. Check (2).
observation correctly. safety unit are set to
function) the test operation
mode.
(2) An error occurred in the Check the description It is not repeatable. Take countermeasures
safety communication. "The display shows against its cause.
Or the network is "Ab"." . It is repeatable. Check (3).
disconnected. ⇒Page 124 Trouble
which does not trigger
alarm/warning
(3) "Input mode selection" Set [Pr. PSA02] It is not repeatable. Review the parameter.
in [Pr. PSA02 correctly Check (4).
It is repeatable.
Functional safety unit and check the
setting] is not set repeatability.
correctly.
(4) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check It is repeatable. Check (7).
the repeatability.
(5) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the It is repeatable. Check (8).
repeatability.
(6) Something near the Check the noise, There is a problem in Take countermeasures
device caused it. ambient the surrounding. against its cause.
temperature, etc.
95.5 STO warning 3 (1) STO command/SS1 Check if STO It is off (enabled). Turn on (disabled) STO
(safety command of the command/ command/SS1 command
observation functional safety unit SS1 command of the of the functional safety
function) was turned off functional safety unit is unit.
(enabled) under the off (enabled).
following speed
conditions.
1) Servo motor speed:
50 r/min or less

Alarm No.: 96 Name: Home position setting warning

Alarm content Home position setting could not be made.
Detail
Detail name Cause Check method Check result Action
No.
96.1 In-position (1) INP (In-position) did not Check the droop It is In-position range Adjust gains to set droop
warning at turn on within the pulses during home or more. pulses within the Inposition
home specified time during positioning. range. Remove
positioning home positioning. the cause of droop pulse
occurrence, and make
home position setting.
96.2 Command input (1) A command has Check if a command is A command is Set it after home
warning at already inputted at the inputted at home inputted. positioning.
home time of home positioning. positioning. A command is not Check (2).
positioning inputted.
(2) Creep speed is high. Decrease the creep It is not repeatable. Decelerate the creep
speed, and then check speed, and make home

8 - 57
8. TROUBLESHOOTING

the repeatability. position setting.

96.3 Servo off (1) A home positioning was Check if the status is It is servo-off. Turn to servo-on, and
warning at home executed during servo-off at home then execute the home
positioning servooff. positioning. positioning.
96.4 Home (1) Z-phase was not turned Check if the Z-phase The Z-phase was not Rotate the direct drive
positioning on after servo-on. was turned on. turned on. motor to turn on the Zphase,
warning during and make home
magnetic pole position setting.
detection

Alarm No.: 98 Name: Software limit warning

Alarm content A software limit set with the parameter was reached for the positioning function.
Detail
Detail name Cause Check method Check result Action
No.
98.1 Forward (1) A software limit was set Check if the parameter The setting was out Set [Pr. PT15] to [Pr.PT18]
rotation-side within the actual settings ([Pr. PT15] to of operation range. correctly.
software stroke operation range. [Pr. PT18]) to the
limit reached operation range are The setting was Check (2).
correct. within operation
range.
(2) A point table of the Check if the target The setting was out Set the point table
position data which position of the point of operation range. correctly.
exceeds the software data to the operation The setting was Check (3).
limit was executed. range was correct. within operation
range.
(3) A software limit was Check if the JOG It reached to the out Operate within the
reached by using the operation or manual of operation range. software limit.
JOG operation or pulse generator Adjust properly the
manual pulse generator operation was parameters such as JOG
operation. executed properly to speed and multiplication
the operation range. of the manual pulse as
necessary.
98.2 Reverse Check it with the check method for [AL. 98.1].
rotation-side
software stroke
limit reached

Alarm No.: 99 Name: Stroke limit warning

Alarm content The stroke limit signal is off.
Detail
Detail name Cause Check method Check result Action
No.
99.1 Forward (1) The forward rotation Check if the limit switch It is not connected. Connect it correctly.
rotation stroke stroke limit switch is is connected
It is connected. Check (2).
end off connected to LSP. correctly.
It turned off. Check operation attern.

(2) The forward rotation Check if the forward It is not connected. Set the point table
stroke end was rotation stroke limit correctly.
exceeded during driving. switch turned off. It is connected. Check (3).
99.2 Reverse (1) The reverse rotation Check if the limit switch It is not connected. Connect it correctly.
rotation stroke stroke limit switch is is connected
end off connected to LSN. correctly. It is connected. Check (2).
(2) The reverse rotation Check if the reverse It turned off. Check operation pattern.
stroke end was rotation stroke limit
exceeded during driving. switch turned off.

Alarm No.: 9B Name: Error excessive warning

Alarm content ・Droop pulses have exceeded the warning occurrence level.
Detail
Detail name Cause Check method Check result Action
No.
9B.1 Excess droop (1) The servo motor power Check the servo motor It is disconnected. Repair or replace the
pulse 1 warning cable was power cable. servo motor power cable.
disconnected. It is not Check (2).
disconnected.

8 - 58
8. TROUBLESHOOTING

(2) The connection of the Check the wiring of It is incorrect. Connect it correctly.
servo motor is incorrect U/V/W. It is correct. Check (3).
(3) The connection of the Check if the encoder It is incorrect. Connect it correctly.
encoder cable is cable is connected It is correct. Check (4).
incorrect. correctly.
(4) The torque limit has Check if the limiting The limiting torque is Increase the torque limit
been enabled. torque is in progress. in progress. value.
The limiting torque is Check (5).
not in progress.
(5) A moving part collided Check if it collided. It collided. Check operation pattern.
against the machine. It did not collide. Check (6).
(6) The torque isinsufficient. Check the peak load The torque is Reduce the load or
Ratio saturated. review the operation
pattern. Or use a larger
capacity motor.
The torque is not Check (7).
saturated.
(7) Power supply voltage Check the bus voltage The bus voltage is Check the power supply
dropped. value. low voltage and power
supply capacity.
The bus voltage is Check (8).
high.
(8) Acceleration/ Set a longer It is not repeatable. Increase the
deceleration time deceleration time acceleration/deceleration
constant is too short. constant, and then time constant.
check the It is repeatable. Check (9).
repeatability.
(9) The position loop gain Increase the position It is not repeatable. Increase the position
is small. loop gain, and then loop gain ([Pr. PB08]).
check the It is repeatable. Check (10).
repeatability.
(10 Servo motor shaft was Measure the actual It is rotated by Review the machine.
rotated by external position under the external force.
)
force. servolock status. It is not rotated by Check (11).
external force.
(11) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,
and then check the
repeatability.
9B.3 Excess droop Check it with the check method for [AL. 9B.1].
pulse 2 warning
9B.4 Error excessive (1) The torque limit has Check the torque limit The torque limit has Do not input a command
warning during been 0. value. been 0. while the torque limit
0 torque limit value is 0.

Alarm No.: 9F Name: Battery warning

Alarm content ・Battery voltage for absolute position detection system decreased.
Detail
Detail name Cause Check method Check result Action
No.
9F.1 Low battery (1) The battery is not Check if the battery is It is not connected. Connect it correctly.
connected to CN4. connected correctly. It is connected. Check (2).
(2) The battery voltage is Check the battery It is less than 4.9 V Replace the battery.
low. The battery is voltage with a tester. DC.
consumed.
9F.2 Battery (1) The absolute position Check if the absolute It is not connected. Connect it correctly.
degradation storage unit has not position storage unit is
warning connected. connected correctly.

Alarm No.: E0 Name: Excessive regeneration warning

・There is a possibility that regenerative power may exceed permissible regenerative power of built-in
Alarm content
regenerative resistor or regenerative option.
Detail
Detail name Cause Check method Check result Action
No.
E0.1 Excessive (1) The regenerative power Check the effective It is 85% or more. Reduce the frequency of
Regeneration exceeded 85% of the load ratio. positioning.
warning permissible regenerative Increase the deceleration
8 - 59
8. TROUBLESHOOTING

power of the built-in time constant.

regenerative resistor or Reduce the load.
regenerative option. Use a regenerative option if it
is not being used.

Alarm No.: E1 Name: Overload warning 1

Alarm content [AL. 50 Overload 1] or [AL. 51 Overload 2] can occur.
Detail
Detail name Cause Check method Check result Action
No.
E1.1 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.1].
overload to the alarm level of
warning 1 [AL. 50.1 Thermal
during overload error 1 during
operation operation].
E1.2 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.2].
overload to the alarm level of
warning 2 [AL. 50.2 Thermal
during overload error 2 during
operation operation].
E1.3 Thermal (1) The load was over 85% Check it with the check method for [AL. 51.1].
overload to the alarm level of
warning 3 [AL. 51.1 Thermal
during overload error 3 during
operation operation].
E1.4 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.3].
overload to the alarm level of
warning 4 [AL. 50.3 Thermal
during operation overload error 4 during
operation].
E1.5 Thermal (1) TThe load was over 85% Check it with the check method for [AL. 50.4].
overload error 1 to the alarm level of
during a stop [AL. 50.4 Thermal
overload error 1 during
a stop].
E1.6 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.5].
overload error 2 to the alarm level of
during a stop [AL. 50.5 Thermal
overload error 2 during
a stop].
E1.7 Thermal (1) The load was over 85% Check it with the check method for [AL. 51.2].
overload error 3 to the alarm level of
during a stop [AL. 51.2 Thermal
overload error 3 during
operation].
E1.8 Thermal (1) The load was over 85% Check it with the check method for [AL. 50.6].
overload error 4 to the alarm level of
during a stop [AL. 50.6 Thermal
overload error 4 during
a stop].

Alarm No.: E2 Name: Servo motor overheat warning

Alarm content ・ [AL. 46.2 Abnormal temperature of servo motor 2] can occur.
Detail
Detail name Cause Check method Check result Action
No.
E2.1 Servo motor (1) The temperature of the Check it with the check method for [AL. 46.2].
temperature linear servo motor or
warning direct drive motor
reached 85% of the
occurrence level of [AL.
46.2 Abnormal
temperature of servo
motor 2].

8 - 60
8. TROUBLESHOOTING

Alarm No.: E3 Name: Absolute position counter warning

・The multi-revolution counter value of the absolute position encoder exceeded the maximum range.
・Absolute position encoder pulses are faulty.
Alarm content
・An update cycle is short for writing multi-revolution counter value of the absolute position encoder
to EEP-ROM.
Detail
Detail name Cause Check result Action Target
No.
E3.1 Multi-revolution (1) The travel distance Check the value of the It is 32768 rev or Review operation range.
counter travel from the home position multi-revolution more. Execute the home
distance excess is 32768 rev or more in counter. position return again.
warning the absolute position After the power is surely
system. cycled, perform home
position return again.
E3.2 Absolute (1) Something near the Check the noise, There is a problem in Take countermeasures
position counter device caused it. ambient the against its cause.
warning temperature, etc. surrounding. After the power is surely
cycled, perform home
position return again.
There is no problem Check (2).
in the surrounding.
(2) An encoder is Replace the servo It is not repeatable. Replace the servo motor.
malfunctioning. motor,and then check
the repeatability.
E3.4 Absolute (1) A home position was Check if the operation The operation was Set the command speed
positioning renewed (EEP-ROM was within the following out of conditions. within the conditions.
counter write) twice or more in conditions between the Set the number of gear
EEPROM 10 minutes in the driver number of gear teeth teeth on machine side
writing due to rotation on machine side ([Pr. within the conditions.
frequency to the same direction in PA06] CMX) and servo After the power is surely
warning short time in the point motor speed (N). cycled, perform home
table method of the • When CMX 2000, position return again.
positioning mode, N
degree setting with the < 3076.7 r/min
program method, or the • When CMX > 2000, N
indexer method. < 3276.7 - (CMX × 0.1)
r/min
• When (CMX/CDV) is
reduced to its lowest
terms, CMX 15900
E3.5 Encoder Check it with the check method for [AL. E3.2].
absolute
positioning
counter
warning

8 - 61
8. TROUBLESHOOTING

Alarm No.: E6 Name: Servo forced stop warning

・EM2/EM1 (Forced stop) turned off.
Alarm content
・SS1 command was inputted.
Detail
Detail name Cause Check method Check result Action
No.
E6.1 Forced stop (1) EM2/EM1 (Forced stop) Check the status of It is off. Ensure safety and turnbon
warning turned off. EM2/EM1. EM2/EM1 (Forced stop).

It is on. Check (2).

(2) The external 24 V DC Check if the external 24 It is not inputted. Input the 24 V DC power
power supply is off. V DC power supply is supply.
inputted. It is inputted. Check (3).
(3) The driver is Replace the driver, and It is not repeatable. Replace the driver.
malfunctioning. then check
the repeatability.
E6.2 SS1 forced (1) The SS1 command is Check if the SS1 The SS1 command is Turn on the SS1 input
stop off (enabled). command is off off (enabled). (disabled).
warning 1 (enabled).
(safety
observation (2) An external 24 V DC is Check if an external 24 It is not inputted. Input the 24 V DC power
not inputted to the VDC is inputted to the supply.
function)
functional safety unit. functional safety unit. It is inputted. Check (3).
(3) The functional safety Replace the functional It is not repeatable. Replace the functional
unit is malfunctioning. safety unit, and then safety unit.
check the
repeatability.
E6.3 SS1 forced (1) An error occurred in the Check the description It is not repeatable. Take countermeasures
stop safety communication. "The display shows against its cause.
warning 2 "Ab".".
(safety ⇒Page 124 Trouble
observation which does not trigger
function) alarm/warning

Alarm No.: E7 Name: Controller forced stop warning

Alarm content The forced stop signal of the servo system controller was enabled.
Detail
Detail name Cause Check method Check result Action
No.
E7.1 Controller (1) The forced stop signal Check if the controller It is the forced stop Ensure safety and
forced stop of the controller was is in a forced stop status. cancel
input warning inputted with Modbus status. the forced stop signal
RTU communication. of the controller.

Alarm No.: E8 Name: Cooling fan speed reduction warning

Alarm content The cooling fan speed decreased to the warning occurrence level or less.
Detail
Detail name Cause Check method Check result Action
No.
E8.1 Decreased (1) Foreign matter was Check if a foreign Something has been Remove the foreign
cooling fan caught in the cooling matter is caught in the caught. matter.
speed warning fan. cooling fan. Nothing has been Check (2).
caught.
(2) Cooling fan life expired. Check the total of It exceed the cooling Replace the driver.
power on time of the fan life.
driver.
E8.2 Cooling fan stop Check it with the check method for [AL. E8.1].

8 - 62
8. TROUBLESHOOTING

Alarm No.: E9 Name: Main circuit off warning

・The servo-on command was inputted with main circuit power supply off
Alarm content
・The bus voltage dropped during the servo motor driving under 50 r/min.
Detail
Detail name Cause Check method Check result Action
No.
E9.1 Servo-on signal (1) The main circuit power Check if the main It is not inputted. Turn on the main circuit
on during main supply is off. circuit power.
circuit off For the drive unit, the power supply is It is inputted. Check (2).
power supply of the inputted.
converter unit is off. Check if the power
supply of the converter
unit is inputted.
(2) The wiring between P3 Check the wiring It is disconnected. Connect it correctly.
and P4 was between P3 and P4. It is connected. Check (3).
disconnected. Check the wiring
For the drive unit, the between P1 and P2 of
wiring between P1 and the converter unit.
P2 of the converter unit
was disconnected.
(3) The main circuit power Check the main circuit It is disconnected. Connect it correctly.
supply wiring was power supply wiring.
disconnected. Check the main circuit
For the drive unit, the power supply wiring of
main circuit power the converter unit.
supply wiring of the It has no failure. Check (4).
converter unit was
disconnected.
(4) For the drive unit, the Check the magnetic It is disconnected. Connect it correctly.
magnetic contactor contactor control
control connector of the connector of the It has no failure. Check (5).
converter unit was converter unit.
disconnected.
(5) For the drive unit, the Check the bus bar It is disconnected. Connect it correctly.
bus bar between the between the converter
converter unit and drive unit and drive unit.
unit was disconnected. It has no failure. Check (6).

(6) The setting value of [Pr. Check the [Pr. PA02] The setting or wiring is Review the setting of [Pr.
PA02 Magnetic setting and the wiring incorrect. PA02].
contactor drive output constitution.
selection] contradicts The setting and wiring Check (7).
are correct.
the wiring constitution.
The setting is correct. Check (8).

(8) The bus voltage is low. Check if the bus The voltage is lower Review the wiring. Check
voltage is lower than than the prescribed the power supply
the prescribed value. value. capacity.
215 V DC
The voltage is equal to Check (9).
or higher than the
prescribed value.

(9) The driver is Replace the driver, and It is not repeatable. (10) Replace the driver.
malfunctioning. then check the
repeatability.
(10) For the drive unit, the Replace the converter It is not repeatable. Replace the converter
converter unit is unit, and then check unit.
malfunctioning. the repeatability.

E9.2 Bus voltage (1) The bus voltage Check the bus It is lower than the Review the power
drop during low dropped during the voltage. prescribed value. supply capacity.
speed servo motor driving 200 V Increase the
operation under 50 r/min. acceleration time
constant.
E9.3 Ready-on signal Check it with the check method for [AL. E9.1].
on during main
circuit off

8 - 63
8. TROUBLESHOOTING

Alarm No.: EC Name: Overload warning 2

Alarm content Operations over rated output were repeated while the servo motor shaft was not rotated.
Detail
Detail name Cause Check method Check result Action
No.
EC.1 Overload (1) The load is too large or Check the effective The effective load Reduce the load.
warning 22 the capacity is not load ratio. ratio is high. Replace the servo motor
enough. with the one of larger
capacity.

Alarm No.: ED Name: Output watt excess warning

・The status, in which the output wattage (speed × torque) of the servo motor exceeded the rated
Alarm content
output, continued steadily.
Detail
Detail name Cause Check method Check result Action
No.
ED.1 Output watt (1) The status, in which the Check the servo motor The output wattage is Reduce the servo motor
excess warning output wattage (speed speed and torque, or 120% of rating. speed. Reduce the load.
× torque or thrust) of check the motor speed
the servo motor and thrust.
exceeded 120% of the
rated output
(continuous thrust),
continued steadily.

Alarm No.: F0 Name: Tough drive warning

Alarm content ・Tough drive function was activated.
Detail
Detail name Cause Check method Check result Action
No.
F0.1 Instantaneous (1) The voltage of the Check it with the check method for [AL. 10.1].
power failure control circuit power
tough drive supply has dropped.
warning
F0.3 Vibration tough (1) The setting value of the Check if it was It was changed Set the machine
[GF] drive machine resonance changed frequently. frequently. resonance suppression
warning suppression filter was filter. Check the machine
changed due to a status if screws are loose
machine resonance. or the like.

Alarm No.: F2 Name: Drive recorder - Miswriting warning

Alarm content A waveform measured by the drive recorder function was not recorded.
Detail
Detail name Cause Check method Check result Action
No.
F2.1 Drive recorder - (1) The Flash-ROM is Disconnect the cables It is repeatable Replace the driver.
Area writing malfunctioning. except for the control
time-out circuit power supply,
warning and then check the
repeatability.
F2.2 Drive recorder - (1) Data were not written to Check if clearing alarm It is not canceled. Replace the driver.
Data miswriting the drive recorder area. history disables this
warning alarm with setup
software (MR
Configurator2TM)

Alarm No.: F3 Name: Oscillation detection warning

Alarm content [AL. 54 Oscillation detection] can occur.
Detail
Detail name Cause Check method Action Target
No.
F3.1 Oscillation Check it with the check method for [AL. 54.1].
detection
warning

8 - 64
8. TROUBLESHOOTING

Alarm No.: F4 Name: Positioning warning

・Target position or acceleration time constant/deceleration time constant was set out of setting
Alarm content
range.
Detail
Detail name Cause Check method Check result Action
No.
F4.4 Target position (1) A target position was Check the setting value It is out of setting Set the target position
setting range set out of setting range. of the target position. range. correctly, and cancel
error warning the warning (turn on
C_ORST).

8.6 Troubleshooting at power on

When a system error occurs at power on of the upper side, improper boot of the driver might be the cause.
Check the display of the driver, and take actions according to this section.
Display Description Cause Checkpoint Action
000 The network card or The network card is Replace the network card, and Replace the network card.
driver is malfunctioning. malfunctioning. then check the repeatability.
The driver is Replace the driver, and then Replace the driver.
malfunctioning. check the repeatability.
Ab Initialization The setting of the axis Check that the other driver is not Set it correctly.
communication with the No. is incorrect. assigned to the same axis No.
upper side has not Axis No. does not match Check the setting and axis No. of Set it correctly.
completed. with the axis No. set to the upper side.
the upper side.
An Ethernet cable was "Ab" is displayed in the Replace the Ethernet cable of the
disconnected. corresponding axis and following corresponding axis.
axes.
Check if the connector is Connect it correctly.
unplugged.
The IP address set in the Check the IP address with the Set the IP address correctly.
network card and the IP "AnybusIPconfig" tool or the
address of the upper side system configuration window of
do not match. Setup software (MR
Configurator2TM).
The power of the driver "Ab" is displayed in the Check the power of the driver.
was turned off. corresponding axis and following
axes.
The driver is "Ab" is displayed in the Replace the driver of the
malfunctioning. corresponding axis and following corresponding axis.
axes.
The network card is "Ab" is displayed in the Replace the network card of the
malfunctioning. corresponding axis and following corresponding axis.
axes.
b##. The system has been in Test operation mode has Test operation select switch Turn off the test operation select
(Note) the test operation mode. been enabled. (SW1-1) is turned on. switch (SW1-1).
off Operation mode for Operation mode for Check if all of the mode select Set the mode select switches
manufacturer setting is manufacturer setting is switches (SW1) are on. (SW1) correctly.
set. enabled.

Note. ## indicates axis No.

8 - 65
8. TROUBLESHOOTING

8.7 Trouble which does not trigger an alarm/warning

Refer to this section and Trouble which does not trigger alarm/warning, remove the cause of the trouble.
Description Cause Checkpoint Action
The servo motor does not The connection of the servo Check the wiring of U/V/W. Connect them correctly.
operate. motor is incorrect.
The servo motor power cable Check if the encoder cable Connect the encoder cable
is connected to the driver of and the servo motor power and the servo motor power
a different axis. cable are connected to the cable correctly.
same driver.
An alarm or warning is Check if an alarm or warning Check the contents of the
occurring. is occurring. alarm/warning, and remove
its cause.
The system is in the test Check if the test operation Cancel the test operation
operation mode. select switch is on (up). mode.
The motor-less operation is Check the value set in [Pr. Disable the motor-less
enabled. PC05]. operation.
The torque is insufficient due Check instantaneous torque Reduce the load or use a
to large load. using Setup software (MR servo motor with a larger
Configurator2TM) if the load capacity.
exceeds the maximum
torque or torque limit value.
An unintended torque limit is Check if the torque limit is Cancel the torque limit.
enabled. enabled.
The setting value for the Check if the torque limit Set it correctly.
torque limit is incorrect. value is "0" with [Pr. PA11],
[Pr. PA12] or the setting on
the upper side side.
A machine is interfering with Check if a machine is Remove the interference.
the servo motor. interfering.
For a servo motor with a Check the power supply of Turn on the lock power.
lock, the lock has not been the lock.
released.
LSP (Forward rotation stroke Check if [AL. 99] is Turn on LSP and LSN.
end) and LSN (Reverse occurring.
rotation stroke end) are not
on.
The setting of the control Check the [Pr. PA01] setting. Set it correctly.
mode is incorrect.
The setting of the electronic Check the setting of the Set a proper value of the
gear is incorrect. electronic gear. electronic gear.
The setting of point tables is Check the setting of the Review the setting of the
incorrect. point table. point table.
The setting of the point table Check the setting of the Review the setting of the
command is incorrect. point table command (Target point table command.
point table).
The setting of the next Check the setting of the next Review the setting of the
station position is incorrect. station position (Target point next station position.
table).
The home position return The setting of the homing Check the Statusword bit 13 Review the setting of the
does not start. method is incorrect. (Homing error) in the homing homing method.
mode (hm).
Check the setting of the
homing method.

8 - 66
9. OUTLINE DRAWINGS

9. OUTLINE DRAWINGS ...................................................................................................................................2

9.1 Driver .........................................................................................................................................................2
9.2 Connector ..................................................................................................................................................5

9- 1
9. OUTLINE DRAWINGS

9. OUTLINE DRAWINGS
9.1 Driver
(1) LECSN2-T5/LECSN2-T7/LECSN2-T8

[Unit: mm]

50
φ6 mounting hole 6 Approx. 80 161
Lock knob 6

CNP1

CNP2
161
168
156

CNP3
6

PE With LEC-
6 MR-BAT6V1SET-A Approx. 51
Approx. 37.5

Approx. 28.4

Mass: 1.0 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
Tightening torque: 3.24 [N•m]
L1
L2 Approx. 50
Approx. 6

L3 Approx. 6 2-M5 screw

N-
P3
P4
CNP2
P+
Approx. 168

C
156 ± 0.5

D
L11
L21
CNP3
U
V
W
Approx. 6

PE Screw size: M4
Tightening torque: 1.2 [N•m]
Mounting hole process draw ing

9- 2
9. OUTLINE DRAWINGS

(2) LECSN2-T9

[Unit: mm]

60
φ6 mounting hole
12 Approx. 80 191
Lock knob
Exhaust

6 CNP1

CNP2
156

161
168
CNP3
6

With LEC-
PE
6 MR-BAT6V1SET-A Cooling fan
Approx. 51 air intake
Approx. 37.5

12 42
Approx. 28.4

Mass: 1.4 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
Tightening torque: 3.24 [N•m]
L1
Approx. 6

L2
L3 Approx. 60
N-
P3
P4
CNP2
P+
Approx. 168

C
156 ± 0.5

D
L11
L21
CNP3
3-M5 screw
U
V
Approx. 6

W
PE Screw size: M4
Tightening torque: 1.2 [N•m]
Approx. 12 42 ± 0.3 Approx. 6

Mounting hole process draw ing

9- 3
9. OUTLINE DRAWINGS

(3) LECSN1-T5/LECSN1-T7/ LECSN1-T8 (Scheduled release product)

[Unit: mm]

50
6 Approx. 80 161
φ6 mounting hole
Lock knob

6 CNP1

CNP2

161
168
156

CNP3
6

PE With LEC-
MR-BAT6V1SET-A
6 Approx. 51
Approx. 37.5

Approx. 28.4

Mass: 1.0 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
Tightening torque: 3.24 [N•m]
L1
Approx. 50
Approx. 6

L3 Approx. 6 2-M5 screw

N-

CNP2
P+
Approx. 168

C
156 ± 0.5

D
L11
L21
CNP3
U
V
W
Approx. 6

PE Screw size: M4
Tightening torque: 1.2 [N•m]
Mounting hole process draw ing

9- 4
9. OUTLINE DRAWINGS

9.2 Connector
(1) LE-CSNS connector

[Unit: mm]
E

D
A C
Logo, etc., are indicated here.
39.0
23.8

B 12.7

Each type of dimension

Connector Shell kit
A B C D E
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0

Accept wire : AWG 24, 26, 28, 30

9- 5
10. CHARACTERISTICS

10. CHARACTERISTICS ....................................................................................................................................2

10.1 Overload protection characteristics .........................................................................................................2
10.2 Power supply capacity and generated loss .............................................................................................3
10.3 Dynamic lock characteristics ...................................................................................................................5
10.3.1 Dynamic lock operation ....................................................................................................................5
10.3.2 Permissible load to motor inertia when the dynamic lock is used ....................................................6
10.4 Cable bending life....................................................................................................................................7
10.5 Inrush currents at power-on of main circuit and control circuit ................................................................8

10 - 1
10. CHARACTERISTICS

10. CHARACTERISTICS
10.1 Overload protection characteristics
An electronic thermal is built in the driver to protect the servo motor, driver and servo motor power wires
from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or less of the rated torque.
This driver has solid-state servo motor overload protection. (The servo motor overload current (full load
current) is set on the basis of 120% rated current of the driver.)

The following table shows combinations of each servo motor and graph of overload protection
characteristics.
The following graphs show overload protection characteristics.
1000 1000

Operating Operating
100 100
Operation time [s]
Operation time [s]

Operating

Servo-lock Servo-lock
10 10

1 1

0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
(Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%]

LECSN□-T5 LECSN□-T7, LECSN□-T8, LECSN2-T9

Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the driver may malfunction
regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the LE-T□-□ servo motor.
Fig. 10.1 Electronic thermal protection characteristics

10 - 2
10. CHARACTERISTICS

10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the driver
Table 10.1 indicates drivers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at
rated torque and servo-off according to the duty used during operation. When the servo motor is run
at less than the rated speed, the power supply capacity will be smaller than the value in the table, but
the driver's generated heat will not change.

Table 10.1 Power supply capacity and generated loss per servo motor at rated output
(Note 1) (Note 2) Driver-generated heat
[W] Area required for
Power supply
Driver Servo motor heat dissipation
capacity
At rated output With servo-off [m2]
[kVA]

LECSN□-T5 LE-T6-□ 0.3 25 15 0.5

LECSN□-T7 LE-T7-□ 0.5 25 15 0.5

LECSN□-T8 LE-T8-□ 0.9 35 15 0.7

LECSN2-T9 LE-T9-□ 1.3 50 15 1.0

Note 1. Note that the power supply capacity will vary according to the power supply impedance.
2. Heat generated during regeneration is not included in the driver-generated heat.

(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the driver should be
designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C.
(With an approximately 5 °C safety margin, the system should operate within a maximum 55 °C
limit.) The necessary cabinet heat dissipation area can be calculated by equation 10.1.

P
A= ·················································································································· (10.1)
K• T

A: Heat dissipation area [m2]

P: Loss generated in the cabinet [W]
ΔT: Difference between internal and ambient temperatures [°C]
K: Heat dissipation coefficient [5 to 6]

10 - 3
10. CHARACTERISTICS

When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.1 for heat generated by the driver. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that
extra amount must be added to the cabinet's surface area. The required heat dissipation area will
vary with the conditions in the cabinet. If convection in the cabinet is poor and heat builds up,
effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the
cabinet and the use of a cooling fan should be considered. Table 10.1 lists the cabinet dissipation
area for each driver (guideline) when the driver is operated at the ambient temperature of 40 °C
under rated load.

(Outside the cabinet) (Inside the cabinet)

Air flow

Fig. 10.2 Temperature distribution in an enclosed type cabinet

When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because
the temperature slope inside and outside the cabinet will be steeper.

10 - 4
10. CHARACTERISTICS

10.3 Dynamic lock characteristics

The coasting distance is a theoretically calculated value which ignores the running
load such as friction. The calculated value will be longer than the actual distance.
If an enough braking distance is not provided, a moving part may crash into the
CAUTION stroke end, which is very dangerous. Install the anti-crash mechanism such as an
air lock or an electric/mechanical stopper such as a shock absorber to reduce the
shock of moving parts.

POINT
Do not use dynamic lock to stop in a normal operation as it is the function to stop
in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic lock is 1000 times while the
machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
Servo motors for LECSN□-T□ may have the different coasting distance from
that of the previous model.
The electronic dynamic lock operates in the initial state for the servo motors of
400 W or smaller capacity. The time constant "τ" for the electronic dynamic lock
will be shorter than that of normal dynamic lock. Therefore, coasting distance will
be longer than that of normal dynamic lock. For how to set the electronic
dynamic lock, refer to [Pr. PF06] and [Pr. PF12].

10.3.1 Dynamic lock operation

(1) Calculation of coasting distance
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic lock is
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic
lock time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) of this
section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than
a maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF

Dynamic brake
time constant
V0
Machine speed

te Time

Fig. 10.3 Dynamic lock operation diagram

V0 JL
Lmax = • te + 1+ ··························································································· (10.2)
60 JM

10 - 5
10. CHARACTERISTICS

Lmax: Maximum coasting distance······················································································· [mm]

V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor ··································································· [× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft ·············· [× 10-4 kg•m2]
τ: Dynamic lock time constant ······························································································ [s]
te: Delay time of control section ···························································································· [s]
There is internal relay delay time of about 10 ms.

(2) Dynamic lock time constant

The following shows necessary dynamic lock time constant τ for equation 10.2.

50
Dynamic brake time

40
constant [ms]

30 73
T9 43T8

20
23T7
10 053
T5
13
T6
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]
LE-T□-□

10.3.2 Permissible load to motor inertia when the dynamic lock is used
Use the dynamic lock under the load to motor inertia ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic lock may burn. If the load to motor inertia ratio exceeds the
indicated value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Permissible load to motor inertia
Servo motor
ratio [multiplier]
LE-T6-□
LE-T7-□ 30
LE-T8-□
LE-T9-□

10 - 6
10. CHARACTERISTICS

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not
guaranteed values, provide a little allowance for these values. The minimum bending radius : Min.
45mm.
1 × 10 8 a
5 × 10 7

1 × 10 7
5 × 10 6 Lobot
a: Long encoder
bending life cable
encoder cable
Number of bending times [time]

Lobot
Long motor life
bending power cable
motor pow er cable
Lobot
Long lock cable
bending life electromagnetic brake cable
SSCNET III cable using long distance cable
1 × 10 6
5 × 10 5
Standard
b: Standard encoder
encoder cable
cable
Standard
Standard motor
motor power
pow cable
er cable
Standard
Standard lock cable
electromagnetic brake cable
1 × 10 5 SSCNET III cable using inside panel standard cord
5 × 10 4 SSCNET III cable using outside panel standard cable

1 × 10 4 b
5 × 10 3

1 × 10 3
4 7 10 20 40 70 100 200
Bend radius [mm]

10 - 7
10. CHARACTERISTICS

10.5 Inrush currents at power-on of main circuit and control circuit

POINT
For a driver of LECSN□-T8 or less, the inrush current values can change
depending on frequency of turning on/off the power and ambient temperature.

Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 11.6.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
・LECSN2-T□
The following shows the inrush currents (reference data) that will flow when 240 V AC servo amplifier) is
applied. Even when you use a 1-phase 200 V AC power supply with LECSN2-T5 to LECSN2-T9, the
inrush currents of the main circuit power supply is the same.
Inrush currents (A0-P)
Driver
Main circuit power supply (L1, L2, and L3) Control circuit power supply (L11 and L21)
LECSN2-T5/ LECSN2-T7/
30 A (attenuated to approx. 3 A in 20 ms)
LECSN2-T8 20 A to 30 A
(attenuated to approx. 1 A in 20 ms)
LECSN2-T9 34 A (attenuated to approx. 7 A in 20 ms)

・LECSN1-T□ (Scheduled release product)

The following shows the inrush currents (reference data) that will flow when 120 V AC is applied.
Inrush currents (A0-P)
Driver Main circuit power supply Control circuit power supply
(L1/L2) (L11/L21)
LECSN1-T5 20 A to 30 A
38 A
LECSN1-T7 (attenuated to approx. 0 A
(attenuated to approx. 14 A in 10 ms)
LECSN1-T8 in 1 ms to 2 ms)

10 - 8
11. OPTIONS AND PERIPHERAL EQUIPMENT

11. OPTIONS AND PERIPHERAL EQUIPMENT .........................................................................................2

11.1 Cable/connector sets ..............................................................................................................................2
11.1.1 Combinations of cable/connector sets ............................................................................................3
11.1.2 STO cable .........................................................................................................................................6
11.1.3 Encoder cable/connector sets ..........................................................................................................7
11.1.4 Motor cables ....................................................................................................................................9
11.1.5 Lock cables.....................................................................................................................................10
11.2 Regenerative options ...........................................................................................................................11
11.2.1 Combination and regenerative power .........................................................................................11
11.2.2 Parameter setting .........................................................................................................................11
11.2.3 Selection of regenerative option ...................................................................................................12
11.2.4 Dimensions ....................................................................................................................................13
11.3 Setup software (MR Configurator2TM) ...............................................................................................14
11.3.1 Specifications.................................................................................................................................14
11.3.2 System configuration ....................................................................................................................15
11.3.3 Precautions for using USB communication function ..................................................................16
11.4 Battery (LEC-MR-BAT6V1SET-A) .....................................................................................................17
11.5 Selection example of wires ..................................................................................................................18
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)......................................20
11.7 Relay (recommended) ..........................................................................................................................20
11.8 Noise reduction techniques .................................................................................................................21
11.9 Earth-leakage current breaker ...........................................................................................................29
11.10 EMC filter (recommended) ................................................................................................................31

11 - 1
11. OPTIONS AND PERIPHERAL EQUIPMENT

11. OPTIONS AND PERIPHERAL EQUIPMENT

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is
off or not, always confirm it from the front of the driver.

Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.

POINT
We recommend using HIV wires to wire the drivers, options, and peripheral
equipment. Therefore, the recommended wire sizes may differ from those used
for the previous drivers.

11.1 Cable/connector sets

POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a driver or servo
motor. If the IP rating of the cable, connector, driver and servo motor vary, the
overall IP rating depends on the lowest IP rating of all components.

Please purchase the cable and connector options indicated in this section.

11 - 2
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.1 Combinations of cable/connector sets

For LECSN□-T□ driver
Personal Safety logic unit
computer MR-J3-D05
CN9
4) 5) 5)
2) CN10

4)
1) (packed w ith the servodriver
amplifier)
Servodriver
amplifier Servo amplifier

CNP1 CN5
(Note 1)
3)

CNP2 (Note 2) (Note 2)

CN8 CN8
CNP3 CN3
MR-BAT6V1SET-A battery/
CN2 MR-BAT6V1BJ battery for
battery
CN2L junction battery cable
CN4 CN4
8)

7) Battery unit
MR-BT6VCASE and
MR-BAT6V1 battery

15) 16) 17) 18)

11) 12) 13) 14)

To 24 V DC pow er supply
for electromagnetic
lock brake Servo motor
7) 8) 9) 10)

Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for
servo motor pow er supply, electromagnetic brake, and encoder.

Power lock
Brake Encoder
connector connector connector

Refer to "Linear Encoder Instruction Manual" about options for

linear encoder. Linear servo motor

To CN2

Linear encoder
Refer to "Direct Drive Motor Instruction Manual" about options Pow er connector
for direct drive motor pow er and encoder.

To CN2
(The connection method changes
depending on incremental system Encoder connector
and absolute position detection system.)
Direct drive motor

Note 2. When not using the STO function, attach the short-circuit connector ( 5)) came with a driver.

11 - 3
11. OPTIONS AND PERIPHERAL EQUIPMENT

No. Product name Model Description Application

1) Driver power Supplied
connector set with drivers

CNP1 Connector: CNP2 Connector: CNP3 Connector:

K05A01490216 K05A01490209 K05A01490210

(MITSUBISHI (MITSUBISHI (MITSUBISHI

ELECTRIC SYSTEM & ELECTRIC SYSTEM & ELECTRIC SYSTEM &
SERVICE CO., LTD) SERVICE CO., LTD) SERVICE CO., LTD)
(Open tool comes with)

Applicable wire size: 0.8 mm 2 to 2.1 mm2

(AWG 18 to 14)
Insulator OD: to 3.9 mm
Open tool
(CNP1 Connector
comes with)
2) USB cable LEC-MR-J3USB CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
3) Connector set LE-CSNS Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(Sumitomo 3M Limited or
equivalent)
4) STO cable LEC-MR- Connector set: 2069250-1 Connection
D05UDL3M (TE Connectivity) cable for
the CN8
connector
5) Short-circuit Supplied
connector with driver

11 - 4
11. OPTIONS AND PERIPHERAL EQUIPMENT

No. Product Model Description Application

name
7) Motor power LE-CSM-S□A IP65
Cable length: 2 5 10m Motor cableconnector
Power supply
supply cable Load side
LE-T□-□
lead
series
HF-MP series
8) Motor power LE-CSM-R□A HF-KP series IP65
supply cable Cable length: 2 5 10m Load side
lead
Robot cable
9) Motor power LE-CSM-S□B IP65
supply cable Cable length: 2 5 10m Motor cable connector
Power supply Opposite-to-
LE-T□-□ load side lead
HF-MP series
10) Motor power LE-CSM-R□B series
HF-KP series IP65
supply cable Cable length: 2 5 10m Opposite-to-
load side lead
Robot cable
11) Lock cable LE-CSB-S□A
Lock cable IP65
Cable length: 2 5 10m Brake connector
Load side
LE-T□-□
lead
series
HF-MP series
12) Lock cable LE-CSB-R□A HF-KP series IP65
Cable length: 2 5 10m Load side
lead
Robot cable
13) Lock cable LE-CSB-S□B IP65
Cable length: 2 5 10m Lock
Brake cable
connector Opposite-to-
LE-T□-□ load side lead
HF-MP series
14) Lock cable LE-CSB-R□B series
HF-KP series IP65
Cable length: 2 5 10m Opposite-to-
load side lead
Robot cable
15) Encoder LE-CSE-S□A IP65
cable Cable length: 2 5 10m Encoder connector
Load side
LE-T□-□ lead
HF-MP series
16) Encoder LE-CSE-R□A series
HF-KP series IP65
cable Cable length: 2 5 10m Load side
lead
Robot cable
17) Encoder LE-CSE-S□B IP65
cable Cable length: 2 5 10m Encoder connector
Opposite-to-
LE-T□-□
load side lead
series
HF-MP series
18) Encoder LE-CSE-R□B HF-KP series IP65
cable Cable length: 2 5 10m Opposite-to-
load side lead
Robot cable

11 - 5
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.2 STO cable

This cable is for connecting an external device to the CN8 connector.
Cable model Cable length Application
LEC-MR-D05UDL3M 3m Connection cable for the CN8 connector

(1) Configuration diagram

Driver
サーボアンプ

LEC-MR-D05UDL3M
CN8 MR-D05UDL3M-B

(2) Internal wiring diagram

CN8 connector
1
(Note)
2 2 4 6 8
Yellow (w ith black dots)
3 STOCOM 1 3 5 7
Yellow (w ith red dots)
4 STO1
Gray (w ith black dots)
5 STO2 Viewed from the connection part
Gray (w ith red dots)
6 TOFB1
White (w ith black dots)
7 TOFB2
White (w ith red dots)
8 TOFCOM
Plate Shield

Note. Do not use the two core wires with orange insulator (with red or black dots).

11 - 6
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.3 Encoder cable/connector sets

(1) LE-CSE- □□A・LE-CSE-□□B
These cables are encoder cables for the LE-□-□ series servo motors. The numerals in the Cable Length field
of the table are the symbols entered in the part of the cable model. The cables of the lengths with the
symbols are available.

Cable model Cable length Protective

Flex life Application
2m 5m 10m structure
2 5 A For LE-□-□ servo motor
LE-CSE-S□A IP65 Standard
Axis side lead
LE-CSE-R□A 2 5 A IP65 Robot cable
2 5 A For LE-□-□ servo motor
LE-CSE-S□B IP65 Standard
Counter axis side lead
LE-CSE-R□B 2 5 A IP65 Robot cable

(a) Connection of driver and servo motor

Driver
Servo amplifier LE-CSE-S□A
MR-J3ENCBL M-A1-L
LE-CSE-R□A
MR-J3ENCBL M-A1-H 2)

Servomotor
Servo Motor
LE-□-□
HF-MP
1) or HF-KP

LE-CSE-S□B
MR-J3ENCBL M-A2-L
LE-CSE-R□B
MR-J3ENCBL M-A2-H 2) Servo Motor
LE-□-□
Servo motor
CN2 HF-MP
HF-KP
1)

Cable model 1) For CN2 connector 2) For encoder connector

Receptacle: 36210-0100PL Connector set: 54599-1019(Molex) Connector: 1674320-1
Shell kit: 36310-3200-008 Crimping tool for ground clip:
LE-CSE-S□A
(Sumitomo 3M Limited) 1596970-1
Crimping tool for receptacle
contact: 1596847-1
(Note) Signal layout (Note) Signal layout
(Tyco Electronics)
LE-CSE-R□A
2 6 10 (Note) Signal layout
2 4 6 8 10
LG 4 8 LG MRR
MRR
or 9 SHD
1 5 9 7 8
1 3 5 7 9
P5 3 7 BAT
P5 MR BAT
MR 5 MR 6 P5G
LE-CSE-S□B
3 P5 4 MRR
View seen from wiring side. View seen from wiring side. 1 2 BAT

View seen from wiring side.

Note. Keep open the pins shown with .
LE-CSE-R□B Especially, pin 10 is provided for manufacturer Note. Keep open
adjustment. If it is connected with any other the pin shown with
pin, the driver cannot operate normally. an .

11 - 7
11. OPTIONS AND PERIPHERAL EQUIPMENT

(b) Cable internal wiring diagram

MR-J3ENCBL2M-L/-H
LE-CSE-S□A LE-CSE-R□A
MR-J3ENCBL5M-L/-H
LE-CSE-S□B LE-CSE-R□B
MR-J3ENCBL10M-L/-H
Driveramplifier
Servo Encoder side
side connector connector

P5 1 3 P5
LG 2 6 LG
MR 3 5 MR
MRR 4 4 MRR
BAT 9 2 BAT
SD Plate 9 SHD

11 - 8
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.4 Motor cables

These cables are motor power supply cables for the LE-□-□series servo motors. The numerals in the Cable
length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with
the symbols are available.

Cable length Cable

Cable model IP rating Application
2m 5m 10m type
For LE-□-□ servo motor
LE-CSM-S□A 2 5 A IP65 Standard
Axis side lead
For LE-□-□servo motor
LE-CSM-S□B 2 5 A IP65 Standard
Counter axis side lead
For LE-□-□ servo motor
LE-CSM-R□A 2 5 A IP65 Robot cable
Axis side lead
For LE-□-□ servo motor
LE-CSM-R□B 2 5 A IP65 Robot cable
Counter axis side lead

(1) Connection of driver and servo motor

MR-PWS1CBL M-A1-L
LE-CSM-S□A
MR-PWS1CBL M-A1-H
LE-CSM-S□B
MR-PWS2CBL03M-A1-L 1)
Driver
Servo amplifier

or Servo motor
HF-MP
LE-□-□
HF-KP

MR-PWS1CBL M-A2-L
LE-CSM-R□A
MR-PWS1CBL M-A2-H
CNP3 connector LE-CSM-R□B
supplied with servo MR-PWS2CBL03M-A2-L 1)
amplifier Servo Motor
driver
LE-□-□
Servo motor
CNP3 HF-MP
HF-KP

Cable model 1) For motor power supply connector

LE-CSM-S□A Connector: JN4FT04SJ1-R Signal layout
Hood, socket insulator
LE-CSM-S□B Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 1
LE-CSM-R□A Crimping tool: CT160-3-TMH5B 2 U
(Japan Aviation Electronics Industry)
3 V
4 W
LE-CSM-R□B

View seen from wiring side.

(2) Internal wiring diagram

LE-CSM-S□A LE-CSM-R□A
MR-PWS1CBL
LE-CSM-S □B M-A1-H MR-PWS1CBL
LE-CSM-R□B M-A2-H
MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
AWG 19 (Red) (Note)
AWG 19 (White) U
AWG 19 (Black) V
AWG 19 (Green/yellow) W

Note. These are not shielded cables.

11 - 9
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.1.5 Lock cables

These cables are lock cables for the LE-□-□ series servo motors. The numerals in the Cable length field of the
table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are
available.

Cable length Protective

Cable model Flex life Application
2m 5m 10m structure

2 5 A IP65 For LE-□-□ servo motor

LE-CSB-S□A Standard
Axis side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-S□B Standard
Counter axis side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-R□A Robot cable
Axis side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-R□B Robot cable
Counter axis side lead

(1) Connection of power supply for lock and servo motor

MR-BKS1CBL
LE-CSB-S□M-A1-L
A
MR-BKS1CBL M-A1-H
LE-CSB-S□B
MR-BKS2CBL03M-A1-L 1)

24VDC power Servo motor

supply for HF-MP
LE-□-□
electromagnetic
lock or HF-KP
brake

MR-BKS1CBL
LE-CSB-R□M-A2-L
A
MR-BKS1CBL
LE-CSB-R□M-A2-H
B
MR-BKS2CBL03M-A2-L 1)
Servo motor
LE-□-□
Servo motor
HF-MP
HF-KP

Cable model 1) For lock connector

LE-CSB-S□A Connector: JN4FT02SJ1-R
Signal layout
Hood, socket insulator
LE-CSB-S□B Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 1 B1
LE-CSB-R□A
Crimping tool: CT160-3-TMH5B 2 B2
(Japan Aviation Electronics Industry)
LE-CSB-R□B
View seen from wiring side.

(2) Internal wiring diagram

LE-CSB-S□A LE-CSB-R□A
MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H
LE-CSB-S□B
MR-BKS2CBL03M-A1-L LE-CSB-R□B
MR-BKS2CBL03M-A2-L
AWG 20 (Note)
B1
AWG 20
B2
Note. These are not shielded cables.

11 - 10
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2 Regenerative options

Do not use drivers with regenerative options other than the combinations specified
CAUTION below.
Otherwise, it may cause a fire.

11.2.1 Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
Built-in LEC-MR- LEC-MR-
Driver
regenerative RB-032 RB-12
resistor [40 Ω] [40 Ω]
LECSN□-T5 30
LECSN□-T7 10 30 100
LECSN□-T8 10 30 100
LECSN2-T9 20 30 100

11.2.2 Parameter setting

Set [Pr. PA02] according to the option to be used.
[Pr. PA02]

0 0
Regenerative option selection
00:
00: Regenerative
Regenerativeoption
optionisisnot
notused.
used.
For servo amplifier of 100 W, regenerative resistor is not used.
・For
For servo amplifier of 0.2 kW to 7 resistor
driver of 100 W, regenerative is not
kW, built-in used.
regenerative
・For driver
resistor of 200 W to 750W, built-in regenerative
is used.
Suppliedisregenerative
resistor used. resistors or regenerative option is used
w ith the servo amplifier of 11 kW to 22 kW.
02: LEC-MR-RB-032
01:
03: FR-BU2/FR-RC/FR-CV
LEC-MR-RB-12
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required)
FA: When the supplied regenerative resistors or the regenerative
option is cooled by the cooling fan to increase the ability with
the servo amplifier of 11 kW to 22 kW.

11 - 11
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.3 Selection of regenerative option

POINT
For the wire sizes used for wiring, refer to section 11.5.

The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider
heat dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-
resistant wires or make the wires flame-resistant and keep them away from the regenerative option.
Always use twisted cables of max. 5 m length for connection with the driver.
(1) LECSN2-T□
Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3
and G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option
overheats abnormally.
Alw ays remove the lead from across P+ to D.
Driver
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note
(Note1)3) G4

5 m or less
(Note 1, 2)
Cooling fan

Note 1. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA

11 - 12
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.4 Dimensions
(1) LEC-MR-RB-12
[Unit: mm]
TE1 terminal

G3
φ6 mounting hole
40 G4
Approx. 6

36 P
15 C

Applicable wire size: 0.2 mm 2 to 2.5 mm2 (AWG 14 to

12)
Tightening torque: 0.5 to 0.6 [N•m]

5 Mounting screw
156
168

144

Screw size: M5
TE1 Tightening torque: 3.24 [N•m]

Mass: 1.1 [kg]

12
6

6 2
Approx. 20 149
169

(2) LEC-MR-RB-032
[Unit: mm]
TE1 terminal
φ6 mounting hole G3
30
Approx. 6

Approx. 12

G4
15
P
C

Applicable wire size: 0.2 mm 2 to 2.5 mm2

(AWG 24 to 12)
Tightening torque: 0.5 to 0.6 [N•m]
5
156
168

144

Mounting screw
Screw size: M5
Tightening torque: 3.24 [N•m]
TE1
Mass: 0.5 [kg]
12

6 1.6
6

Approx. 20 99
119

11 - 13
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.3 Setup software (MR Configurator2TM)

Setup software (MR Configurator2TM) (LEC-MRC2□) uses the communication function of the driver to
perform parameter setting changes, graph display, test operation, etc. on a personal computer.
When setup software (MR Configurator2TM) is used, the selection of the model of LECSN□-T□ is
needed. Please select 'MR-J4-TM' by "Model" - "New" - "Project".

11.3.1 Specifications
Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnosis
diagnosis, and machine diagnosis
JOG operation (Note 1), positioning operation, motor-less operation (Note), DO forced output,
Test operation
and program operation
Adjustment One-touch tuning, tuning, and machine analyzer

Servo assistant, parameter setting range update, machine unit conversion setting, and help
Others
display

11 - 14
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.3.2 System configuration

(1) Components
To use this setup software, the following components are required in addition to the driver and servo
motor.

Set up software(MR Configurator2 TM)

Equipment
LEC-MRC2E
Microsoft Windows 10 Edition,
Microsoft Windows 10 Enterprise,
Microsoft Windows 10 Pro,
Microsoft Windows 10 Home,
Microsoft Windows 8.1 Enterprise
Microsoft Windows 8.1 Pro
Microsoft Windows 8.1
Microsoft Windows 8 Enterprise,
Microsoft Windows 8 Pro,
Microsoft Windows 8,
Microsoft Windows 7 Ultimate
Personal computer
OS Microsoft Windows 7 Enterprise
(Note 1, 2, 3, 4 Microsoft Windows 7 Professional
5, 6, 7, 8, 9) Microsoft Windows 7 Home Premium
Microsoft Windows 7 Starter
Microsoft Windows Vista Ultimate
Microsoft Windows Vista Enterprise
Microsoft Windows Vista Business
Microsoft Windows Vista Home Premium
Microsoft Windows Vista Home Basic
Microsoft Windows XP Professional, Service Pack2 or later
Microsoft Windows XP Home Edition, Service Pack2 or later
IBM PC/AT compatible PC
Hard Disk 1GB or more of free space
One whose resolution is 1024 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cabl0
LEC-MR-J3USB
(Note 10)
Note 1. Using a PC for setting Windows 10, upgrade to version 1.52E.
Using a PC for setting Windows 8.1, upgrade to version 1.25B.
Using a PC for setting Windows 8, upgrade to version 1.20W.
Refer to Mitsubishi Electric Corporation’s website for version upgrade information.
2. Windows and Windows Vista is the registered trademarks of Microsoft Corporation in the United States and other
countries.
3. On some personal computers, set up software (MR Configurator2TM) may not run properly.
4. The following functions cannot be used. If any of the following functions is used, this product may not operate normally.
･ Start of application in Windows® compatible mode.
･ Fast User Switching.
･ Remote Desktop.
･ Windows XP Mode.
･ Windows Touch or Touch.
･ Modern UI
･ Client Hyper-V
･ Tablet Mode
･ Virtual desktop
･ Does not support 64-bit Operating System, except for Microsoft Windows 7 or later.

11 - 15
11. OPTIONS AND PERIPHERAL EQUIPMENT

5. Multi-display is set, the screen of this product may not operate normally.
6. The size of the text or other items on the screen is not changed to the specified value (96DPI, 100%, 9pt, etc.), the screen
of this product may not operate normally.
7. Changed the resolution of the screen during operating, the screen of this product may not operate normally.
8. Please use by "Standard User", "Administrator" in Windows Vista® or later.
9. If .NET Framework 3.5 (including .NET 2.0 and 3.0) have been disabled in Windows 7 or later, it is necessary to enable it.
10.Order USB cable separately.
This cable is shared with Set up software (MR ConfiguratorTM : LEC-MR-SETUP221E).

(2) Connection with driver

For use of USB
Personal computer
ServoDriver
amplifier
USBcable
USB cable
MR-J3USBCBL3M To USB
LEC-MR-J3USB connector
CN5 (Option)
(Option)

11.3.3 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the driver.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal
computer to the driver with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.

b) Check that the power plug was disconnected and connect the device to the driver.

c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using driver communication function

When the driver is charged with electricity due to connection with a personal computer and the charged
driver is connected with other devices, the driver or the connected devices may malfunction. Connect the
driver and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the driver.

(b) Shut off the power of the driver which was connected with the personal computer and
check the charge lamp is off.

(c) Connect the device with the driver.

(d) Turn on the power of the driver and the device.

11 - 16
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.4 Battery (LEC-MR-BAT6V1SET-A)

POINT
Refer to appendix 2 and 3 for battery transportation and the new EU Battery
Directive.

(1) Purpose of use for LEC-MR-BAT6V1SET-A

This battery is used to construct an absolute position detection system. Refer to section 12 for the
fitting method, etc.

(2) Year and month of manufacture of battery

The year and month of manufacture of LEC-MR-BAT6V1SET-A have been described to the rating
plate.

Rating plate 2CR17335A WK17

11-04
6V 1650mAh
The year and month of manufacture

11 - 17
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.5 Selection example of wires

POINT
To comply with the UL/CSA standard, use the wires shown in appendix 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
Selection conditions of wire size is as follows.
Construction condition: One wire is constructed in the air.
Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit pow er supply lead

Driver
Servo amplifier
Pow er supply
L1 U
L2 V M
L3 W
2) Control circuit pow er supply lead
L11
4) Servo motor pow er supply lead
L21
5) Pow er regenerative converter lead

Pow er regenerative N-
converter
Regenerative option
C
P+

3) Regenerative option lead

(1) Example of selecting the wire sizes

Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The
following shows the wire size selection example.

Table 11.1 Wire size selection example (HIV wire)

Wire [mm2]
(Note 2) U・V・W・ (Note 3) B1・B2
Driver (Note 1)
L1・L2・L3・ Extension P・C Extension
L11・L21 10m or less 10m or less
cable cable
LECSN□-T5
LECSN□-T7 2(AWG14) 1.25(AWG16) 0.75(AWG18) 1.25(AWG16) 2(AWG14) 0.5(AWG20) 1.25(AWG16)
LECSN□-T8
LECSN2-T9
Note1. Use 2 mm2 (AWG14) to comply with IEC/EN/UL/CSA standards.
Note2. Use 2 mm2 (AWG14) to comply with IEC/EN/UL/CSA standards.
Note3. Use 1.25 mm2 (AWG16) to comply with IEC/EN/UL/CSA standards.

11 - 18
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 11.3 Wires for option cables

Characteristics of one core
Insulation (Note 2)
Length Core size Number Structure Conductor
Type Model coating OD Finishing Wire model
[m] [mm2] of Cores resistance
d [mm] OD [mm]
[Wires/mm] [ /km]
(Note 1)

LE-CSE-S□A (Note 3)
6 53 VSVP 7/0.26 (AWG#22 or
2 to 10 AWG22 7/0.26 1.2 7.1 0.3
(3 pairs) or less equivalent)-3P
LE-CSE-S□B Ban-gi-shi-16823
Encoder
Cable
LE-CSE-R□A (Note 3)
6 56
2 to 10 AWG22 70/0.08 1.2 7.1 0.3 ETFE SVP 70/0.08 (AWG#22 or
(3 pairs) or less
LE-CSE-R□B equivalent)-3P Ban-gi-shi-16824

LE-CSM-S□A 2 to 10 21.8
AWG18 4 34/0.18 1.71 6.2 0.3 HRZFEV-A(CL3) AWG18 4 cores
LE-CSM-S□B 2 to 10 or less
Motor cable
LE-CSM-R□A 2 to 10 (Note 5) 29.1 (Note 4)
4 150/0.08 1.63 5.7 0.5
LE-CSM-R□B 2 to 10 AWG19 or less RMFES-A(CL3X) AWG19 4 cores
LE-CSB-S□A 2 to 10 34.6
AWG20 2 21/0.18 1.35 4.7 0.1 HRZFEV-A(CL3) AWG20 2 cores
LE-CSB-S□B 2 to 10 or less
Lock cable
LE-CSB-R□A 2 to 10 Note 5) 39.0 (Note 4)
2 110/0.08 1.37 4.5 0.3
LE-CSB-R□B 2 to 10 AWG20 or less RMFES-A(CL3X) AWG20 2 cores
Note 1. d is as shown below.
d

Conductor Insulation sheath

2. Standard OD. Max. OD is about 10% greater.

3. Purchased from Toa Electric Industry
4. Purchased from taisei
5. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.

11 - 19
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)

(1) For main circuit power supply
To prevent the driver from smoke and a fire, select a molded-case circuit breaker which shuts off
with high speed.
Always use one molded-case circuit breaker and one magnetic contactor with one driver.
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications
given in this section.
Molded-case circuit breaker (Note 1, 3) Fuse
Frame, rated current Magnetic
Driver Power factor Power factor Voltage AC Voltage contactor
Class Current [A]
Improving reactor is Improving reactor is [V] AC [V] (Note 2)
not used used
LECSN2-T5
30 A frame 5 A 10
LECSN2-T7
LECSN2-T8 30A frame 10A 30A frame 5A 15 S-N10
（Mitsubishi
LECSN2-T9 30A frame 15A 30A frame 10A 240 T 20 300
Electric
LECSN1-T5 30A frame 5A 10 Corporation））
LECSN1-T7 30A frame 10A 15
LECSN1-T8 30A frame 15A 30A frame 10A 20

Note 1. When having the driver comply with the IEN/EN/UL/CSA standard, refer to app.4.
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
3. Use a molded-case circuit breaker with equal or higher operating characteristics.

(2) For control circuit power supply

When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit
power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit.
Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Driver
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
LECSN□-T5
LECSN□-T7
30 A frame 5 A 240 1 300 1 250
LECSN□-T8
LECSN2-T9

11.7 Relay (recommended)

The following relays should be used with the interfaces
Interface Selection example
Digital input (interface DI-1) To prevent defective contacts, use a relay for
Relay used for digital input command signals small signal (twin contacts).
(Ex.) Omron : type G2A, MY
Digital output (interface DO-1) Small relay with 12 V DC or 24 V DC of rated
Relay used for digital output signals current 40 mA or less
(Ex.) Omron : type MY

11 - 20
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.8 Noise reduction techniques

Noises are classified into external noises which enter the driver to cause it to malfunction and those
radiated by the driver to cause peripheral equipment to malfunction. Since the driver is an electronic
device which handles small signals, the following general noise reduction techniques are required.
Also, the driver can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral equipment malfunction due to noises produced by the driver, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques
Avoid bundling power lines (input/output) and signal cables together or running them in parallel
to each other. Separate the power lines from the signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the driver, servo motor, etc. together at one point. (Refer to section 3.11.)
(b) Reduction techniques for external noises that cause the driver to malfunction
If there are noise sources (such as a magnetic contactor, a lock, and many relays which make a
large amount of noise) near the driver and the driver may malfunction, the following
countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable
clamp fittings.
Although a surge absorber is built into the driver, to protect the driver and other equipment
against large exogenous noise and lightning surge, attaching a varistor to the power input
section of the equipment is recommended.
(c) Techniques for noises radiated by the driver that cause peripheral equipment to malfunction
Noises produced by the driver are classified into those radiated from the cables connected to the
driver and its main circuits (input and output circuits), those induced electromagnetically or
statically by the signal cables of the peripheral equipment located near the main circuit cables,
and those transmitted through the power supply cables.
Noises produced Noises transmitted Noise radiated directly Route 1)
driveramplifier
by servo in the air driver
from servo amplifier

Noise radiated from the

Route 2)
pow er supply cable

Noise radiated from

Route 3)
servo motor cable
Magnetic induction
Routes 4) and 5)
noise

Static induction
Route 6)
noise

Noises transmitted Noise transmitted through

through electric Route 7)
pow er supply cable
channels

Noise sneaking from

grounding cable due to Route 8)
leakage current

11 - 21
11. OPTIONS AND PERIPHERAL EQUIPMENT

5)

7) 7)
2)
7)

Sensor
power
1) supply
Servo
Driver
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor M

Noise transmission
Suppression techniques
route
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the
driver or run near the driver, such devices may malfunction due to noises transmitted through the
air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
driver.
3. Avoid wiring the power lines (input/output lines of the driver) and signal lines side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power lines and the signal lines are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the
driver.
3. Avoid wiring the power lines (input/output lines of the driver) and signal lines side by side or
bundling them together.
4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power supply of peripheral equipment is connected to the power supply of the driver
system, noises produced by the driver may be transmitted back through the power supply cable and
the devices may malfunction. The following techniques are required.
7) 1. Install the radio noise filter (FR-BIF of Mitsubishi Electric Corparation) on the power lines (Input
lines) of the driver.
2. Install the line noise filter (FR-BSF01/FR-BLF of Mitsubishi Electric Corparation) on the power
lines of the driver.
When the cables of peripheral equipment are connected to the driver to make a closed loop circuit,
8) leakage current may flow to malfunction the peripheral equipment. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.

11 - 22
11. OPTIONS AND PERIPHERAL EQUIPMENT

(d) Noise reduction techniques for the network cable

POINT
Take measures against noise for both ends of the network cable.

When using it in an environment with excessive noise, directly connect the shield of the network
cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm or less from the
driver.
When connecting the network cable from outside the cabinet, connect it to the ground plate at a
place 5 mm to 10 mm away from the cabinet entrance.
To reinforce measures against noise, it is recommended to install a data line filter (TDK ZCAT1730-
0730) to the network cable. Install the data line filter to a place 80 mm or less from the driver.

1) For inside the cabinet

a) When using cable clamp fittings
driver
Servo amplifier

Cable clamp fitting

200 mm to 300 mm or less

b) When using a data line filter

Servodriver
amplifier

Data line filter

80 mm or less

2) For outside the cabinet

a) When using cable clamp fittings
driver
Servo amplifier Inside the Outside the
cabinet cabinet
Cable clamp fitting

Locate 5 mm to 10 mm away
from the cabinet entrance.

b) When using a data line filter

Servodriver
amplifier Inside the Outside the
cabinet cabinet
Data line filter

80 mm or less

11 - 23
11. OPTIONS AND PERIPHERAL EQUIPMENT

(2) Noise reduction techniques

(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, and GRFC-13 by
Kitagawa Industries are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are
indicated below. This impedances are reference values and not guaranteed values.
Impedance [Ω]
[Unit: mm]
10 MHz to 100 MHz 100 MHz to 500 MHz
39 ± 1
80 150 Loop for fixing the

φ13 ± 1
34 ± 1 cable band

TDK

φ30 ± 1
Product name Lot number
Outline draw ing (ZCAT3035-1330)

(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the driver.
Use the following surge killer or equivalent.
OFF
ON
MC

MC
SK
Relay
Surge killer

Surge killer

This distance should be short

(w ithin 20 cm).

(Ex.) CR-50500 Okaya Electric Industries)

Rated
C R
voltage Test voltage Dimensions [Unit: mm]
[µF ± 20%] [Ω ± 30%]
AC [V]
Between terminals: 625 V AC,
φ(18.5 + 2) ± 1

Band (clear) AWG 18 Tw isted w ire

50 Hz/60 Hz 60 s 15 ± 1
250 0.5 50 (1/2W) Between terminal and case: Soldered
φ3.6
2000 V AC CR-50500

50/60 Hz 60 s 6±1 6±1

300 min. 48 ± 1.5 300 min. 16 ± 1
(18.5 + 5) max.

Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than four times the drive voltage of the relay or + -
the like. RA

Maximum current: Not less than twice the drive current of the relay or the
like. Diode

11 - 24
11. OPTIONS AND PERIPHERAL EQUIPMENT

(c) Cable clamp fitting (AERSBAN - SET (Mitsubishi Electric Corporation))

Generally, the grounding of the shielded wire may only be connected to the connector's SD
terminal. However, the effect can be increased by directly connecting the cable to an grounding
plate as shown below.
Install the grounding plate near the driver for the encoder cable. Peel part of the cable sheath to
expose the external conductor, and press that part against the grounding plate with the cable
clamp. If the cable is thin, clamp several cables in a bunch.
The cable clamp comes as a set with the grounding plate.
[Unit: mm]

Cable Strip the cable sheath of

the clamped area. cutter
Cable clamp
(A, B) Earth plate

cable
40

External conductor
Clamp section diagram

Dimensions

[Unit: mm] [Unit: mm]

Earth plate Clamp section diagram

2-φ5 hole 17.5

installation hole

30
L or less 10
B ± 0.3

C
A
6

24 -0. 2
0

35
3

24 + 0.3
0
7

(Note) M4 screw 6 22
35
11

Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.

Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1pc. B 45

11 - 25
11. OPTIONS AND PERIPHERAL EQUIPMENT

(d) Line noise filter (FR-BSF01/FR-BLF of Mitsubishi Electric Corparation)

This filter is effective in suppressing noises radiated from the power supply side and output side
of the driver and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
Use the line noise filters for lines of the main power supply (L1, FR-BSF01 (for wire size 3.5 mm2 (AWG 12) or less)
L2, and L3) and of the servo motor power (U, V, and W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect 95 ± 0.5 2-φ5

Approx. 22.5
of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the servo motor
power lines, passes must be four times or less. Do not pass the
grounding wire through the filter. or the effect of the filter will drop. Approx. 65
Wind the wires by passing through the filter to satisfy the required
φ33
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
of passes as shown in Example 2.

Approx. 65
Place the line noise filters as close to the driver as possible for
their best performance.

4.5
Example 1
MCCB MC Servo amplifier
Driver
Pow er L1
supply
L2
FR-BLF (for wire size 5.5 mm2 (AWG 10) or more)
Line noise L3
filter 31.5 φ7
(Number of turns: 4)

7
130
Example 2 85
MCCB MC
Pow er ServoDriver
amplifier
80
35

supply
L1
Line noise L2 160
2.3

filter L3 180

Tw o filters are used

(Total number of turns: 4)

11 - 26
11. OPTIONS AND PERIPHERAL EQUIPMENT

(e) Radio noise filter (FR-BIF of Mitsubishi Electric Corparation)

This filter is effective in suppressing noises radiated from the power supply side of the driver
especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the input
only.
200 V class: FR-BIF
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always

Approx. 300
insulate the lead wires that are not used for wiring.
LECSB2-T□

Terminal
Driver
block Servo amplifier
MCCB MC 29
L1 φ5

42
Pow er hole
supply L2

4
L3

58 29 7
44

Radio noise
filter

11 - 27
11. OPTIONS AND PERIPHERAL EQUIPMENT

(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the driver.
When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON
CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to
the manufacturer catalog.
Maximum
Maximum rating limit Static
Varistor voltage rating
Power voltage capacity
(range)
supply Varistor Surge (reference
Permissible circuit Energy Rated pulse V1 mA
voltage current value)
voltage immunity power [A] [V]
immunity
AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J] [W] [pF] [V]
10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
200 V times
1.0 100
class 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
times

[Unit: mm]
(Note)
D T D H T E φd W
Model L
Max. Max. Max. ±1.0 ±0.05 ±1.0
min.
TND20V-431K 6.4 3.3
H

21.5 24.5 20 0.8 10.0

TND20V-471K 6.6 3.5

Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L

φd

11 - 28
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.9 Earth-leakage current breaker

(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with
a commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the driver,
servo motor, etc. securely.
To minimize leakage currents, make the input and output cables as short as possible, and make the
grounding cable longer than 30 cm.

Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ····································· (11.1)

Earth-leakage current breaker

Cable Mitsubishi
NV Noise filter Electric K
Servo Cable Type
Driver M Corparation
amplifier
products
NV-SP
Models provided with NV-SW
Ig1 Ign Iga Ig2 Igm harmonic and surge NV-CP 1
reduction techniques NV-CW
NV-HW
BV-C1
General models NFB 3
NV-L

Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input terminals
of the driver (Found from Fig. 11.5.)
Ig2: Leakage current on the electric channel from the output terminals of the driver to the servo motor
(Found from Fig. 11.5.)
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF)
Iga: Leakage current of the driver (Found from table 11.3.)
Igm: Leakage current of the servo motor (Found from table 11.2.)

120
Leakage current [mA]

100
80
60
40
20
0
2 5.5 14 38100
3.5 8 22 60 150
30 80
Cable size [mm 2]

Fig. 11.7 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit

11 - 29
11. OPTIONS AND PERIPHERAL EQUIPMENT

Table 11.2 Servo motor leakage current example (lgm)

Servo motor power [W] Leakage current [mA]
50 to 750 0.1

Table 11.3 Driver leakage current example (Iga)

Driver capacity [W] Leakage current [mA]
100 to 400 0.1
750 0.15

Table 11.4 Earth-leakage current breaker selection example

Rated sensitivity current of earth-
Driver
leakage current breaker [mA]
LECSB2-T□ 15

(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm 2 × 5 m 2 mm 2 × 5 m
NV
Servo ampl i fi er
Driver Servo motor
MR-J4-40B
LECSN2-T8 M HG-KR43
LE-T8-□

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.

Ig1
5
= 20 • = 0.1 [mA]
1000

Ig2
5
= 20 • = 0.1 [mA]
1000

Ign = 0 (not used)

Iga = 0.1 [mA]

Igm = 0.1 [mA]

Insert these values in equation (11.1).

Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated
sensitivity current (Ig) of 4.0 mA or more.
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW
series.

11 - 30
11. OPTIONS AND PERIPHERAL EQUIPMENT

11.10 EMC filter (recommended)

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.

(1) Combination with the driver

Recommended filter (Soshin Electric)
Mass
Driver Rated voltage Leakage current
Model Rated current [A] [kg]
[VAC] [mA]

(Note)
LECSN□-T□ 10 250 5 3.5
HF3010A-UN

Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

EMC filter Driver
Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Pow er supply 2 5 L2
3 6 L3
E L11
L21

(Note 2)
1 2 3 Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3.
Leave L2 open.
2. The example is when a surge protector is connected.

11 - 31
11. OPTIONS AND PERIPHERAL EQUIPMENT

(3) Dimensions
(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 × 7 3-M4 M4

32 ± 2

110 ± 4
85 ± 2
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5

HF3030A-UN/HF-3040A-UN
[Unit: mm]
6-K

3-L 3-L
G±1

D±2
F±2
E±1

J±2
C±1 C±1
B±2 H±2
A±5

Dimensions [mm]
Model
A B C D E F G H J K L M
HF3030A-UN
260 210 85 155 140 125 44 140 70 R3.25 length: 8 M5 M4
HF3040A-UN

11 - 32
11. OPTIONS AND PERIPHERAL EQUIPMENT

HF3100A-UN
[Unit: mm]

TF3005C-TX/TX3020C-TX/TF3030C-TX
[Unit: mm]

3-M4 6-R3.25 length8 M4 M4 3 M4

M4
Approx.12.2

125 2
140 1
155 2
16 16

IN

Approx.67.5
100 1 100 1 3

290 2 150 2

308 5 Approx.160

332 5 170 5

11 - 33
11. OPTIONS AND PERIPHERAL EQUIPMENT

(b) Surge protector

RSPD-250-U4 [Unit: mm]

5.5 ± 1
1 2 3

11 ± 1
4.2 ± 0.5

28.5 ± 1
Resin

Lead

+30
0
200

1 2 3

4.5 ± 0.5
28 ± 1

Case

41 ± 1

11 - 34
12. ABSOLUTE POSITION DETECTION SYSTEM

12. ABSOLUTE POSITION DETECTION SYSTEM ...........................................................................................2

12.1 Summary .................................................................................................................................................2
12.1.1 Features ...........................................................................................................................................2
12.1.2 Structure..........................................................................................................................................2
12.1.3 Parameter setting ...........................................................................................................................2
12.1.4 Confirmation of absolute position detection data .........................................................................3
12.2 Battery .....................................................................................................................................................4
12.3 Battery replacement procedure ...............................................................................................................5

12 - 1
12. ABSOLUTE POSITION DETECTION SYSTEM

12. ABSOLUTE POSITION DETECTION SYSTEM

If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning]

has occurred, always perform home position setting again. Otherwise, it may
CAUTION cause an unexpected operation.
If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery,
the battery can become hot. Use the battery with case to prevent getting burnt.

POINT
Refer to section 12.3 for the replacement procedure of the battery.
When absolute position data is erased from the encoder, always execute home
position setting before operation. The absolute position data of the encoder will
be erased in the followings. Additionally, when the battery is used out of
specification, the absolute position data can be erased.
The encoder cable was disconnected.
The battery was replaced when the control circuit power supply was off.

12.1 Summary

12.1.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system PC or PLC...etc power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is
not needed when power is switched on thereafter.
Even at a power failure or a malfunction, the system can be easily restored.

12.1.2 Structure
Programmable PC or PLC...etc Driver
Controller Servo amplifier
Netw orkcard
Network module
SLOT
CN2

Battery CN4
Servo motor

12.1.3 Parameter setting

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system.
[Pr. PA03]

1
Absolute position detection system selection
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)

12 - 2
12. ABSOLUTE POSITION DETECTION SYSTEM

12.1.4 Confirmation of absolute position detection data

You can check the absolute position data with SETUP SOFTWER MR (Setup software MR
Configurator2TMTM). Choose "Monitor" and "ABS Data Display" to open the absolute position data
display screen.

12 - 3
12. ABSOLUTE POSITION DETECTION SYSTEM

12.2 Battery
(1) Configuration diagram
Programmable PC or PLC...etc
Controller ServoDriver
amplifier

Command Home posi ti on data

position
EEP-ROM memory
LSO Current
position
1XO

Position control
Speed control
Backup at
pow er off
LS 1X
Detecting the Det ecti ng the
Step-dow n number of position wi thin
circuit revol uti ons one revol uti on
(6 V →3.4 V)

LEC-MR-BAT6V1SET-A

Servo motor

Cumulative revolution counter Hi gh speed

(1 pulse/rev) seri al
communi cation

One-revolution counter

(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Maximum revolution range Home position ± 32767 rev.
(Note 1) 6000
Maximum speed at power failure [r/min] (only when acceleration time until 6000 r/min is 0.2 s or more)
Approximately 20,000 hours
(Note 2) (equipment power supply: off, ambient temperature: 20 °C)
Battery backup time Approximately 29,000 hours
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.
2. The data-holding time by the battery. Replace the batteries within three years since the operation start regardless of the
power supply of the driver on/off. If the battery is used out of specification, [AL. 25 Absolute position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.

12 - 4
12. ABSOLUTE POSITION DETECTION SYSTEM

12.3 Battery replacement procedure

Before installing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
WARNING N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the driver.

The internal circuits of the driver may be damaged by static electricity. Always take
the following precautions.
CAUTION Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.

POINT
Replacing battery with the control circuit power off will erase the absolute position
data.
Before replacing batteries, check that the new batteries are within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

12 - 5
12. ABSOLUTE POSITION DETECTION SYSTEM

(1) Installation procedure

POINT
It is not possible to wire for the earth with the battery installed. Insert the battery
after executing the earth wiring of the driver.

Install a battery, and insert the

plug into CN4.

(2) Removal procedure

Pulling out the connector of the battery without the lock release lever pressed may
CAUTION damage the CN4 connector of the driver or the connector of the battery.

While pressing the lock release lever,

pull out the connector.

Press dow n the lock release lever, and

slide the battery tow ard you.

12 - 6
13. USING STO FUNCTION

13. USING STO FUNCTION ...........................................................................................................................2

13.1 Introduction ...........................................................................................................................................2
13.1.1 Summary .........................................................................................................................................2
13.1.2 Terms related to safety ...................................................................................................................2
13.1.3 Cautions ...........................................................................................................................................2
13.1.4 Residual risks of the STO function ................................................................................................3
13.1.5 Specifications...................................................................................................................................4
13.1.6 Maintenance ....................................................................................................................................5
13.2 STO I/O signal connector (CN8) and signal layouts ............................................................................5
13.2.1 Signal layouts ..................................................................................................................................5
13.2.2 Signal (device) explanations ...........................................................................................................6
13.2.3 How to pull out the STO cable .......................................................................................................6
13.3 Connection example ..............................................................................................................................7
13.3.1 Connection example for CN8 connector ........................................................................................7
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit of Mitsubishi
Electric Corporation ...................................................................................................................................8
13.3.3 External I/O signal connection example using an external safety relay unit ...........................10
13.4 Detailed description of interfaces .......................................................................................................11
13.4.1 Sink I/O interface ..........................................................................................................................11
13.4.2 Source I/O interface ......................................................................................................................13

13 - 1
13. USING STO FUNCTION

13. USING STO FUNCTION

POINT
In the torque control mode, the forced stop deceleration function is not available.

13.1 Introduction
This section provides the cautions of the STO function.

13.1.1 Summary
This driver complies with the following safety standards.
ISO/EN ISO 13849-1 category 3 PL e
IEC/EN 61508 SIL 3
IEC/EN 61800-5-2
IEC/EN 62061 SIL CL3

13.1.2 Terms related to safety

The STO function shuts down energy to servo motors, thus removing torque. This function electronically
cuts off power supply in the driver.
The purpose of this safety function is as follows.

(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

(2) Preventing unexpected start-up

13.1.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these
components are installed.
They must be familiar with all applicable local regulations and laws in which machines with these
components are installed, particularly the standards mentioned in this manual.
The staff responsible for this work must be given express permission from the company to perform start-
up, programming, configuration, and maintenance of the machine in accordance with the safety
standards.

Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.

Protective Measures
This driver satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by preventing
the energy supply from the driver to the servo motor. If an external force acts upon the drive axis,
additional safety measures, such as locks or counterbalances must be used.

13 - 2
13. USING STO FUNCTION

13.1.4 Residual risks of the STO function

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below
are residual risks associated with the STO function. SMC is not liable for any damages or injuries caused
by these risks.
(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does
not mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to
electric shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit
breaker to the main circuit power supply (L1, L2, and L3) of the driver.

(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not
guarantee the stop control or the deceleration control of the servo motor.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.

(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.

(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to
external or other forces.

(6) Safety is not assured until safety-related components of the system are completely installed or
adjusted.

(7) When replacing this driver, confirm that the model name of drivers are exactly the same as those
being replaced. Once installed, make sure to verify the performance of the safety functions before
commissioning the system.

(8) Perform all risk assessments to the machine or the whole system.

(9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on
the risk assessments of the machine or the system. Regardless of the system safety level,
malfunction checks should be performed at least once per year.

(10) If the upper and lower power module in the driver are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum.

(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the
STO function may not function properly due to a sneak current, failing to bring the STO shut-off
state.

(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage
(SELV) power supply with the reinforced insulation.

13 - 3
13. USING STO FUNCTION

13.1.5 Specifications
(1) Specifications
Item Specifications
Safety function STO (IEC/EN 61800-5-2)
ISO/EN ISO 13849-1 category 3 PL e, IEC/EN 61508 SIL 3,
Safety performance
EN 62061 SIL CL3, EN 61800-5-2
Mean time to dangerous failure
MTTFd ≥ 100 [years] (Note)
(MTTFd)
Diagnostic converge (DC) DC = Medium, 97.6[%] (Note)
Average probability of dangerous
PFH = 6.4 × 10-9 [1/h]
failures per hour (PFH)
Number of on/off times of STO 1,000,000 times
LVD: EN 61800-5-1
CE marking EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Note 1. This is the value required by safety standards.

2. The safety level is determined by the setting value of [Pr. PF18 STO diagnosis error detection time] and
whether or not STO input diagnosis by TOFB output is performed. For details, refer to the function
column of [Pr. PF18] described in section 5.2.6.

(2) Function block diagram (STO function)

Base power
supply for
CN8 upper arm
Shut-off signal (STO1)
Shut-
off
Monitor signal (TOFB1)
Base power
supply for Pow er
Shut-off signal (STO2) low er arm module
Shut-
off
Monitor signal (TOFB2)

M Servo motor

(3) Operation sequence (STO function)

Servo motor speed

0 r/min

ON
EM2 (Forced stop 2)
OFF

ON
STO1 STO2
OFF

ON
Magnetic contactor
OFF (8 ms)
Base circuit ON
(Supplying energy to
the servo motor) OFF

13 - 4
13. USING STO FUNCTION

13.1.6 Maintenance
This driver has alarms and warnings for maintenance that supports the drive safety function. (Refer to
chapter 8.)

13.2 STO I/O signal connector (CN8) and signal layouts

13.2.1 Signal layouts

POINT
The pin configurations of the connectors are as viewed from the cable connector
wiring section.

Driver
Servo amplifier

STO I/O signal connector

CN8

2 1

4 3
STO1 STO CO M

6 5
TOFB1 STO2

8 7
TO F CO M TOFB2

13 - 5
13. USING STO FUNCTION

13.2.2 Signal (device) explanations

(1) I/O device
Connector I/O
Signal name Description
pin No. division
STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1
STO1 CN8-4 Inputs STO state 1. DI-1
STO state (base shut-off): Open between STO1 and STOCOM.
STO release state (in driving): Close between STO1 and STOCOM.
Be sure to turn off STO1 after the servo motor stops by the servo-off state or with
forced stop deceleration by turning off EM2 (Forced stop 2).
STO2 CN8-5 Inputs STO state 2. DI-1
STO state (base shut-off): Open between STO2 and STOCOM.
STO release state (in driving): Close between STO2 and STOCOM.
Be sure to turn off STO2 after the servo motor stops by the servo-off state or with
forced stop deceleration by turning off EM2 (Forced stop 2).
TOFCOM CN8-8 Common terminal for monitor output signal in STO state DO-1
TOFB1 CN8-6 Monitor output signal in STO1 state DO-1
STO state (base shut-off): Between TOFB1 and TOFCOM is closed.
STO release state (in driving): Between TOFB1 and TOFCOM is opened.
TOFB2 CN8-7 Monitor output signal in STO2 state DO-1
STO state (base shut-off): Between TOFB2 and TOFCOM is closed.
STO release state (in driving): Between TOFB2 and TOFCOM is opened.

(2) Signals and STO state

The following table shows the TOFB and STO states when the power is on in normal state and
STO1 and STO2 are on (closed) or off (opened).
Input signal State
Between TOFB1 and TOFCOM Between TOFB2 and TOFCOM Between TOFB1 and TOFB2
STO1 STO2
(Monitoring STO1 state) (Monitoring STO2 state) (Monitoring STO state of driver)
Off Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)
Off On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)
On Off Off: STO release state On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)
On On Off: STO release state Off: STO release state Off: STO release state

(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.

13.2.3 How to pull out the STO cable

The following shows how to pull out the STO cable from the CN8 connector of the driver.
While pressing knob 1) of the STO cable plug in the
direction of the arrow, pull out the plug 2).

2)

1)

13 - 6
13. USING STO FUNCTION

13.3 Connection example

POINT
Turn off STO (STO1 and STO2) after the servo motor stops by the servo off
state or with forced stop deceleration by turning off EM2 (Forced stop 2).
Configure an external sequence that has the timings shown as below using an
external device such as the MR-J3-D05 safety logic unit of Mitsubishi Electric
Corporation.
ON
STO1 STO2 OFF
ON
EM2 OFF

Servo motor
speed 0 r/min
If STO is turned off during operation, the servo motor is in dynamic lock stop
(stop category 0), and [AL.63 STO timing error] will occur.

13.3.1 Connection example for CN8 connector

This driver is equipped with the connector (CN8) in accordance with the STO function. When this
connector is used with a certified external safety relay, power to the motor can be safely removed and
unexpected restart can be prevented. The safety relay used should meet the applicable safety standards
and have forcibly guided or mirror contacts for the purpose of error detection.
In addition, the MR-J3-D05 safety logic unit of Mitsubishi Electric Corporation can be used instead of a
safety relay for implementation of various safety standards. Refer to Appendix 5 for details.
The following diagram is for source interface. For sink interface, refer to section 13.4.1.
Driver
Servo amplifier

CN8 Approx.
(Note 2) 3.0 k Ω CN8 (Note 1)
STO1 STO1 4
Approx.
(Note 2) 3.0 k Ω 6 TOFB1
STO2 STO2 5
8 TO FCO M

ST O CO M 3
7 TOFB2
24 V DC
Door
(Note 3) Open

Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection
examples, refer to section 13.3.2 to 13.3.3. The safety level is determined by the setting
value of [Pr. PF18 STO diagnosis error detection time] and whether or not STO input
diagnosis by TOFB output is performed. For details, refer to the function column of [Pr.
PF18] described in section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1
and STO2 after the servo motor stops by the servo off state or with forced stop
deceleration by turning off EM2 (Forced stop 2).
3. Configure the interlock circuit so that the door is open after the servo motor is stopped.

13 - 7
13. USING STO FUNCTION

13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit of Mitsubishi Electric
Corporation

POINT
This connection is for the source interface. For the other I/O signals, refer to the
connection examples in section 3.2.
(1) Connection example
24 V
(Note 2) (Note 2)
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note)1) (Note
(Note (Note)1)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+

1B SDI1A- MC
Driver
Servo amplifier
4A SDO1A+ CN8
Control circuit
CN8A 4B SDO1A- STO1 4

CN10 STO2 5

3A SDI2A+
STOCOM 3
3B SDI2A-
TOFB1 6
1A SRESA+

1B SRESA- TOFB2 7

6A SDO2A+
TOFCOM 8
6B SDO2A-

8A TOFA CN3

EM2 (A- axis)

Servo motor

CN9
2A SDI1B+

2B SDI1B- MC
Servo Driver
amplifier
CN8B 3A SDO1B+ CN8
Control circuit
3B SDO1B- STO1 4

CN10 STO2 5

4A SDI2B+
STOCOM 3
4B SDI2B-
TOFB1 6
2A SRESB+
FG
2B SRESB- TOFB2 7

5A SDO2B+
TOFCOM 8
5B SDO2B-

8B TOFB CN3

EM2 (B- axis)

7A +24 V M
7B 0V

Servo motor

0V

13 - 8
13. USING STO FUNCTION

Note 1. Set the delay time of STO output with SW1 and SW2. These switches for MR-J3-D05 of Mitsubishi Electric Corporation are located where
dented from the front panel.
Note 2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.

(2) Basic operation example

STOA switch input is output to SDO1A and SDO2A of MR-J3-D05 (Mitsubishi Electric Corporation)
and input to driver.
STOB switch input is output to SDO1B and SDO2B of MR-J3-D05 (Mitsubishi Electric Corporation)
and input to the driver.
A-axis shutdow n 1 and 2 Energizing (close)
B-axis shutdow n 1 and 2 Shut-of f (open)

Stop
EM2 input Shut of f delay
Operation

Normal (close)
STO1, STO2 STO shut-off
Shut-of f (open)
Driver
Servo amplifier
Servo motor speed
0 r/min
Servo motor drivable STO status

13 - 9
13. USING STO FUNCTION

13.3.3 External I/O signal connection example using an external safety relay unit

POINT
This connection is for the source interface. For the other I/O signals, refer to the
connection examples in section 3.2.

This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d.
24 V
S4 EMG
S3
KM1
S2
Fuse KM1
K3

+24 V XS0 XS1 Z00 Z10 Z20 KM1

Safety relay module

MELSEC Pow er Control
supply circuit
(QS90SR2S)
KM1
Driver
Servo amplifier
24G COM0 X0 COM1 X1 Z01 Z11 Z21

CN8 Control circuit

STO1
S1 or
EMG
(Note)

STO2

STOCOM

K3

TOFB1

TOFCOM

0V
TOFB2
20
S1: STO shut-off sw itch (STO sw itch)
S2: Start sw itch (STO release sw itch) CN3
S3: On sw itch EM1
S4: Off sw itch or
EM2
KM1: Magnetic contactor
K3: Safety relay
EMG: Emergency stop sw itch M

Servo motor

Note. To enable the STO function of the driver by using "Emergency switching off", change S1 to EMG. The stop category at this time
is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.

13 - 10
13. USING STO FUNCTION

13.4 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 13.2. Refer to this section and make connection with the external device.

13.4.1 Sink I/O interface

(1) Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc.
ServoDriver
amplifier
For transistor
STO1
Approx. 5 mA STO2

Approx. 3.0 kΩ
Sw itch
TR
STOCOM

VCES 1.0 V 24 V DC ± 10%

ICEO 100 µA 300 mA

(2) Digital output interface DO-1

This is a circuit of collector output terminal of the output transistor. When the output transistor is
turned on, collector terminal current will be applied for the output.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an
inrush current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 5.2 V voltage drop occurs in the driver.

(a) When outputting two STO states by using each TOFB

Driver
Servo amplifier If polarity of diode is
reversed, driver
servo amplifier
TOFB1 Load w ill malfunction.

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA Load

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

13 - 11
13. USING STO FUNCTION

(b) When outputting two STO states by using one TOFB

Servo amplifier
Driver If polarity of diode is
reversed, driver
servo amplifier
TOFB1 Load w ill malfunction.

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA

Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

13 - 12
13. USING STO FUNCTION

13.4.2 Source I/O interface

In this driver, source type I/O interfaces can be used.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
Servo amplifier
Driver
STO1
STO2
Approx. 3.0 kΩ
Sw itch
TR
STOCOM

Approx. 5 mA 24 V DC ± 10%
VCES 1.0 V 300 mA
ICEO 100 µA

(2) Digital output interface DO-1

This is a circuit of emitter output terminal of the output transistor. When the output transistor is
turned on, current will be applied from the output to a load.
A maximum of 5.2 V voltage drop occurs in the driver.

(a) When outputting two STO states by using each TOFB

Servo amplifier
Driver If polarity of diode is
reversed, driver
servo amplifier
TOFB1 Load w ill malfunction.

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA Load

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

(b) When outputting two STO states by using one TOFB

Servo amplifier
Driver If polarity of diode is
reversed, driver
servo amplifier
TOFB1 Load w ill malfunction.

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA

Note. If the voltage drop (maximum of 5.2 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.

13 - 13
14. APPLICATION OF FUNCTIONS

14. APPLICATION OF FUNCTIONS ..............................................................................................................2

14.1 Infinite feed function (setting degree) ..................................................................................................2

14 - 1
14. APPLICATION OF FUNCTIONS

14. APPLICATION OF FUNCTIONS

14.1 Infinite feed function (setting degree)

POINT
This function can be used with the absolute position detection system.

When the unit of position data is set to degree in the profile mode, [AL. E3.1 Multi-revolution counter travel
distance excess warning] does not occur and the home position is not erased even if the servo motor rotates
32768 rev or more in the same direction. Thus, the current position is restored after the power is cycled. For
other command units, [AL. E3.1 Multi-revolution counter travel distance excess warning] occurs and the
home position is erased if the servo motor rotates 32768 rev or more in the same direction.

The following shows differences depending on the position data unit when the servo motor rotates 32768 rev
or more in the same direction.
Home position
Parameter Name Setting digit Setting value Unit [AL. E3.1]
erasure
0 [mm] It occurs. Supported
1 [inch] It occurs. Supported
PT01 Position data unit _x__
2 [degree] It does not occur. None
3 [pulse] It occurs. Supported

14 - 2
15. SERVO MOTOR

15. SERVO MOTOR ...........................................................................................................................................2

15.1 Servo motor with a lock ...........................................................................................................................2
15.1.1 Features ...........................................................................................................................................2
15.1.2 Characteristics of servo motor with a lock ........................................................................................4
15.2 Protection from oil and water ..................................................................................................................5
15.3 Cable .......................................................................................................................................................5
15.4 Rated speed of servo motor ....................................................................................................................5
15.5 Mounting connectors ...............................................................................................................................6

15 - 1
15. SERVO MOTOR

15. SERVO MOTOR

15.1 Servo motor with a lock
15.1.1 Features
The lock is provided to prevent a drop at a power failure or servo alarm
occurrence during vertical drive or to hold a shaft at a stop. Do not use it for
normal braking (including braking at servo-lock).
The lock has a time lag. Use the lock so that servo motor control starts after the
lock has completely opened. Be sure to check the time lag of the locking with a
CAUTION real machine.
Configure a lock circuit so that it is activated also by an external EMG stop switch.
While the lock is opened, the motor may be raised to high temperature regardless
of driving.
The life will be shorten under sudden acceleration/deceleration conditions.

The servo motor with a lock can be used to prevent a drop in vertical lift applications or to ensure double
safety at an emergency stop, for example. When operating the servo motor, supply power to the lock to
release the lock. Switching power off enables the lock.

(1) Lock power supply

Prepare the following power supply for use with the lock only. The lock terminals (B1 and B2) have no
polarity.
B1 B1
Electromagnetic brake

Electromagnetic brake
Sw itch Sw itch
lock lock
24 V DC 24 V DC
pow er supply for VAR U B or power supply for VAR U B
electromagnetic brake
lock electromagnetic brake
lock

B2 B2

The surge absorber (VAR) must be installed between B1 and B2. When you use a diode for a surge
absorber, the locking time will be longer.

(2) Sound generation

Though the brake lining may rattle during operation, it poses no functional problem.
If braking sounds, it may be improved by setting the machine resonance suppression filter in the
driver parameters.

(3) Selection of surge absorbers for lock circuit

The following shows an example how to select a varistor with a surge absorber.
(a) Selection conditions
Item Condition
Relay
Lock specification R [Ω]: Resistance (Note)
L [H]: Inductance (Note)
Vb [V]: Power supply voltage 24 V DC Varistor lock coil
Brake coil
U
Desired suppression Vs [V] or less
voltage
Durable surge application N times
time
Note. Refer to section 15.1.2.

15 - 2
15. SERVO MOTOR

(b) Tentative selection and verification of surge absorber

1) Maximum allowable circuit voltage of varistor
Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].
2) Lock current (Ib)

Vb
Ib = [A]
R

3) Energy (E) generated by lock coil

2
E = L × lb [J]
2

4) Varistor limit voltage (Vi)

From the energy (E) generated in the lock coil and the varister characteristic diagram, calculate
the varistor limit voltage (Vi) when the lock current (Ib) flows into the tentatively selected varistor
during opening of the circuit. Please refer to the varistor characteristic diagram to the varistor
manufacturer.
The desired suppressed voltage (Vs) is the sum of the 24 VDC ± 10% used and the other
devices (relays etc.) used by the user.
Please confirm the specification of the equipment to be used.
Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed
voltage (Vs) [V].
If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.
Regarding the characteristics characteristic diagram, specification, selection of the varistor, it is
necessary to check with the varistor manufacturer.

5) Surge current width (τ)

Given that the varistor absorbs all energies, the surge current width (τ) will be as follows.

E
τ= [S]
Vi × lb

6) Examining surge life of varister

From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number
of the surge application life is N at the surge current width (τ). Calculate the guaranteed current
value (Ip) ratio to lock current (Ib).
If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be
considered as favorable.

(4) Others
A leakage magnetic flux will occur at the shaft end of the servo motor equipped with a lock. Note that
chips, screws, etc. are attracted.

15 - 3
15. SERVO MOTOR

15.1.2 Characteristics of servo motor with a lock

The lock is provided to prevent a drop at a power failure or servo alarm
occurrence during vertical drive or to hold a shaft at a stop. Do not use it for
normal braking (including braking at servo-lock).
CAUTION Before performing the operation, be sure to confirm that the lock operates
properly.
The operation time of the lock differs depending on the power supply circuit you
use. Be sure to check the operation delay time with a real machine.

The characteristics (reference value) of the lock provided for the servo motor with a lock are indicated
below.
Servo motor LE-□-B
Item T6 T7 T8 T9
(100W) (200W) (400W) (750W)
Type (Note 1) Spring actuated type safety lock
0
Rated voltage (Note 4) 24 V DC -10%
Power consumption [W] at 20 °C 6.3 7.9 10
Coil resistance (Note 6) [Ω] 91.0 73.0 57.0
Inductance (Note 6) [H] 0.15 0.18 0.13
Lock static friction torque [N•m] 0.32 1.3 2.4
Release delay time (Note 2) [s] 0.03 0.03 0.04
Locking delay time (Note 2) DC off
0.01 0.02 0.02
[s]
Per locking [J] 5.6 22 64
Permissible locking work
Per hour [J] 56 220 640
Lock looseness at servo motor shaft (Note 5) [degrees] 2.5 1.2 0.9
Number of lockings
20000
Lock life (Note 3) [times]
Work per locking [J] 5.6 22 64
For the suppressed
Selection example of surge absorbers TND20V-680KB (135[V])
voltage 145 V
to be used
For the suppressed
(Note 7, 8) TND10V-221KB (360[V])
voltage 370 V

Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine
centering, etc., use a separate 24 V DC power supply to release the lock electrically.
2. The value for initial on gap at 20 °C.
3. The lock gap will increase as the brake lining wears, but the gap is not adjustable.
The lock life indicated is the number of locking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the lock.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the lock control relay properly, considering the characteristics of the lock and surge absorber. When you use a
diode for a surge absorber, the locking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.

15 - 4
15. SERVO MOTOR

15.2 Protection from oil and water

(1) Do not use the servo motor with its cable soaked in oil or water.

Cover

Servo
motor

Oil/w ater pool

Capillary action

(2) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be
affected depending on the oil type.

15.3 Cable
The standard motor and encoder cables routed from the servo motor should be fixed to the servo motor
to keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the
connectors, terminals and others at the ends of the cables.

15.4 Rated speed of servo motor

The rated speed of servo motor (LE-T6-□, LE-T7-□, LE-T8-□, LE-T9-□) is 3000[r/min].

15 - 5
15. SERVO MOTOR

15.5 Mounting connectors

If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during
operation.
To achieve the IP rating IP65, pay attention to the following points and install the connectors.

(1) When screwing the connector, hold the connector still and gradually tighten the screws in a
crisscross pattern.
Tightening order 2) Tightening order
1) 3)
1) 2) 3) 4) 1) 2)

1)
4) 2)

Connector for power supply, connector for Connector for lock

encoder

(2) Tighten the screws evenly. Tightening torques are as indicated below.
Connector for encoder
Screw size: M2
Tightening torque: 0.1 [N•m]

lock
Connector for electromagnetic brake
Screw size: M2
Tightening torque: 0.2 [N•m]

Connector for pow er supply

Screw size: M2
Tightening torque: 0.2 [N•m]

(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When
mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the
seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

15 - 6
16. HOW TO USE THE POINT TABLE

16. HOW TO USE THE POINT TABLE ............................................................................................................. 2

16.1 Specification list ..................................................................................................................................... 3
16.2 Switching power on for the first time ...................................................................................................... 4
16.3 Switching power on for the first time Point table mode (pt) ................................................................... 6
16.3.1 Point table mode (pt) ....................................................................................................................... 6
16.3.2 Automatic operation using point table ............................................................................................. 6
16.4 Jog mode (jg) ....................................................................................................................................... 24
16.5 Point table setting method ................................................................................................................... 26
16.5.1 Point table setting method with Setup software (MR Configurator2 TM) ......................................... 26
16.5.2 Point table setting method with objects ......................................................................................... 29

16 - 1
16. HOW TO USE THE POINT TABLE

16. HOW TO USE THE POINT TABLE

POINT
For the home position return, refer to chapter 18,19,20.

See the following table for the No. of each object mentioned in this chapter.
No.
Object
EtherCAT PROFINET
Modes of operation Index: 6060h PNU: 24672, Sub: 0
Controlword Index: 6040h PNU: 24640, Sub: 0
Statusword Index: 6041h PNU: 24641, Sub: 0
Profile velocity Index: 6081h PNU: 24705, Sub: 0
Profile acceleration Index: 6083h PNU: 24707, Sub: 0
Profile deceleration Index: 6084h PNU: 24708, Sub: 0
Target point table Index: 2D60h PNU: 11616, Sub: 0
Status DO 1 Index: 2D11h PNU: 11537, Sub: 0
Status DO 5 Index: 2D15h PNU: 11541, Sub: 0
Point actual value Index: 2D69h PNU: 11625, Sub: 0
M code actual value Index: 2D6Ah PNU: 11626, Sub: 0
Point table _ _ _ Index: 2801h to 28FFh PNU: 10241 to 10495, Sub: 0

16 - 2
16. HOW TO USE THE POINT TABLE

16.1 Specification list

Item Description
Operational specifications Positioning with specification of point table No. (255 points)
Set in the point table.
Position command input (Note 1) Setting range of feed length per point: -999999 to 999999 [×10STM µm],
-99.9999 to 99.9999 [×10STM inch], -999999 to 999999 [pulse]
Set the acceleration/deceleration time constants in the point table.
Speed command input
Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].
System Signed absolute position command method/relative position command method
Torque limit Limits the servo motor torque.
Control mode
Point table mode (pt)

Point table No. input method

Each positioning operation
Operates each positioning based on position command and speed command.

Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points)/

Automatic continuous
Automatic continuous operation to a point table selected at startup/automatic continuous operation to the point
positioning operation
table No. 1
Jog mode (jg)

JOG operation Executes an inching operation via network.

Dog type
Homing mode (hm)

(Rear end detection, Z-

phase reference)
Count type
(Front end detection, Z-
phase reference)
Data set type
Stopper type
(Stopper position
reference)
Dog type
(Rear end detection, rear
end reference)
Count type
(Front end detection, front
end reference)
Dog cradle type
Dog type last Z-phase
reference (Note 2) For the descriptions of the home position return types, refer to chapter 18,19,20.
Dog type front end
reference
Dogless Z-phase
reference (Note 2)
Home position ignorance
(servo-on position as
home position)
Homing on positive home
switch and index pulse
(method 3)
Homing on positive home
switch and index pulse
(method 4)
Homing on negative home
switch and index pulse
(method 5)
Homing on negative home
switch and index pulse
(method 6)

16 - 3
16. HOW TO USE THE POINT TABLE

Item Description
Homing on home switch
Control mode

Homing mode (hm)

and index pulse

(method 7)
Homing on home switch
and index pulse
(method 8)
Homing on home switch
and index pulse
(method 11)
Homing on home switch
and index pulse
(method 12)
Homing without index
pulse (method 19)
Homing without index
pulse (method 20)
Homing without index
pulse (method 21)
Homing without index
pulse (method 22)
Homing without index For the descriptions of the home position return types, refer to chapter 18,19,20.
pulse (method 23)
Homing without index
pulse (method 24)

Homing without index

pulse (method 27)

Homing without index

pulse (method 28)
Homing on index pulse
(method 33)
Homing on index pulse
(method 34)
Homing on current position
(method 35)
Homing on current position
(method 37)
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Other functions Absolute position detection/external limit switch/software stroke limit

Note STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].

1.

16.2 Switching power on for the first time

POINT
Set [Pr. PA01] to "_ _ _ 6" (Positioning mode (point table method)).
When using EtherCAT, set the mapping objects of 3rd RxPDO map (1602h) and
2nd TxPDO map (1A01h) in the PDO mapping. For details, refer to 18.3.
When using PROFINET, set the communication format to Telegram 103. For
details, refer to section 20.

16 - 4
16. HOW TO USE THE POINT TABLE

When switching power on for the first time, follow this section to make a startup.

Startup procedure
Wiring check Check whether the driver and servo motor are wired correctly using visual
inspection, DO forced output function (section 4.5.1), etc. (Refer to section
4.1.2.)

Surrounding environment check Check the surrounding environment of the driver and servo motor. (Refer
to section 4.1.3.)

Parameter setting Set [Pr. PA01] to "_ _ _ 6" (Positioning mode (point table method)). Set
the parameters as necessary for the regenerative option selection, etc.
(Refer to chapter 5.)

Test operation of the servo motor With the servo motor disconnected from the machine, use the test
alone in test operation mode
operation mode and check whether the servo motor correctly rotates at
the slowest speed possible. Refer to section 4.5 for the test operation
mode.
Netw ork setting check
Check the network setting to connect the upper side.

1) When using EtherCAT, set the mapping objects of 3rd RxPDO map
(1602h) and 2nd TxPDO map (1A01h) in PDO mapping.

2) When using PROFINET, set the communication format to Telegram

103.

For details, refer to chapter 18,19,20.

Test operation of the servo motor For the test operation, with the servo motor disconnected from the
alone by commands
machine and operated, give commands to the driver. Operate the servo
motor at the speed as low as possible and check whether the servo motor
rotates correctly.
Test operation w ith the servo motor Connect the servo motor with the machine, and check machine motions
and machine connected
by transmitting operation commands from the upper side.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter
6.)

Actual operation

Stop Stop giving commands and stop operation.

16 - 5
16. HOW TO USE THE POINT TABLE

16.3 Switching power on for the first time Point table mode (pt)

16.3.1 Point table mode (pt)

Set point tables in advance, and select any point table in "Target point table" to start operation with
"Controlword bit 4 (New set-point)". The auxiliary function of the point table enables to select absolute
position command method and relative position command method.

(1) Absolute position command method

As position data, set the target address to be reached.

Setting range: -999999 to 999999 [×10STM µm] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [×10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [pulse]
-999999 999999

Setting range of the position data

[×10 STM μm] / [×10 (STM-4) inch] / [pulse]

(2) Relative position command method

As position data, set the travel distance from the current address to the target address.

Setting range: -999999 to 999999 [×10STM µm] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [×10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03])
-999999 to 999999 [pulse]
Current address Target address

Position data = |Target address - Current address|

16.3.2 Automatic operation using point table

Select absolute position command method or relative position command method in the auxiliary function of
the point table to use this function.

(1) Point table

POINT
Refer to section 18.5 for the setting of the point table.

16 - 6
16. HOW TO USE THE POINT TABLE

Set the point table values using Setup software (MR Configurator2TM) or "Point table 001 to 255".
Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell
time, auxiliary function, and M code to the point table.
To use the point table with the absolute position command method, set "0", "1", "8", or "9" to the
auxiliary function. To use the point table with the relative position command method, set "2", "3", "10", or
"11" to the auxiliary function.
When you set a value outside the setting range to the point table, the set value will be clamped with the
maximum or minimum value. If the value becomes out of the range because of the changes in the
command unit or the connected servo motor, [AL. 37] will occur.
Item Setting range Unit Description
(1) When using this point table with the absolute position command method
×10STM µm
-999999 to 999999 (STM-4)
Set the target address (absolute value).
Position data ×10 inch
(Note 1) (2) When using this point table with the relative position command method
pulse
Set the travel distance. A "-" sign indicates a reverse rotation command.
Set the command speed of the servo motor for execution of positioning.
0.01 r/min The setting value must be the instantaneous permissible speed or less of the
Servo motor 0 to permissible
0.01 mm/s servo motor used.
speed speed
(Note 2) If a value smaller than "1" is set for the servo motor speed, the servo motor
may not rotate.
Acceleration
time constant 0 to 20000 ms Set a time for the servo motor to reach the rated speed.

Deceleration
0 to 20000 ms Set a time for the servo motor to stop from the rated speed.
time constant
Set the dwell time.
To disable the dwell time, set "0" or "2" to the auxiliary function.
To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" to the
Dwell time 0 to 20000 ms auxiliary function and "0" to the dwell time.
When the dwell time is set, a positioning of the next point table will be started
after the positioning of the selected data is completed, and the set dwell time
has elapsed.
Set the auxiliary function.
(1) When using this point table with the absolute position command method
0: Automatic operation for a selected point table is performed.
1: Automatic continuous operation is performed without a stop to the next
point table.
8: Automatic continuous operation is performed without a stop to the point
table selected at start-up.
9: Automatic continuous operation is performed without stopping a point
table No. 1.
(2) When using this point table with the relative position command method
Auxiliary
0 to 3, 8 to 11 2: Automatic operation for a selected point table is performed.
function
3: Automatic continuous operation is performed without a stop to the next
point table.
10: Automatic continuous operation for a point table selected at start-up is
performed.
11: Automatic continuous operation is performed without stopping a point
table No. 1.
When an opposite rotation direction is set, the servo motor rotates in the
opposite direction after smoothing zero (command output) is confirmed.
Setting "1" or "3" to point table No. 255 results in an error.
Refer to (4) (b) in this section for details.
Set a code to output at the completion of positioning.
M code 0 to 99
M code can be read with "M code actual value".

Note When the unit of the position data is µm or inch, the location of the decimal point is changed according to the STM setting.

1.

16 - 7
16. HOW TO USE THE POINT TABLE

(2) Parameter setting

Set the following parameters to perform automatic operation.

(a) Rotation direction selection ([Pr. PA14])

Select the servo motor rotation direction when "Controlword bit 4 (New set-point)" is switched on.
Servo motor rotation direction
[Pr. PA14] setting
"Controlword bit 4 (New set-point)" on
CCW rotation with + position data
0
CW rotation with - position data
CW rotation with + position data
1
CCW rotation with - position data

CCW

CW

(b) Position data unit ([Pr. PT01])

Set the unit of the position data.
[Pr. PT01] setting Position data unit
_0__ mm
_1__ inch
_3__ pulse

(c) Feed length multiplication ([Pr. PT03])

Set the feed length multiplication factor (STM) of the position data.
Position data input
[Pr. PT03] setting range
[mm] [inch] [pulse] (Note)
___0 - 999.999 to + 999.999 - 99.9999 to + 99.9999
___1 - 9999.99 to + 9999.99 - 999.999 to + 999.999
- 999999 to + 999999
___2 - 99999.9 to + 99999.9 - 9999.99 to + 9999.99
- 99999.9 to + 99999.9
___3 - 999999 to + 999999

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.
Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

(3) Operation
Selecting the point table with "Target point table" and switching on "Controlword bit 4 (New set-point)"
starts positioning to the position data at the set speed, acceleration time constant and deceleration time
constant.
Item Object to be used Setting
Point table mode (pt)
Modes of operation Set "-101".
selection
Point table selection Target point table Set the point table No. to use.
Start Controlword Switch on "Controlword bit 4 (New set-point)".

16 - 8
16. HOW TO USE THE POINT TABLE

(4) Automatic operation timing chart

(a) Automatic individual positioning operation
While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New set-
point)" starts the automatic positioning operation.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1 2

Forw ard Point table

rotation No. 1
Servo motor speed 0 r/min
Reverse Point table
rotation No. 2

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 2

Point demand value 1 2

M code of point table

M code actual value M code of point table No. 1 No. 2

No Switching on "Controlword bit 4 (New set-point)" is invalid during the servo motor rotation.
te.

16 - 9
16. HOW TO USE THE POINT TABLE

(b) Automatic continuous positioning operation

By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation
can be performed in accordance with the point tables having consecutive numbers.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1

Forw ard Point table Point table

rotation No. 1 No. 2
Servo motor speed 0 r/min
Reverse
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1

Point demand value 1 2

M code of point table

M code actual value No. 1

No Switching on "Controlword bit 4 (New set-point)" is invalid during the servo motor rotation.
te.

By specifying the absolute position command or the relative position command in the auxiliary
function of the point table, the automatic continuous operation can be performed.
The following shows how to set.
Point table setting
Auxiliary function
Dwell time When the position data is absolute When the position data is relative
value value
1 or more 1 3

16 - 10
 16. HOW TO USE THE POINT TABLE

1) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute position command method,
and point table No. 2 is set to the relative position command method.
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]

1 5.00 100 150 1 05

3000.00 100
2 5.00 2000.00 150 200 200 3 10
3 15.00 1000.00 300 100 Disabled 0 (Note) 15

Note. Be sure to set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute position command method
2: When using the point table with the relative position command method

Acceleration/deceleration time
constant of point table No. 1 Acceleration/deceleration time
constant of point table No. 2
Acceleration/deceleration time
constant of point table No. 3

Forw ard Speed Speed

rotation (3000.00) (2000.00) Speed (1000.00)
Servo motor speed 0 r/min
Reverse
rotation Dw ell time Dw ell time
100 ms 5.00 200 ms

Position address
0 5.00 10.00 15.00

Target point table 1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value 1

M code actual value 05

16 - 11
 16. HOW TO USE THE POINT TABLE

2) Positioning in the reverse direction midway

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute position command method,
and point table No. 2 is set to the relative position command method.
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 5.00 3000.00 100 150 100 1 05
2 7.00 2000.00 150 200 200 3 10
3 8.00 1000.00 300 100 Disabled 0 (Note) 15

Note. Be sure to set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute position command method
2: When using the point table with the relative position command method

Acceleration/deceleration time Acceleration/deceleration time

constant of poi nt tabl e No. 1 constant of poi nt tabl e No. 2

Forw ard Speed Speed Dw ell time

rotation (3000.00) (2000.00) 200 ms
Servo motor speed 0 r/min
Reverse Speed (1000.00)
Dw ell time
rotation 100 ms Acceleration/deceleration time
constant of poi nt tabl e No. 3
7.00
Position address
0 5.00 8.00 12.00

Target point table 1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value 1

M code actual value 05

16 - 12
16. HOW TO USE THE POINT TABLE

(c) Varying-speed operation

By setting the auxiliary function of the point table, the servo motor speed during positioning can be
changed. Point tables are used by the number of the set speed.

Set "1" or "3" to the auxiliary function to execute the positioning at the speed set in the following
point table.
At this time, the position data selected at start is enabled, and the acceleration/deceleration time
constant set in the next and subsequent point tables is disabled.
By setting "1" or "3" to auxiliary functions until point table No. 254, the operation can be performed at
maximum 255 speeds.
Be sure to set "0" or "2" to the auxiliary function of the last point table.
To perform varying-speed operation, be sure to set "0" to the dwell time.
Setting "1" or more enables the automatic continuous positioning operation.
The following table shows an example of setting.
Point Dwell time [ms]
Auxiliary function Varying-speed operation
table No. (Note 1)
1 0 1
Consecutive point table
2 0 3
data
3 Disabled 0 (Note 2)
4 0 3
Consecutive point table
5 0 1
data
6 Disabled 2 (Note 2)

Note 1. Be sure to set "0".

2. Be sure to set "0" or "2" to the auxiliary function of the last point table of the
consecutive point tables.

16 - 13
 16. HOW TO USE THE POINT TABLE

1) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute position command method,
and point table No. 2 is set to the relative position command method.
Acceleration Deceleration Dwell time
Point Position data Servo motor Auxiliary
time constant time constant [ms] (Note 1) M code
table No. [10STM µm] speed [r/min] function
[ms] [ms]
1 5.00 3000.00 100 150 0 1 05
2 3.00 2000.00 Disabled Disabled 0 3 10
3 10.00 1000.00 Disabled Disabled 0 1 15
4 6.00 500.00 Disabled Disabled Disabled 2 (Note 2) 20

Note 1. Be sure to set "0".

2. Be sure to set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute position command method
2: When using the point table with the relative position command method

Acceleration time constant (100) Deceleration time constant (150)

of point tabl e No. 1 of point tabl e No. 1

Speed
Speed (1000.00)
(3000.00) Speed
Forw ard Speed
rotation (2000.00) (500.00)
Servo motor speed 0 r/min
Reverse
rotation
3.00 6.00
Position address
0 5.00 8.00 10.00 16.00

Target point table

1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value 1

M code actual value 05

16 - 14
 16. HOW TO USE THE POINT TABLE

2) Positioning in the reverse direction midway

The following shows an operation example with the set values listed in the table below.
In this example, point table No. 1 and No. 3 are set to the absolute position command method,
and point table No. 2 is set to the relative position command method.
Acceleration Deceleration Dwell time
Point Position data Servo motor Auxiliary
time constant time constant [ms] (Note 1) M code
table No. [10STM µm] speed [r/min] function
[ms] [ms]
1 5.00 3000.00 100 150 0 1 05
2 7.00 2000.00 Disabled Disabled 0 3 10
3 8.00 1000.00 Disabled Disabled Disabled 0 (Note 2) 15

Note 1. Be sure to set "0".

2. Be sure to set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.
0: When using the point table with the absolute position command method
2: When using the point table with the relative position command method

Acceleration tim e constant (100) Decelerati on ti m e constant (150)

of point tabl e No. 1 of point tabl e No. 1

Forw ard Speed Speed

rotation (3000.00) (2000.00)
Servo motor speed 0 r/min
Reverse Speed (1000.00)
rotation Acceleration tim e constant (100)
of point tabl e No. 1
7.00
Position address
0 5.00 8.00 12.00

Target point table 1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value 1

M code actual value 05

16 - 15
 16. HOW TO USE THE POINT TABLE

(d) Automatic repeat positioning operation

By setting the auxiliary function of the point table, the operation pattern of the set point table No. can
be returned to, and the positioning operation can be performed repeatedly.

Setting "8" or "10" to the auxiliary function performs an automatic continuous operation or a varying-
speed operation until that point table, and after the completion of positioning, performs the operation
again from the operation pattern of the point table No. used at start-up.
Setting "9" or "11" to the auxiliary function performs an automatic continuous operation or a varying-
speed operation until that point table, and after the completion of positioning, performs the operation
again from the operation pattern of point table No. 1.

1) Automatic repeat positioning operation by absolute position command method

Example 1. Operations when "8" is set to the auxiliary function of point table No. 4
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 4.00 1500.00 200 100 150 1 01
2 5.00 3000.00 100 150 100 1 05
3 5.00 2000.00 150 200 200 3 10
4 15.00 1000.00 300 100 150 8 15

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 4
4) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of
point table No. 4
5) Repeating the above execution in the sequence of 2) to 3) to 4) to 2) to 3) to 4)
Point table No. 2 Point table No. 3
1) 2)
Point table No. 4
Forw ard Speed Speed 3)
rotation (3000.00) (2000.00) Speed (1000.00)
Servo motor speed 0 r/min
Reverse
rotation Speed
(3000.00)
4)
Point table No. 2
5.00
Position address
0 5.00 10.00 15.00

Target point table 2

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 16
 16. HOW TO USE THE POINT TABLE

Example2. Operations when "9" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Position data Servo motor Dwell time Auxiliary
Point time constant time constant M code
[10STM µm] speed [r/min] [ms] function
table No. [ms] [ms]
1 0.00 3000.00 100 150 100 1 05
2 5.00 2000.00 150 200 200 1 10
3 15.00 1000.00 300 100 150 9 15

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 3
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3)

Point table No. 2

Point table No. 3
Forw ard 1) 2)
Speed
rotation (2000.00) Speed (1000.00)
Servo motor speed 0 r/min
Reverse
rotation Speed
(3000.00)
3)
Point table No. 1
5.00
Position address
0 5.00 15.00

Target point table 2

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 17
 16. HOW TO USE THE POINT TABLE

2) Automatic repeat positioning operation by relative position command method

Example 1. Operations when "10" is set to the auxiliary function of point table No. 4
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 4.00 1500.00 200 100 150 1 01
2 5.00 3000.00 100 150 100 3 05
3 10.00 2000.00 150 200 200 1 10
4 5.00 1000.00 300 100 150 10 15

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 4
4) Executing again point table No. 2 used at start-up when "10" is set to the auxiliary function
of point table No. 4
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Point table No. 2 Point table No. 3 Point table No. 2

2) Point table No. 4

4)
1) Speed 3) Speed
Forw ard Speed
(3000.00) (2000.00) (3000.00)
rotation Speed (1000.00)
Servo motor speed 0 r/min
Reverse Speed
rotation (2000.00)
2)
Point table No. 3

5.00 5.00 5.00

Position address
0 5.00 10.00 15.00

Target point table 2

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 18
 16. HOW TO USE THE POINT TABLE

Example 2. Operations when "11" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 5.00 3000.00 100 150 100 3 05
2 10.00 2000.00 150 200 200 1 10
3 5.00 1000.00 300 100 150 11 15

Operation sequence
1) Starting with point table No. 2
2) Executing point table No. 3
3) Executing point table No. 1 when "11" is set to the auxiliary function of point table No. 3
4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3)
Point table No. 2 Point table No. 1

Point table No. 3 3)

1) 2) Speed
Forw ard Speed
rotation (2000.00) Speed (1000.00) (3000.00)
Servo motor speed 0 r/min
Reverse Speed
rotation (2000.00)
1)

Point table No. 2

5.00 5.00
Position address
0 10.00 15.00

Target point table 2

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 19
 16. HOW TO USE THE POINT TABLE

3) Varying-speed operation by absolute position command method

Example. Operations when "8" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 5.00 3000.00 100 150 0 1 05
2 5.00 2000.00 Disabled Disabled 0 3 10
3 15.00 1000.00 Disabled Disabled 0 8 15

Operation sequence
1) Starting with point table No. 1
2) Varying the speed and executing point table No. 2
3) Varying the speed and executing point table No. 3
4) Executing point table No. 1 used at start-up in CW direction when "8" is set to the auxiliary
function of point table No. 3
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Acceleration time constant (100)
of point table No. 1 Deceleration time constant (150)
of point table No. 1
1) Point table No. 2
Point table No. 3
Forw ard Speed Speed
rotation (3000.00) 2) (2000.00) 3)
Speed (1000.00)
Servo motor speed 0 r/min
Reverse
rotation Point table No. 1
Speed
(3000.00) 4)
Acceleration time constant (100)
Deceleration time constant of point table No. 1
(150) of point table No. 1 5.00
Position address
0 5.00 10.00 15.00

Target point table 1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 20
 16. HOW TO USE THE POINT TABLE

4) Varying-speed operation by relative value command method

Example. Operations when "10" is set to the auxiliary function of point table No. 3
Acceleration Deceleration
Point Position data Servo motor Dwell time Auxiliary
time constant time constant M code
table No. [10STM µm] speed [r/min] [ms] function
[ms] [ms]
1 5.00 3000.00 100 150 0 3 05
2 10.00 2000.00 150 200 0 1 10
3 5.00 1000.00 300 100 0 10 15

Operation sequence
1) Starting with point table No. 1
2) Varying the speed and executing point table No. 2
3) Varying the speed and executing point table No. 3
4) Varying the speed, and executing point table No. 1 when "10" is set to the auxiliary function
of point table No. 3
5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)
Acceleration time constant (100) Deceleration time constant (150)
of point table No. 1 of point table No. 1
Point table No. 1
Point table No. 2

Speed Speed Point table No. 3 Speed

Forw ard 1) 4)
rotation (3000.00) (2000.00) (3000.00)
2) Speed (1000.00)3)
Servo motor speed 0 r/min
Reverse Speed
rotation Point table No. 1 Deceleration time (2000.00)
constant (150) of 2)
point table No. 1

Point table No. 2

Acceleration time
constant (100) of
point table No. 1
5.00 5.00 5.00
Position address
0 5.00 10.00 15.00

Target point table 1

Controlw ord bit 4 ON

(New set-point) OFF

Point actual value (Note)

M code actual value (Note)

Note. "Point actual value" and "M code actual value" are not outputted in an automatic continuous operation.

16 - 21
16. HOW TO USE THE POINT TABLE

(e) Temporary stop/restart

When "Controlword bit 8 (HALT)" is switched on during automatic operation, the servo motor
decelerates with the deceleration time constant of the point table being executed, and then stops
temporarily. When "Controlword bit 8 (HALT)" is switched off during a temporary stop, the servo
motor starts for the remaining travel distance.
"Controlword bit 4 (New set-point)" does not function even it is switched on during a temporary stop.
When any of the following conditions is satisfied during a temporary stop, the travel remaining
distance is cleared.
The control mode is changed from the point table mode (pt) to the Jog mode (jg).
The servo motor enters the servo-off status.
The temporary stop/restart input functions in the following status.
Point table mode Homing
Operation status Jog mode (jg)
(pt) mode (hm)
During a stop Temporary stop Temporary stop
During
Temporary stop Temporary stop Temporary stop
acceleration
At a constant
Temporary stop Temporary stop Temporary stop
speed
During
Temporary stop Temporary stop
deceleration
During a
Restart Restart Stop
temporary stop

1) When the servo motor is rotating

Acceleration time constant of Deceleration time constant of
poi nt tabl e No. n poi nt tabl e No. n

Remaining
Forw ard distance
rotation
Servo motor speed 0 r/min
Reverse
rotation
Target point table No. n

Controlw ord bit 4 ON

(New set-point) OFF
ON
Controlw ord bit 8 (Halt)
OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF
Point actual value No. n

16 - 22
16. HOW TO USE THE POINT TABLE

2) During dwell
Point table No. n Point table No. n + 1
Dw ell = ta + tb
ta tb
Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Target point table No. n

Controlw ord bit 4 ON

(New set-point) OFF
ON
Controlw ord bit 8 (Halt)
OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value No. n

(f) Suspension of point table operation

To suspend the point table operation or change the operation pattern, stop the servo motor with
"Controlword bit 8 (HALT)" and switch the control mode to Jog operation (jg) with "Modes of
operation". The remaining travel distance is cleared.
Point table No. n

Remaining distance
Forw ard
rotation
Servo motor speed 0 r/min
Reverse Remaining distance clear
rotation
Target point table No. n
Controlw ord bit 4 ON
(New set-point) OFF
ON
Controlw ord bit 8 (Halt)
OFF
ON
Modes of operation -101 (pt) -100 (j g) -101 (pt)
OFF

16 - 23
16. HOW TO USE THE POINT TABLE

16.4 Jog mode (jg)

For the machine adjustment, home position adjustment, and others, positioning to any point is possible with
the JOG mode (jg).

(1) Setting
According to the purpose of use, set objects and parameters as shown below. In this case, "Target point
table" is disabled.
Item Object/parameter to be used Setting
Jog mode (jg) selection Modes of operation Set "-100".
Servo motor rotation direction [Pr. PA14] Refer to (2) in this section.
JOG speed Profile velocity Set the servo motor speed.
Acceleration time constant Profile Acceleration Set the acceleration time constant.
Deceleration time constant Profile deceleration Set the deceleration time constant.
Speed limit Max profile velocity Set a speed limit value for during operation.

(2) Servo motor rotation direction

Servo motor rotation direction
Forward rotation start Reverse rotation start
[Pr. PA14] setting
(Controlword bit 4 (Rotation start): on (Controlword bit 4 (Rotation start): on
Controlword bit 5 (Direction): off) Controlword bit 5 (Direction): on)
0 CCW rotation CW rotation
1 CW rotation CCW rotation

Forw ard rotation start Reverse rotation start

CCW CCW

CW CW
Reverse rotation start Forw ard rotation start

[Pr. PA14]: 0 [Pr. PA14]: 1

(3) Operation
Switching on "Controlword bit 4 (Rotation start)" starts at the set speed, acceleration time constant and
deceleration time constant. Switching off "Controlword bit 4 (Rotation start)" makes s deceleration to a
stop. Refer to (2) in this section for rotation direction.
Item Object to be used Setting
Set start/stop in "Controlword bit 4 (Rotation start)". The
setting is shown as follows:
Start/stop Controlword
On: start
Off: deceleration to a stop

16 - 24
16. HOW TO USE THE POINT TABLE

(4) Timing chart

(a) When operating at a constant speed
Decelerates w ith Profile acceleration
Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

(b) When changing the speed during operation

You can change the servo motor speed by changing the "Profile velocity" during operation.
However, the servo motor speed cannot be changed during deceleration. The acceleration time
constant and the deceleration time constant can be changed only while the servo motor is stopped.
Decelerates w ith Profile acceleration

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Profile velocity 1000.00 r/min 2000.00 r/min 500.00 r/min 1500.00 r/min

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

16 - 25
16. HOW TO USE THE POINT TABLE

16.5 Point table setting method

16.5.1 Point table setting method with Setup software (MR Configurator2TM)
(1) Setting procedure
Click "Positioning-data" in the menu bar, and click "Point Table" in the menu.

The following window will be displayed.

(i) (l) (m) (c) (d) (e) (f) (g) (a) (b) (n)

(h)

(j)

(k)

(a) Writing point table data (a)

Select changed point table data, and click "Selected Items Write" to write the changed point table
data to the driver.

(b) Writing all point table data (b)

Click "Write All" to write all the point table data to the driver.

(c) Reading all point table data (c)

Click "Read" to read all the point table data from the driver and display them.

(d) Initial setting of point table data (d)

Click "Set to default" to initialize all the data of point table No. 1 to 255. This function also initializes
data currently being edited.

16 - 26
16. HOW TO USE THE POINT TABLE

(e) Verifying point table data (e)

Click "Verify" to verify all the data displayed and data of the driver.

(f) Detailed setting of point table data (f)

Click "Detailed Setting" to change position data range and unit in the point table window. Refer to (2)
in this section for details.

(g) Single-step feed (g)

Click "Single-step Feed" to perform the single-step feed test operation. Refer to section 4.5.1 (1) (e)
for details.

(h) Copy and paste of point table data (h)

Click "Copy" to copy the selected point table data. Click "Paste" to paste the copied point table data.

(i) Inserting point table data (i)

Click "Insert" to insert a block before the selected point table No. The selected block and later will be
shifted down by one.

(j) Deleting point table data (j)

Click "Delete" to delete the selected block of the point table No. The selected block and later will be
shifted up by one.

(k) Changing point table data (k)

After selecting the data to be changed, enter a new value, and click "Enter". You can change the
displayed range and unit with (1) (f) "Detailed setting of point table data" in this section.

(l) Reading point table data (l)

Click "Open" to read the point table data.

(m) Saving point table data (m)

Click "Save As" to save the point table data.

(n) Updating project (n)

Click "Update Project" to update the point table data to a project.

16 - 27
16. HOW TO USE THE POINT TABLE

(2) Detailed setting window

The position data range and unit can be changed with the detailed setting in the point table window. For
the position data range and unit of [Pr. PT01] setting, refer to section 18.3.2. To reflect the setting for the
corresponding parameter, click "Update Project" in the point table window.

(a)

(b)

(a) Feed length multiplication parameter setting STM (PT03 *FTY): 2)

Select a feed length multiplication from 1/10/100/1000.

(b) Position data unit setting (PT01 *CTY): 3)

Select a unit of position data from mm/inch/pulse.

16 - 28
16. HOW TO USE THE POINT TABLE

16.5.2 Point table setting method with objects

(1) For EtherCAT
To change the point table of the driver on the master (upper side), write values to the following objects in
the SDO communication. However, once the power supply is shut off, the changed setting is not held at
the next startup. To hold the changed setting even after the power supply is shut-off, save the point
table setting value to EEP-ROM using Store Parameters (1010h).
Data
Index Sub Object Name Access Default Description
Type
0 Point table 001 U8 ro 7 Number of entries
Set the position data of the point
1 Point data I32 rw
table No. 1.
Set the servo motor speed of the
2 Speed I32 rw
point table No. 1.
Set the acceleration time constant
3 Acceleration I32 rw
of the point table No. 1.
2801h ARRAY Set the deceleration time constant
4 Deceleration I32 rw
of the point table No. 1.
Set the dwell time of the point table
5 Dwell I32 rw
No. 1.
Set the auxiliary function of the point
6 Auxiliary I32 rw
table No. 1.
Set the M code of the point table
7 M code I32 rw
No. 1.

0 Point table 255 U8 ro 7 Number of entries

Set the position data of the point
1 Point data I32 rw
table No. 255.
Set the servo motor speed of the
2 Speed I32 rw
point table No. 255.
Set the acceleration time constant
3 Acceleration I32 rw
of the point table No. 255.
28FFh ARRAY Set the deceleration time constant
4 Deceleration I32 rw
of the point table No. 255.
Set the dwell time of the point table
5 Dwell I32 rw
No. 255.
Set the auxiliary function of the point
6 Auxiliary I32 rw
table No. 255.
Set the M code of the point table
7 M code I32 rw
No. 255.

16 - 29
16. HOW TO USE THE POINT TABLE

(2) For PROFINET

To change the point table of the driver on the master (upper side), write values to the following objects in
the Acyclic Data Exchange communication. However, once the power supply is shut off, the changed
setting is not held at the next startup. To hold the changed setting even after the power supply is shut-
off, save the point table setting value to EEP-ROM using Store Parameters (P4112).
PNU Sub Access Name Type Default value Description
Set the position data of the point
0 Point data
table No. 1.
Set the servo motor speed of the
1 Speed
point table No. 1.
Set the acceleration time constant
2 Acceleration
of the point table No. 1.
Array [7] Set the deceleration time constant
10241 3 R/W Deceleration
Integer32 of the point table No. 1.
Set the dwell time of the point table
4 Dwell
No. 1.
Set the auxiliary function of the point
5 Auxiliary
table No. 1.
Set the M code of the point table
6 M code
No. 1.

Set the position data of the point

0 Point data
table No. 255.
Set the servo motor speed of the
1 Speed
point table No. 255.
Set the acceleration time constant
2 Acceleration
of the point table No. 255.
Array [7] Set the deceleration time constant
10495 3 R/W Deceleration
Integer32 of the point table No. 255.
Set the dwell time of the point table
4 Dwell
No. 255.
Set the auxiliary function of the point
5 Auxiliary
table No. 255.
Set the M code of the point table
6 M code
No. 255.

16 - 30
17．HOW TO USE INDEXER

17 HOW TO USE INDEXER ............................................................................................................................2

17.1 Specification list.....................................................................................................................................3
17.2 Switching power on for the first time ...................................................................................................4
17.3 Indexer mode (idx) .................................................................................................................................6
17.3.1 Indexer mode (idx) ..........................................................................................................................6
17.3.2 Rotation direction specifying indexer ............................................................................................7
17.3.3 Shortest rotating indexer operation ............................................................................................11
17.4 Jog mode (jg) ........................................................................................................................................14
17.4.1 Station JOG operation ..................................................................................................................14
17.4.2 JOG operation ...............................................................................................................................16

17 - 1
17．HOW TO USE INDEXER

17 HOW TO USE INDEXER

POINT
In the absolute position detection system, rotating the shaft one revolution or
more during power-off may erase the home position. Therefore, do not rotate the
shaft one revolution or more during power-off. When the home position is
erased, [AL. 90 Home position return incomplete warning] will occur. Then,
execute the home position return again.
For the home position return, refer to chapter 18,19,20.
There are the following restrictions on [Pr. PA06 Number of gear teeth on
machine side] and the servo motor speed (N).
When CMX ≤ 2000, N < 3076.7 r/min
When CMX > 2000, N < (3276.7 - CMX)/10 r/min
When the servo motor is operated at a servo motor speed higher than the limit
value, [AL. E3 Absolute position counter warning] will occur.

See the following table for the No. of each object mentioned in this chapter.
No.
Object
EtherCAT PROFINET
Modes of operation Index: 6060h PNU: 24672, Sub: 0
Controlword Index: 6040h PNU: 24640, Sub: 0
Statusword Index: 6041h PNU: 24641, Sub: 0
Profile velocity Index: 6081h PNU: 24705, Sub: 0
Profile acceleration Index: 6083h PNU: 24707, Sub: 0
Profile deceleration Index: 6084h PNU: 24708, Sub: 0
Positive torque limit
Index: 60E0h PNU: 24800, Sub: 0
value
Negative torque limit
Index: 60E1h PNU: 24801, Sub: 0
value
Target point table Index: 2D60h PNU: 11616, Sub: 0
Status DO 1 Index: 2D11h PNU: 11537, Sub: 0
Status DO 5 Index: 2D15h PNU: 11541, Sub: 0
Point actual value Index: 2D69h PNU: 11625, Sub: 0
Torque limit value2 Index: 2D6Bh PNU: 11627, Sub: 0

17 - 2
17．HOW TO USE INDEXER

17.1 Specification list

Item Description
Indexer mode (idx)
Control mode

Positioning by specifying the station position

Operational specifications
The maximum number of divisions: 255

Speed command input Setting the servo motor speed, an acceleration time constant and deceleration time constant via network
System Rotation direction specifying indexer/shortest rotating indexer
Torque limit Limits the servo motor torque.
Rotation direction
Positioning to the specified station. Rotation direction settable
specifying indexer
Shortest rotating indexer Positioning to the specified station. Rotates in the shorter direction from the current position.
Jog mode (jg)

Executes an inching operation via network. When the servo motor is stopping, deceleration to a stop is executed
JOG operation
regardless of the station.

Station Executes an inching operation via network. When the servo motor is stopping, positioning is executed to the nearest
JOG operation station at which the servo motor can decelerate to a stop.

Torque limit changing dog

Homing mode (hm)

type (front end detection

Z-phase reference)
Torque limit changing data
set type For the descriptions of the home position return types, refer to chapter 18,19,20
Homing on current position
(method 35)
Homing on current position
(method 37)
Other functions Absolute position detection/external limit switch

17 - 3
17．HOW TO USE INDEXER

17.2 Switching power on for the first time

POINT
Set [Pr. PA01] to "_ _ _ 8" (positioning mode (indexer method)).
When using EtherCAT, set the mapping objects of 3rd RxPDO map (1602h) and
2nd TxPDO map (1A01h) in the PDO mapping. For details, refer to chapter 3.3.
When using PROFINET, set the communication format to Telegram 103. For
details, refer to section 3.
In the indexer method, "Touch probe function" is disabled.
In the indexer method, "Position actual value", "Touch probe status", "Touch
probe pos1 pos value", "Touch probe pos1 neg value", "Touch probe pos2 pos
value" and "Touch probe pos2 neg value" will be always 0.

17 - 4
17．HOW TO USE INDEXER

When switching power on for the first time, follow this section to make a startup.

Startup procedure
Wiring check Check whether the driver and servo motor are wired correctly using visual
inspection, DO forced output function (section 4.5.1), etc. (Refer to section
4.1.2.)

Surrounding environment check Check the surrounding environment of the driver and servo motor. (Refer
to section 4.1.3.)

Parameter setting Set [Pr. PA01] to "_ _ _ 8" (positioning mode (indexer method)). Set the
parameters as necessary for the regenerative option selection, etc. (Refer
to chapter 5.)

Test operation of the servo motor With the servo motor disconnected from the machine, use the test
alone in test operation mode
operation mode and check whether the servo motor correctly rotates at the
slowest speed possible. Refer to section 4.5 for the test operation mode.

Netw ork setting check Check the network setting to connect the upper side.

1) When using EtherCAT, set the mapping objects of 3rd RxPDO map
(1602h) and 2nd TxPDO map (1A01h) in the PDO mapping.

2) When using PROFINET, set the communication format to Telegram

103.

For details, refer to chapter 18,19,20

Test operation of the servo motor For the test operation, with the servo motor disconnected from the
alone by commands
machine and operated, give commands to the driver. Operate the servo
motor at the speed as low as possible and check whether the servo motor
rotates correctly.
Test operation w ith the servo motor Connect the servo motor with the machine, and check machine motions by
and machine connected
transmitting operation commands from the upper side.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter
6.)

Actual operation

Stop Stop giving commands and stop operation.

17 - 5
17．HOW TO USE INDEXER

17.3 Indexer mode (idx)

POINT
In the absolute position detection system, there are the following restrictions on
[Pr. PA06 Number of gear teeth on machine side] and the servo motor speed
(N).
When CMX ≤ 2000, N < 3076.7 r/min
When CMX > 2000, N < 3276.7 - CMX r/min
When the servo motor is operated at a servo motor speed higher than the limit
value, [AL. E3 Absolute position counter warning] will occur.
When the same next station No. is specified as station No. of the current position
and a positioning operation is executed, the motor does not start because the
travel distance is decided as "0".

17.3.1 Indexer mode (idx)

(1) Logic of indexer
The circumference of the load side (360 degrees) can be divided into a maximum of 255 stations.
Positioning is executed to a station selected with "Target point table". The following diagram is an
example for when [Pr. PA14] is set to "0".

CW direction

Station No. 2 Station No. 253

Station No. 1 Station No. 254
Station No. 0

The station No. 0 is set as a home position. Set the number of stations with [Pr. PT28].

(2) Rotation direction

There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed
direction and executes positioning to a station; Shortest rotating indexer, which automatically changes a
rotation direction to the shortest distance and executes positioning to a station.

Rotation direction specifying indexer Shortest rotating indexer

17 - 6
17．HOW TO USE INDEXER

17.3.2 Rotation direction specifying indexer

In this operation mode, the servo motor rotates in a fixed direction to execute positioning to a station.
Select a station No. with "Target point table" to execute positioning. For the servo motor speed, acceleration
time constant and deceleration time constant during operation, the values set in the object are used.

(1) Setting
Set objects and parameters as shown below.
Item Object/parameter to be used Setting
Indexer mode (idx)
Modes of operation Set "-103".
selection
Next station position Target point table Set any next station No.
Rotation direction
specifying indexer Controlword Turn off "Controlword bit 6 (Operation mode)".
selection
Servo motor speed Profile velocity Set the servo motor speed.
Acceleration time constant Profile Acceleration Set the acceleration time constant.
Deceleration time constant Profile deceleration Set the deceleration time constant.
Speed limit Max profile velocity Set a speed limit value for during operation.
Positive torque limit value
Set a torque limit value in operation.
Negative torque limit value
Torque limit (Note) Torque limit value2 Set a torque limit value in stop.
Set a time period for switching the torque limit
[Pr. PT39]
value in operation to in stop.

No The torque limit will change from the setting value of "Torque limit value2" to the setting value of "Positive torque
te. limit value" or "Negative torque limit value" when "Controlword bit 4 (New set-point)" is inputted. After the output of
S_MEND (Travel completion) and the time set with [Pr. PT39] has passed, the torque limit will be switched from the
set value of "Positive torque limit value" or "Negative torque limit value" to the set value of "Torque limit value2".

17 - 7
17．HOW TO USE INDEXER

(2) Other parameter settings

(a) Setting assignment direction of station No.
Select an assignment direction of station No. with [Pr. PA14].
[Pr. PA14] setting Setting assignment direction of station No.
Next station No. will be assigned in CW direction in order
0
of 1, 2, 3…
Next station No. will be assigned in CCW direction in
1
order of 1, 2, 3…
CCW

CW

CW direction CCW direction

4 4
32 3
Station No. 1 1 2 Station No.

[Pr. PA14]: 0 (initial value) [Pr. PA14]: 1

(b) Setting number of stations

Set a number of stations to [Pr. PT28].
[Pr. PT28] setting
Number of
2 3 4 255
stations

No. 1 No. 1 No. 2 No. 2

No. 1 No. 3
Station No.
No. 1 No. 254
No. 0 No. 0
No. 0 No. 0

(3) Operation
Selecting the next station with "Target point table" and switching on "Controlword bit 4 (New set-point)"
starts positioning to the selected next station at the set speed, acceleration time constant and
deceleration time constant.
Item Object to be used Setting
Set the rotation direction in "Controlword bit 5
(Direction)". The setting is shown as follows:
Rotation direction selection Controlword
Off: Station No. decreasing direction
On: Station No. increasing direction
Station No. selection Target point table Set a station No. at which positioning starts.
Start Controlword Switch on "Controlword bit 4 (New set-point)".

17 - 8
17．HOW TO USE INDEXER

(4) Timing chart

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When a value of a next station position exceeds the value set in [Pr. PT28
Number of stations per rotation], "Controlword bit 4 (New set-point)" will be
disabled.

The following timing chart shows that an operation is performed at a stop of the station No. 0 when servo-on.
Controlw ord bit 6 ON Rotation direction specifying indexer operation
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation *1
Servo motor speed (Note 4) 0 r/min
Reverse *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

17 - 9
17．HOW TO USE INDEXER

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Next station No. No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

17 - 10
17．HOW TO USE INDEXER

17.3.3 Shortest rotating indexer operation

This operation mode automatically changes a rotation direction to the shortest distance to execute positioning
to a station.
Select a station No. with "Target point table" to execute positioning. For the servo motor speed, acceleration
time constant and deceleration time constant during operation, the values set in the object are used.

(1) Setting
Set objects and parameters as shown below.
Item Object/parameter to be used Setting
Indexer mode (idx)
Modes of operation Set "-103".
selection
Next station position Target point table Set any next station No.
Shortest rotating indexer Switch on "Controlword bit 6 (Operation
Controlword
selection mode)".
Servo motor speed Profile velocity Set the servo motor speed.
Acceleration time constant Profile Acceleration Set the acceleration time constant.
Deceleration time constant Profile deceleration Set the deceleration time constant.
Speed limit Max profile velocity Set a speed limit value for during operation.
Positive torque limit value
Set a torque limit value for during operation.
Negative torque limit value
Torque limit (Note) Torque limit value2 Set a torque limit value for during stop.
Set a time period for switching the torque limit
[Pr. PT39]
value in operation to in stop.

No The torque limit will change from the setting value of "Torque limit value2" to the setting value of "Positive torque
te. limit value" or "Negative torque limit value" when "Controlword bit 4 (New set-point)" is inputted. After the output of
S_MEND (Travel completion) and the time set with [Pr. PT39] has passed, the torque limit will be switched from the
set value of "Positive torque limit value" or "Negative torque limit value" to the set value of "Torque limit value2".

(2) Other parameter settings

The setting is the same as in the rotation direction specifying indexer. Refer to section 19.3.2 (2).

(3) Operation
Selecting the next station with "Target point table" and switching on "Controlword bit 4 (New set-point)"
starts positioning to the selected next station at the set speed, acceleration time constant and
deceleration time constant.
Item Object to be used Setting
Station No. selection Target point table Set a station No. at which positioning starts.
Start Controlword Switch on "Controlword bit 4 (New set-point)".

17 - 11
17．HOW TO USE INDEXER

(4) Timing chart

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When travel distances to a target station position from CCW and from CW are
the same, the shaft will rotate to the station No. increasing direction.

This disables "Controlword bit 5 (Direction)". The following timing chart shows that an operation is performed
at a stop of the station No. 0 when servo-on.
Shortest rotating indexer operation
Controlw ord bit 6 ON
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation
Servo motor speed (Note 4) 0 r/min
Reverse *1 *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

17 - 12
17．HOW TO USE INDEXER

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Next station No. No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

17 - 13
17．HOW TO USE INDEXER

17.4 Jog mode (jg)

POINT
When the operation mode is changed during operation, inputting "Controlword bit
4 (Rotation start)" will be disabled. Switch on "Controlword bit 4 (Rotation start)"
after the operation stops.

For the machine adjustment, home position adjustment, and others, you can shift the position to any position
with the station JOG operation and JOG operation.
17.4.1 Station JOG operation
(1) Setting
According to the purpose of use, set objects and parameters as shown below. In this case, "Target point
table" is disabled.
Item Object/parameter to be used Setting
Jog mode (jg) selection Modes of operation Set "-100".
Station JOG operation
[Pr. PT27] Select "_ _ 0 _" (Station JOG operation).
selection
Servo motor speed Profile velocity Set the servo motor speed.
Acceleration time constant Profile Acceleration Set the acceleration time constant.
Deceleration time constant Profile deceleration Set the deceleration time constant.
Speed limit Max profile velocity Set a speed limit value for during operation.

(2) Setting assignment direction of station No.

Select an assignment direction of station No. with [Pr. PA14].
[Pr. PA14] setting Assignment direction of station No.
Next station No. will be assigned in CW direction in order
0
of 1, 2, 3…
Next station No. will be assigned in CCW direction in
1
order of 1, 2, 3…
CCW

CW

CW direction CCW direction

4 4
3 3
Station No. 2 1 1 2 Station No.

[Pr. PA14]: 0 (initial value) [Pr. PA14]: 1

17 - 14
17．HOW TO USE INDEXER

(3) Operation
Turning on "Controlword bit 4 (Rotation start)" will start rotation to a direction specified with "Controlword
bit 5 (Direction)", and turning off "Controlword bit 4 (Rotation start)" will execute a positioning to the
closest station position which is possible to decelerate to a stop. However, the speed may not reach the
specified speed because the shaft stops with the set time constant, depending on the setting value of
deceleration time constant.
Item Object to be used Setting
Set the rotation direction in "Controlword bit 5
(Direction)". The setting is shown as follows:
Rotation direction selection Controlword
Off: Station No. decreasing direction
On: Station No. increasing direction
Set start/stop in "Controlword bit 4 (Rotation
start)". The setting is shown as follows:
Start/stop Controlword On: start
Off: stop at a station which is the closest and
possible to decelerate to a stop

(4) Timing chart

The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when
servo-on.
(Note 1)
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
(Note 2)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0 4 7 2

Point demand value 0 1 2 3 4 4 5 6 7 7 6 5 4 3 2

(Note 3) (Note 3) (Note 3)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

Note 1. "Controlword bit 4 (Rotation start)" is not received when the rest of command travel distance is other than "0".
2. Switching "Profile velocity" during the servo motor rotation does not enable this.
3. A delay time can be set with [Pr. PT39].

17 - 15
17．HOW TO USE INDEXER

17.4.2 JOG operation

(1) Setting
According to the purpose of use, set objects and parameters as shown below. In this case, "Target point
table" is disabled.
Item Object/parameter to be used Setting
Jog mode (jg) selection Modes of operation Set "-100".
JOG operation selection [Pr. PT27] Select "_ _ 1 _" (JOG operation).
Servo motor speed Profile velocity Set the servo motor speed.
Acceleration time constant Profile Acceleration Set the acceleration time constant.
Deceleration time constant Profile deceleration Set the deceleration time constant.
Speed limit Max profile velocity Set a speed limit value for during operation.

(2) Operation
Turning on "Controlword bit 4 (Rotation start)" will start rotation to a direction specified with "Controlword
bit 5 (Direction)", and turning off "Controlword bit 4 (Rotation start)" will make deceleration to a stop
regardless of the station position.
Item Object to be used Setting
Set the rotation direction in "Controlword bit 5
(Direction)". The setting is shown as follows:
Rotation direction selection Controlword
Off: Station No. decreasing direction
On: Station No. increasing direction
Set start/stop in "Controlword bit 4 (Rotation
start)". The setting is shown as follows:
Start/stop Controlword On: start
Off: decelerate to a stop regardless of the
station position

17 - 16
17．HOW TO USE INDEXER

(3) Timing chart

The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when
servo-on.
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF

Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0

Point demand value 0 1 2 3 4 5 5 4 3 2 1 0

(Note) (Note)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2

Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value

No A delay time can be set with [Pr. PT39].

te.

17 - 17
18．EtherCAT COMMUNICATION

18 EtherCAT COMMUNICATION ..................................................................................................................3

18.1 EtherCAT COMMUNICATION .......................................................................................................3
18.1.1 Summary ....................................................................................................................................3
18.1.2 Function list ...............................................................................................................................6
18.1.3 Communication specifications ..................................................................................................9
18.1.4 Communication specifications ................................................................................................10
18.1.4.1 Communication status .....................................................................................................10
18.1.4.2 EtherCAT state ................................................................................................................11
18.1.4.3 Startup ..............................................................................................................................12
18.1.4.4 Network disconnection procedure ...................................................................................13
18.1.5 Summary of object dictionary (OD) ........................................................................................14
18.1.5.1 Section definition of object dictionary .............................................................................14
18.1.5.2 Saving object dictionary data to EEP-ROM ...................................................................14
18.2 EtherCAT NETWORK CARD (LEC-S-NE)...................................................................................15
18.2.1 Specifications ...........................................................................................................................15
18.2.2 Parts identification ..................................................................................................................16
18.2.3 LED indication .........................................................................................................................16
18.2.3.1 LED indication definition ................................................................................................16
18.2.3.2 LED indication list ...........................................................................................................17
18.2.4 Connecting Ethernet cable ......................................................................................................18
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION ..............................................................19
18.3.1 PDO communication cycle ......................................................................................................19
18.3.2 PDO setting-related object ......................................................................................................19
18.3.3 PDO default mapping ..............................................................................................................20
18.3.4 PDO variable mapping ............................................................................................................22
18.3.5 Mapping-necessary objects .....................................................................................................23
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION ..............................................................25
18.4.1 SDO communication-related service ......................................................................................25
18.4.2 SDO Abort Code.......................................................................................................................26
18.5 CiA 402 DRIVE PROFILE .............................................................................................................26
18.5.1 FSA state ..................................................................................................................................26
18.5.2 Controlword/Control DI ..........................................................................................................29
18.5.2.1 Bit definition of Controlword ...........................................................................................29
18.5.2.2 Bit definition of Control DI ..............................................................................................30
18.5.3 Statusword/Status DO ............................................................................................................32
18.5.3.1 Bit definition of Statusword ............................................................................................32
18.5.3.2 Bit definition of Status DO ..............................................................................................33
18.5.4 Control mode ............................................................................................................................37
18.5.4.1 Selecting control mode (Modes of operation) ..................................................................37
18.5.4.2 Control switching .............................................................................................................37
18.5.4.3 Cyclic synchronous position mode (csp) ..........................................................................38
18.5.4.4 Cyclic synchronous velocity mode (csv)...........................................................................41
18.5.4.5 Cyclic synchronous torque mode (cst) .............................................................................43
18.5.4.6 Profile position mode (pp) ................................................................................................45
18.5.4.7 Profile velocity mode (pv) .................................................................................................49
18.5.4.8 Profile torque mode (tq) ...................................................................................................53
18.5.4.9 Homing mode (hm) ...........................................................................................................56
18.5.4.10 Point table mode (pt) ......................................................................................................84
18.5.4.11 Jog mode (jg) ...................................................................................................................89
18.5.4.12 Indexer mode (idx) ..........................................................................................................96
18.5.5 Touch probe ............................................................................................................................103
18.5.6 Quick stop ..............................................................................................................................107
18.5.7 Halt .........................................................................................................................................108
18.5.8 Software position limit ..........................................................................................................109

18 - 1
18．EtherCAT COMMUNICATION

18.5.9 Torque limit ...........................................................................................................................109

18.5.10 Polarity .................................................................................................................................110
18.5.11 Degree function ....................................................................................................................112
18.5.12 Torque offset ........................................................................................................................114
18.6 MANUFACTURER FUNCTIONS ...............................................................................................115
18.6.1 Object for status monitor ......................................................................................................115
18.6.2 Incremental counter ..............................................................................................................117
18.6.3 Stroke end ..............................................................................................................................117
18.6.4 Definition of alarm-related objects .......................................................................................118
18.6.5 Parameter object ....................................................................................................................119
18.6.5.1 Definition of parameter objects .....................................................................................119
18.6.5.2 Enabling parameters......................................................................................................120
18.6.7 One-touch tuning ...................................................................................................................121
18.6.8 Machine diagnosis function ..................................................................................................123
18.6.9 Driver life diagnosis function................................................................................................124
18.7 OBJECT DICTIONARY ...............................................................................................................125
18.7.1 Store Parameters ...................................................................................................................125
18.7.2 Supported object dictionary list ............................................................................................126
18.7.3 Object dictionary....................................................................................................................130
18.7.3.1 General Objects ..............................................................................................................130
18.7.3.2 PDO Mapping Objects ....................................................................................................136
18.7.3.3 Sync Manager Communication Objects ........................................................................140
18.7.3.4 Parameter Objects ..........................................................................................................145
18.7.3.5 Alarm Objects .................................................................................................................148
18.7.3.6 Monitor Objects ..............................................................................................................151
18.7.3.7 Manufacturer Specific Control Objects .........................................................................164
18.7.3.8 PDS Control Objects.......................................................................................................175
18.7.3.9 Position Control Function Objects ................................................................................179
18.7.3.10 Profile Velocity Mode Objects ......................................................................................182
18.7.3.11 Profile Torque Mode Objects ........................................................................................184
18.7.3.12 Profile Position Mode Objects ......................................................................................186
18.7.3.13 Homing Mode Objects ..................................................................................................190
18.7.3.14 Factor Group Objects ...................................................................................................196
18.7.3.15 Touch Probe Function Objects .....................................................................................199
18.7.3.16 Optional application FE Objects..................................................................................200
18.7.3.17 Point Table Mode Objects ............................................................................................203
18.7.3.18 Cyclic synchronous position mode Objects..................................................................206

18 - 2
18．EtherCAT COMMUNICATION

18 EtherCAT COMMUNICATION

18.1 EtherCAT COMMUNICATION

18.1.1 Summary
EtherCAT is the abbreviation of Ethernet for Control Automation Technology. It is open network
communication between a master and slaves developed by Beckhoff Automation that uses real-time
Ethernet. ETG (EtherCAT Technology Group) owns EtherCAT.
The EtherCAT communication is available when the EtherCAT network card (LEC-S-NE) is connected to the
driver. The driver to which the EtherCAT network card is connected operates as a slave station compliant
with CAN application protocol over EtherCAT (CoE) standards. The device type is a power drive system and
is compatible with the CiA 402 drive profile.

(1) CiA 402 drive profile compatible

The driver operates as a slave station compliant with CAN application protocol over EtherCAT (CoE)
standards. The device type is a power drive system and is compatible with the CiA 402 drive profile.

18 - 3
18．EtherCAT COMMUNICATION

(2) Various control modes supported

The _ driver supports the following control modes. In the table below, whether the synchronous mode
and asynchronous mode can be used in each control mode. For the synchronous mode and
asynchronous mode, refer to (3) in this section.
Synchronous Asynchronous
Control mode Symbol Description
mode mode
This is a position mode where a position command is
Cyclic synchronous received at a constant period to drive the servo motor in the
csp
position mode synchronous or asynchronous communication with a upper
side.Use an absolute position address for a command.
This is a speed mode where a speed command is received at
Cyclic synchronous Available
csv a constant period to drive the servo motor in the synchronous
velocity mode (Note 1, 2)
or asynchronous communication with a upper side.
This is a torque mode where a torque command is received
Cyclic synchronous at a constant period to drive the servo motor in the
cst
torque mode synchronous or asynchronous communication with a upper
side.
This is a positioning operation mode where an end position
command is received to drive the servo motor in the
Profile position mode pp synchronous or asynchronous communication with a upper
side. Use an absolute position address or relative position
address for a command.
This is a mode where a target speed command is received to
Profile velocity mode pv drive the servo motor in the synchronous or asynchronous
communication with a upper side. Available
This is a mode where a target torque command is received to
Profile torque mode tq drive the servo motor in the synchronous or asynchronous
communication with a upper side.
This is a mode where the driver performs a home position
Homing mode hm
return operation using the method directed by the upper side.
Available
In this control mode, the servo motor is driven according to
the travel distance and speed stored in the point table No.
Point table mode pt which is specified in the synchronous or asynchronous
communication with a upper side. This control mode is not in
CiA 402 standard.
In this control mode, the servo motor is manually driven at a
speed set in the synchronous or asynchronous
JOG mode jg
communication with a upper side. This control mode is not in
CiA 402 standard
In this control mode, the servo motor is driven to the station
specified in the synchronous or asynchronous communication
Indexer mode idx
with a upper side. This control mode is not in CiA 402
standard

Note 1. Drivers cannot be used in the asynchronous mode. When the upper side sends an operation command in the asynchronous
mode, the error code that indicates the state transition is not allowed is notified and the ERROR LED of the network card
blinks.
2. Drivers can be used in the asynchronous mode. When it is used in the asynchronous mode, Cycle time (1C32h: 2) setting is
required. For details on Cycle time (1C32h: 2), refer to (4) in this section.

18 - 4
18．EtherCAT COMMUNICATION

(3) Synchronous mode (DC mode)

In the synchronous mode, it is necessary to keep the synchronous jitter 2 μs or less. When the
synchronous jitter is 2 μs or more, an error may be detected and an alarm may set off.

Synchronous mode setting

Sync0 Sync1
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
Cycle time 0.5 ms (When the PDO communication cycle is set to 0.5 ms)
Unused
(1C32h: 2) 1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Shift time
0
(1C32h: 3)

(4) Asynchronous mode (Free-run mode)

In the asynchronous mode, when using the cyclic synchronous position mode, the cyclic synchronous
speed mode, and the cyclic synchronous torque mode, set as shown in the following table. Input the
command value for each communication cycle set in Cycle time (1C32h: 2). If the command is not
inputted on each communication cycle, the previously input command will be maintained.
Local Cycle time
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
Cycle time
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
(1C32h: 2)
1 ms (When the PDO communication cycle is set to 1 ms)
(Note)
2 ms (When the PDO communication cycle is set to 2 ms)

Note. If the value is not set for Cycle time, the PDO communication cycle is 0.25 ms
(initial value).

(5) Compliance with standards

_ drivers comply with the following standards. Refer to the following standards for the description not
written in this Instruction Manual.
Standards Version
ETG.1000.2 EtherCAT Specification – Part2
V1.0.3
Physical Layer service definition and protocol specification
ETG.1000.3 EtherCAT Specification – Part3
V1.0.3
Data Link Layer service definition
ETG.1000.4 EtherCAT Specification – Part4
V1.0.3
Data Link Layer protocol specification
ETG.1000.5 EtherCAT Specification – Part5
V1.0.3
Application Layer service definition
ETG.1000.6 EtherCAT Specification – Part6
V1.0.3
Application Layer protocol specification
ETG.1020 EtherCAT Protocol Enhancements V1.1.0
ETG.1300 EtherCAT Indicator and Labeling Specification V1.1.0
ETG.2000 EtherCAT Slave Information (ESI) Specification V1.0.7
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 – Edition 1.0
Profile type 1 specification
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems – Edition 1.0
Mapping of profile type 1 to network technologies

18 - 5
18．EtherCAT COMMUNICATION

18.1.2 Function list

The following table lists the functions available with the driver to which the EtherCAT network card is
connected. "_" means "_ Driver Instruction Manual".
Function Description Reference
Cyclic synchronous position The position control operation performed by a synchronous sequential position
mode (csp) command through network is supported.
Cyclic synchronous velocity The speed control operation performed by a synchronous sequential speed
mode (csv) command through network is supported.
Cyclic synchronous torque The torque control operation performed by a synchronous sequential torque
mode (cst) command through network is supported.
The positioning operation performed by an asynchronous end position
Profile position mode (pp)
command through network is supported.
The speed control operation performed by an asynchronous speed command Section
Profile velocity mode (pv)
through network is supported. 5.4
The torque control operation performed by an asynchronous torque command
Profile torque mode (tq)
through network is supported.
Homing mode (hm) The home position return operation specified in each network is supported.
Select any 1 to 255 point table and perform operation in accordance with the
Point table mode (pt)
set values..
Indexer mode (idx) Perform operation to the station positions divided into 2 to 255..
This is a control mode where the servo motor speed is set to drive the servo
JOG mode (jg)
motor manually..
This function achieves a high response and stable control following the ideal
model. The two-degrees-of-freedom model adaptive control enables you to set
Model adaptive control a response to the command and a response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to
section 7.5 of "_ Driver Instruction Manual".
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the
High-resolution encoder
rotary servo motor compatible with the MELSERVO-J4 series.
Absolute position detection Setting a home position once makes home position return unnecessary at _
system every power-on. Chapter 12
_
You can switch gains during rotation/stop, and can use input devices to switch
Gain switching function Section
gains during operation.
7.2
_
Advanced vibration
This function suppresses vibration at an arm end or residual vibration. Section
suppression control II
7.1.5
_
Machine resonance This filter function (notch filter) decreases the gain of the specific frequency to
Section
suppression filter suppress the resonance of the mechanical system.
7.1.1
When a load is mounted to the servo motor shaft, resonance by shaft torsion _
Shaft resonance suppression
during driving may generate a mechanical vibration of high frequency. The shaft Section
filter
resonance suppression filter suppresses the vibration. 7.1.3
_
The driver detects mechanical resonance and sets filter characteristics
Adaptive filter II Section
automatically to suppress mechanical vibration.
7.1.2
_
Suppresses high-frequency resonance which occurs as the servo system
Low-pass filter Section
response is increased.
7.1.4
This function analyzes the frequency characteristic of the mechanical system
by simply connecting an Setup software (MR Configurator2TM)-installed
Machine analyzer function
personal computer and the driver.
Setup software (MR Configurator2TM) is necessary for this function.
For roll feed axis, etc. of which a response level cannot be increased because
Robust filter of the large load to motor inertia ratio, this function improves a disturbance [Pr. PE41]
response.
Slight vibration suppression
This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
control
Positioning control is performed with the value obtained by multiplying the [Pr. PA06]
Electronic gear
position command from the upper side by a set electronic gear ratio. [Pr. PA07]
S-pattern acceleration/
Speed can be increased and decreased smoothly. [Pr. PT51]
deceleration time constant

18 - 6
18．EtherCAT COMMUNICATION

Function Description Reference

Automatically adjusts the gain to optimum value if load applied to the servo motor _
Auto tuning
shaft varies. Section 6.3
Use the power regeneration converter when the regenerative option cannot
_
Power regeneration converter provide sufficient regenerative capability.
Section 11.4
The power regeneration converter can be used for the drivers of the 5 kW or more.
Use a regenerative option when the built-in regenerative resistor of the driver does _
Regenerative option
not have sufficient regenerative capacity for a large regenerative power generated. Section 11.2
Alarm history clear This function clears alarm histories. [Pr. PC21]
[Pr. PA11]
Torque limit Limits the servo motor torque.
[Pr. PA12]
Speed limit This function limits the servo motor speed. [Pr. PT67]
_
Status display Shows servo status on the 3-digit, 7-segment LED display
Section 4.3
Input signal selection (device LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end) and other [Pr. PD03] to
settings) input device can be assigned to any pins. [Pr. PD05]
Output signal selection (device The output devices including ALM (Malfunction) can be assigned to specified pins [Pr. PD07] to
settings) of the CN3 connector. [Pr. PD09]
_
Turns on/off the output signals forcibly independently of the servo status.
Output signal (DO) forced output Section 4.5.1
Use this function for checking output signal wiring, etc.
(1) (d)
Jog operation, positioning operation, motor-less operation, DO forced output, and
_
Test operation mode program operation
Section 4.5
Setup software (MR Configurator2TM) is necessary for this function.
[Pr. PC09]
Analog monitor output This function outputs servo status with voltage in real time.
[Pr. PC10]
Setup software (MR Using a personal computer, you can perform the parameter setting, test operation, _
Configurator2TM) monitoring, and others. Section 11.7
Section 5.5
Latch function This function latches the current position at the rising edge of the external latch _
(Touch probe) input signal. Section 3.5
[Pr. PD37]
Gain adjustment is performed just by one click a certain button on Setup software
Section 6.7
(MR Configurator2TM).
One-touch tuning _
Also, one-touch tuning can be performed via a network. One-touch tuning via a
Section 6.2
network is available with drivers .
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical
_
energy charged in the capacitor in case that an instantaneous power failure occurs
Section 7.4
SEMI-F47 function during operation. Use a 3-phase for the input power supply of the driver. Using a
[Pr. PA20]
1-phase 100 V AC/200 V AC for the input power supply will not comply with
[Pr. PF25]
SEMI-F47 standard.
This function makes the equipment continue operating even under the condition
_
Tough drive function that an alarm occurs. The tough drive function includes two types: the vibration
Section 7.3
tough drive and the instantaneous power failure tough drive.

18 - 7
18．EtherCAT COMMUNICATION

Function Description Reference

This function continuously monitors the servo status and records the status
transition before and after an alarm for a fixed period of time. You can check the
recorded data on the drive recorder window on Setup software (MR
Configurator2TM) by clicking the "Graph" button.
However, the drive recorder is not available when:
Drive recorder function [Pr. PA23]
1. The graph function of Setup software (MR Configurator2TM) is being used.
2. The machine analyzer function is being used.
3. [Pr. PF21] is set to "-1".
4. The upper side is not connected (except the test operation mode).
5. An alarm related to the upper side is occurring.
This driver complies with the STO function as functional safety of IEC/EN _
STO function
61800-5-2. You can create a safety system for the equipment easily. Chapter 13
You can check the cumulative energization time and the number of on/off times of
the inrush relay. This function gives an indication of the replacement time for parts
of the driver including a capacitor and a relay before they malfunction.
Driver life diagnosis function Section 6.9
This function is available with Setup software (MR Configurator2TM) or via a
network.
The driver life diagnosis function via a network is available with drivers .
This function calculates the power running energy and the regenerative power
from the data in the driver such as speed and current. Power consumption and
Power monitoring function Section 6.1
others are displayed on Setup software (MR Configurator2TM). Also, the power
monitoring function can be used via a network.
From the data in the driver, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.
Machine diagnosis function Section 6.8
This function is available with Setup software (MR Configurator2TM) or via a
network.
The machine diagnosis function via a network is available with drivers .
Lost motion compensation This function improves the response delay occurred when the machine moving _
function direction is reversed. Section 7.6
This function sets constant and uniform acceleration/deceleration droop pulses to _
Super trace control
almost 0. Section 7.7
Travel intervals can be limited with the limit switch using LSP (Forward rotation
Limit switch
stroke end) and LSN (Reverse rotation stroke end)
Section 5.8
_
Limits travel intervals by address using parameters.
Software limit Section 5.3
The same function with the limit switch is enabled by setting parameters.
[Pr. PT15] to
[Pr. PT18]
FoE (File Access over
This driver supports FoE (File Access over EtherCAT). .
EtherCAT)

18 - 8
18．EtherCAT COMMUNICATION

18.1.3 Communication specifications

The following table shows the communication specifications.
Item Description Remark
IEC 61158 Type121
EtherCAT communication
CAN application protocol over EtherCAT
specifications
(CoE), IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
Communication connector RJ45, 2 ports (IN port, OUT port)
CAT5e, shielded twisted pair (4 pair) straight Double-shielded type recommended
Communication cable
cable
Line, Tree, Star, or a connection topology
Network topology
where the topologies are used together
Variable communication speed 100 Mbps (Full duplex)
Transmission speed between Max. 100 m
stations
Max. 65535 The number of connection nodes for actual use
Number of nodes varies depending on the specifications of the
master upper side used.
Asynchronous Maximum data size in sending/receiving
SDO (Mailbox) communication
Sending/Receiving: 1 channel each 1486 bytes each
Cycle time: Select from 0.25 ms, 0.5 ms, 1 Data size at PDO default mapping
PDO (Process Data) ms, and 2 ms. RxPDO: 29 bytes
communication Receive (RxPDO): 1 channel TxPDO: 41 bytes
Send (TxPDO): 1 channel
Variable PDO mapping supported Maximum size of RxPDO and TxPDO: 64 bytes
PDO mapping each
Maximum number of object mapping: 32 each
The DC mode and Free-run mode can be Sync0: Set the same cycle as the PDO
selected. communication cycle.
Distributed clock (DC)
(In drivers , the DC mode is required in the Sync1: Not used
csp, csv, and cst mode.)
Explicit Device Identification Supported
LED display RUN, ERROR, LINK/Activity (IN, OUT)

18 - 9
18．EtherCAT COMMUNICATION

18.1.4 Communication specifications

The communication status of drivers is classified and managed by EtherCAT State Machine (ESM) that the
EtherCAT standard specifies.

18.1.4.1 Communication status

The following table shows the classification of the communication status. Two communication types are
provided: One is the PDO (process data object) communication where command data and feedback data are
sent and received at a constant period. Another is the SDO (service data object) communication where object
data is sent and received asynchronously. Refer to chapter 3 for details of the PDO communication. Refer to
chapter 4 for details of the SDO communication.
ESM status Description
After the power is on, the communication status is the init state. The SDO communication and PDO
Init communication cannot be performed. The master accesses the DL-Information register and initializes
communication.
The SDO communication can be performed. The PDO communication cannot be performed. The initial setting
Pre-Operational for network and initial transfer of parameters can be performed in this state.

The SDO communication can be performed. Though the PDO communication also can be performed, all
Safe-Operational operations (commands) such as servo motor drive are invalid. When the DC mode is selected, synchronization
is established in this state.
Both the SDO communication and PDO communication can be performed. Commands using the PDO
Operational
communication are valid and the servo motor can be driven.
The mailbox communication with the FoE protocol can be performed. Firmware can be updated through
Bootstrap
EtherCAT in this state. (For manufacturer setting)

18 - 10
18．EtherCAT COMMUNICATION

18.1.4.2 EtherCAT state

EtherCAT states shift under the conditions shown in figure 1.1 and table 1.1.
When the state shifts from the Init state through the Pre-Operational and Safe-Operational state to the
Operational state, the driver can be operated. When the Operational state shifts to another state, the driver
executes initialization to clear the internal status.
Pow er on

(1)

Init

(2)
(3) (10) (11)

Pre-Operational Bootstrap

(4) (Note)
(9) (5) (6)

Safe-Operational

(12) (7)
(8)

Operational

Note. This state is for manufacturer setting.

Fig. 1.1

Table. 1.1 EtherCAT state transition

Transition No. Description
(1) Power on
SDO communication configuration
(a) The master sets the registers of the slaves. The following shows the registers to be set.
DL Address register
(2)
Sync Manager channel for SDO communication
(b) The master requests the slaves to shift to the Pre-Operational state.
(c) The state shifts to the Pre-Operational state.
PDO communication configuration
(a) Set the configuration parameter of the master (such as PDO mapping) using the SDO communication.
(b) The master sets the Sync Manager channel and FMMU channel for the PDO communication of the slaves.
FMMU (Fieldbus Memory Management Unit) is a mechanism to manage the relationship between the global
(4)
address area and the local address area in the EtherCAT communication. The global address area is used for
the PDO communication. The local address area stores object data for each station.
(c) The master requests the slave to shifts to the Safe-Operational state.
(d) The state shifts to the Safe-Operational state.
Synchronous
(a) The master and slave use Distributed Clocks to synchronize.
(7) (b) The master starts to output a valid command value.
(c) The master requests the slave to shift to the Operational state.
(d) The state shifts to the Operational state.
When the master requests the slave to shifts to the Pre-Operational state, the state shifts to the Pre-Operational
(5), (12)
state.
When the master requests the slave to shifts to the Safe-Operational state, the state shifts to the Safe-Operational
(8)
state.
In the following case, the state shifts to the init state.
(3), (6), (9), (11)
When the master requests the slave to shifts to the Init state.
(10) When the master requests the slave to shift to the Bootstrap state, the state shifts to the Bootstrap state.

18 - 11
18．EtherCAT COMMUNICATION

18.1.4.3 Startup
The following describes the setting and startup of the EtherCAT communication. Refer to section 4.1 of "_
Driver Instruction Manual" for the startup procedure other than the network setting.

(1) Connection with the upper side

POINT
Use the latest ESI file when setting up the upper side. If the ESI file is old, newly
added objects may not be usable.

Set up the upper side following the manual of the upper side used. For the setup, the EtherCAT Slave
Information (ESI) file listing the information about the communication setting of devices is available. Store
the ESI file in the upper side to use it. The upper side configures the setting for the slave connected to
the master according to the contents of the ESI file corresponding to the slave connected.

(2) Parameter setting

Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 of "_ Driver Instruction
Manual" for the parameter setting.

(3) Node address setting

POINT
The node address of _ drivers complies with the specifications of Explicit Device
Identification. Configure the setting of Set Explicit Device Identification for the
upper side.
Do not connect multiple devices with the same node address setting.
Node address setting via network and Configured Station Alias (0012h) are
available with the combination of drivers and network cards .
If the value in SII Configured Station Alias is set to other than 0000h when the
node address is set with the axis selection rotary switch (SW2/SW3) or [Pr.
PN01 Node address setting], the ERROR LED of the network card blinks.
Cycling the power resets the set value in SII Configured Station Alias to 0000h
and this enables the driver to start normally.

Set the node address of EtherCAT with the axis selection rotary switch (SW2/SW3) on the display, [Pr.
PN01 Node address setting] or SII Configured Station Alias as necessary. You can set a node address
as follows. After the node address setting is changed, cycle the power.
Axis selection rotary SII Configured Station
Pr. PN01 Node address setting value
switch (SW2/SW3) Alias
The value set in SII Configured Station Alias via network
00h 0000h 0001h to FFFFh
is the node address.
00h 0001h to FFFFh 0000h (Note) The value of [Pr. PN01] is set as the node address.
The set value of the rotary switch (SW2/SW3) is set as
01h to FFh 0000h to FFFFh 0000h (Note)
the node address.

No If the value in SII Configured Station Alias is set to other than 0000h, the ERROR LED of the network card blinks. Cycling the
te. power resets the set value in SII Configured Station Alias to 0000h and this enables the driver to start normally.

18 - 12
18．EtherCAT COMMUNICATION

(4) Specifying the slave with the node address

The upper side can specify the slave with the node address in the following two methods.

(a) Specify with AL Status Code (0134h)

The value of the node address set in the axis selection rotary switch (SW2/SW3) or [Pr. PN01 Node
address setting] can be read.

(b) Specify with Configured Station Alias (0012h)

The value of the node address set in the axis selection rotary switch (SW2/SW3), [Pr. PN01 Node
address setting] or SII Configured Station Alias can be read.

18.1.4.4 Network disconnection procedure

To disconnect the network by stopping device operation or other means, follow the procedure shown below. If
the network is disconnected without following the procedure, [AL. 86.1 Network communication error 1] may
occur.

(1) Stop the servo motor.

(2) Set the Shutdown command for Controlword (6040h) to establish the servo-off status.

(3) Shift the state to the Pre-Operational state.

(4) Shut off the power of the driver and upper side.

18 - 13
18．EtherCAT COMMUNICATION

18.1.5 Summary of object dictionary (OD)

POINT
Refer to chapter 7 for details of the object dictionary.

Each data set that CAN application protocol over EtherCAT (CoE) devices have such as control parameters,
command values, and feedback values is handled as an object composed of an Index value, object name,
object type, R/W attribute, and other elements. The object data can be exchanged between the master and
slave devices. The aggregate of these objects is called object dictionary (OD).

18.1.5.1 Section definition of object dictionary

In the CAN application protocol over EtherCAT (CoE) standard, objects of the object dictionary are
categorized by Index depending on the area type as shown in the following table. Refer to the Reference
column for the chapters and the section where the details of each object are described.
Index Description Reference
0000h to 0FFFh Data type area
Chapter 1, Chapter 3,
1000h to 1FFFh CoE communication area
Chapter 4, Chapter 7
2000h to 25FFh Parameter area (Vendor-specific) Section 6.5, Chapter 7
2800h to 29FFh Point table area (Vendor-specific) Chapter 7
2A00h to 2FFFh Servo control command/monitor area (Vendor-specific) Chapter 6, Chapter 7
6000h to 6FFFh CiA 402 Drive profile area Chapter 5, Chapter 7

18.1.5.2 Saving object dictionary data to EEP-ROM

There are two types of object dictionary data: One is saved to EEP-ROM and another is not saved. Refer to
Section 7.3 for the availability and details of save for each object.

18 - 14
18．EtherCAT COMMUNICATION

18.2 EtherCAT NETWORK CARD (LEC-S-NE)

The EtherCAT communication with an driver requires the EtherCAT Network card (LEC-S-NE). The following
shows the details.

18.2.1 Specifications
Item Description
Product name LEC-S-NE
Model AB6916-C-203
Manufacturer HMS Industrial Networks
driver connecting interface: Compact flash connector with standard 50 pins EtherCAT
External interface
communication port interface: RJ45 connector
52 (W) × 50 (D) × 20 (H)
Dimensions
(Except the protrusion of the EtherCAT communication port connector)
Mass Approx. 30 g

18 - 15
18．EtherCAT COMMUNICATION

18.2.2 Parts identification

This section describes the EtherCAT Network card (LEC-S-NE) only. Refer to section 1.7 for the driver.
Detailed
(5) No
Name/Application explanati
(3) .
on
(1) ERROR LED Section
(1) Indicates an error of the EtherCAT 2.3.2
communication. (2)
RJ45 EtherCAT communication port (OUT port) Section
(2)
Used to connect the next axis driver. 2.4
Link/Activity (OUT port) LED Section
(3) Indicates the link status of each EtherCAT 2.3.2
(6) communication port. (3)
RJ45 EtherCAT communication port (IN port)
Section
(4) Used to connect the EtherCAT master upper
2.4
(2) side or the previous axis driver.
(4) Link/Activity (IN port) LED Section
(5) Indicates the link status of each EtherCAT 2.3.2
communication port. (3)
RUN LED Section
(6) Indicates the EtherCAT communication status 2.3.2
(ESM). (1)

18.2.3 LED indication

The LEDs of the EtherCAT Network card (LEC-S-NE) function according to the regulations of the EtherCAT
standard (ETG.1300 EtherCAT Indicator and Labeling Specification). Under certain condition, such as when
a fatal error occurs, the EtherCAT Network card (LEC-S-NE) indicates its status by its own specifications.

18.2.3.1 LED indication definition

The following shows the LED indication definitions.
LED status Definition
Lit An LED remains lit.
Extinguished An LED remains extinguished.
Flickering An LED is switching between lit and extinguished at 10 Hz cycles
(every 50 ms).
Blinking An LED is switching between lit and extinguished at 2.5 Hz cycles
(every 200 ms).
Single flash An LED is lit for 200 ms and extinguished 1000 ms repeatedly.
An LED is lit for 200 ms, extinguished for 200 ms, lit for 200 ms, and
Double flash
extinguished for 1000 ms repeatedly.

18 - 16
18．EtherCAT COMMUNICATION

18.2.3.2 LED indication list

(1) RUN LED
The RUN LED indicates the EtherCAT communication status (ESM status). The extinguished RUN LED
may be affected by the LED status of the Link/Activity LEDs. Refer to section 1.4 for the communication
status (ESM status).
LED
Description
Status Color
Extinguished Indicates that the power supply is shut off or the Init state.
Blinking Indicates the Pre-Operational state.
Single flash Green Indicates the Safe-Operational state.
Lit Indicates the Operational state.
Indicates that a fatal error has occurred. This indication is specific to the
Lit Red
EtherCAT Network card (LEC-S-NE).

(2) ERROR LED

The ERROR LED indicates an error of the EtherCAT communication. If the driver indicates an alarm,
follow the remedy of the alarm number.
LED
Description
Status Color
Extinguished No error
Indicates that the EtherCAT state cannot be changed according to the master
Blinking
command.
Indicates that the EtherCAT state has been changed autonomously due to an
Single flash
internal error.
Double flash Red Indicates a watchdog error in the Sync manager.
Indicates the EXCEPTION state, which is an error state of the EtherCAT
Lit
Network card (ABCC-M40-ECT).
Indicates an error at start-up of the EtherCAT Network card
Flickering
(ABCC-M40-ECT).

(3) Link/Activity LED (OUT port/IN port)

The Link/Activity LEDs indicate the link status of each EtherCAT communication port.
LED
Description
Status Color
Extinguished Indicates that the power supply is shut off or the link-unestablished state.
Lit Indicates that the link is established without traffic.
Green
Flickering Indicates that the link is established with traffic.

18 - 17
18．EtherCAT COMMUNICATION

18.2.4 Connecting Ethernet cable

POINT
Use a twisted pair cable (double shielded) with Ethernet Category 5e
(100BASE-TX) or higher as the Ethernet cable. The maximum cable length
between nodes is 100 m.
When connecting an Ethernet cable to an EtherCAT network port, ensure that the
connection destination (OUT port (upper side) or IN port (lower side)) is correct.

To the RJ45 EtherCAT communication port (IN port), connect the Ethernet cable connected to the upper side
or the previous axis driver. To the RJ45 EtherCAT communication port (OUT port), connect the Ethernet
cable connected to the next axis driver. When the RJ45 EtherCAT communication port (OUT port) is not
used, leave this port open.
When the node address is not used, an incorrect connection destination sets node addresses that do not
correspond to the actual connection order and may cause a malfunction, such as an unintended axis
operation.
The first axis The second axis The final axis
driver
servo amplifier servo amplifier
driver servo amplifier
driver

OUT port OUT port OUT port

Ethernet cable Ethernet cable
Ethernet cable
Upper
Controller
side IN port IN port IN port

18 - 18
18．EtherCAT COMMUNICATION

18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION

The PDO (process data object) communication can transfer command data and feedback data between a
master (upper side) and slaves (driver) at a constant cycle. PDOs include RxPDOs, which are used by the
slaves to receive data from the upper side, and TxPDOs, which are used by the slaves to send data to the
upper side.

Communication at a constant period

Command data (RxPDO)

Master Slave
(controller)
(Upper (servo amplifier)
(driver)
Side) Status data (TxPDO)

The variable PDO mapping function enables the PDO communication to transfer multiple PDOs in any array.

18.3.1 PDO communication cycle

The same cycle is applied to communication of RxPDOs and TxPDOs of the driver.
The communication cycle can be changed via a network through rewriting the sub object Cycle time (Sub
index = 2) of SM output parameter (1C32h) with SDO download in the Pre Operational state.

18.3.2 PDO setting-related object

The following table lists the objects related to the PDO setting.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
SM output
0 U8 ro 12
parameter
Synchronization
1 U16 rw 0
type
2 Cycle time U32 rw 250000
rw
3 RECOR Shift time U32 222222
1C32h (Note) Refer to section 7.3.3 (4).
D
Synchronization types
4 U16 ro 0025h
supported
5 Minimum cycle time U32 ro 250000
6 Calc and copy time U32 ro 222722
9 Delay time U32 ro 0
12 Cycle time too small U16 ro 0
0 SM input parameter U8 ro 12
Synchronization
1 U16 rw 0
type
2 Cycle time U32 ro 250000
rw
3 Shift time U32 27778
RECOR (Note)
1C33h Refer to section 7.3.3 (5).
D Synchronization types
4 U16 ro 0025h
supported
5 Minimum cycle time U32 ro 250000
6 Calc and copy time U32 ro 306055
9 Delay time U32 ro 0
12 Cycle time too small U16 ro 0

Note. No value can be written because Shift time (1C32: 3, 1C33: 3) is set automatically. Writing any value causes SDO Abort Code
(0609 0030h Value range of parameter exceeded).

18 - 19
18．EtherCAT COMMUNICATION

18.3.3 PDO default mapping

POINT
The driver supports the variable PDO mapping function, which can select objects
transferred in the PDO communication. Refer to section 3.4 for changing the
PDO mapping.

(1) RxPDO default mapping

In the default mapping setting, command data is sent from the master (upper side) to slaves (driver) with
RxPDO in the following array. In the _ driver, the mapping objects of 1600h to 1603h can be used as the
RxPDO default mapping table.
Map number Mapping initial setting Expected application of the initial map
1st RxPDO map (1600h) Modes of operation (6060h) Cyclic synchronous position mode (csp)
Controlword (6040h) Cyclic synchronous velocity mode (csv)
Control DI 1 (2D01h) Cyclic synchronous torque mode (cst)
Control DI 2 (2D02h) Homing mode (hm)
Control DI 3 (2D03h)
Target position (607Ah) Mapping for an application in which the modes
Target velocity (60FFh) above are switched
Velocity limit value (2D20h) (Note 1) The following functions can be used together.
Target torque (6071h) Speed limit function (in cst)
Positive torque limit value (60E0h) (Note 2) Torque limit function
Negative torque limit value (60E1h) (Note 2) Touch probe function
Touch probe function (60B8h) Map size: 29 bytes
2nd RxPDO map (1601h) Modes of operation (6060h) Profile position mode (pp)
Controlword (6040h) Profile velocity mode (pv)
Control DI 1 (2D01h) Profile torque mode (tq)
Control DI 2 (2D02h) Homing mode (hm)
Control DI 3 (2D03h)
Target position (607Ah) Mapping for an application in which the modes
Target velocity (60FFh) above are switched
Velocity limit value (2D20h) (Note 1) The following functions can be used together.
Target torque (6071h) Speed limit function (in tq)
Profile velocity (6081h) Torque limit function
Profile acceleration (6083h) Touch probe function
Profile deceleration (6084h) Map size: 45 bytes
Torque slope (6087h)
Positive torque limit value (60E0h) (Note 2)
Negative torque limit value (60E1h) (Note 2)
Touch probe function (60B8h)
3rd RxPDO map (1602h) Modes of operation (6060h) Point table mode (pt) or indexer mode (idx)
Controlword (6040h) Jog mode (jg)
Control DI 1 (2D01h) Homing mode (hm)
Control DI 2 (2D02h)
Control DI 3 (2D03h) Mapping for an application in which the modes
Target point table (2D60h) above are switched.
Profile velocity (6081h) Map size: 25 bytes
Profile acceleration (6083h)
Profile deceleration (6084h)
Touch probe function (60B8h)
4th RxPDO map (1603h) Unassigned

Note 1. The Velocity limit value (2D20h) is a speed limit value for the torque control. Be sure to set a correct value because setting
0 will limit the speed to 0.
2. Positive torque limit value (60E0h)/Negative torque limit value (60E1h) are torque limit values of forward/reverse rotation.
Setting 0 will not generate torque. Be sure to set a correct value.

18 - 20
18．EtherCAT COMMUNICATION

(2) TxPDO default mapping

In the default mapping setting, status data of the _ driver is sent to the master (upper side) with TxPDO in
the following array. In the _ driver, the mapping objects of 1A00h to 1A03h can be used as the TxPDO
default mapping table.
Map number Mapping initial setting Expected application of the initial map
1st TxPDO map (1A00h) Modes of operation display (6061h) Cyclic synchronous position mode (csp)
Statusword (6041h) Cyclic synchronous velocity mode (csv)
Status DO 1 (2D11h) Cyclic synchronous torque mode (cst)
Status DO 2 (2D12h) Homing mode (hm)
Status DO 3 (2D13h)
Position actual value (6064h) Mapping for an application in which the modes
Velocity actual value (606Ch) above are switched
Following error actual value (60F4h) Mapping for an application in which the modes
Torque actual value (6077h) below are switched
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh) Profile position mode (pp)
Touch probe pos1 neg value (60BBh) Profile velocity mode (pv)
Touch probe pos2 pos value (60BCh) Profile torque mode (tq)
Touch probe pos2 neg value (60BDh) Homing mode (hm)

The latched position by the touch probe function

can be monitored.

Map size: 41 bytes

2nd TxPDO map (1A01h) Modes of operation display (6061h) Point table mode (pt) or indexer mode (idx)
Statusword (6041h) Jog mode (jg)
Status DO 1 (2D11h) Homing mode (hm)
Status DO 2 (2D12h)
Status DO 3 (2D13h) Mapping for an application in which the modes
Status DO 5 (2D15h) above are switched.
Status DO 7 (2D17h) Map size: 54 bytes
Position actual value (6064h)
Velocity actual value (606Ch)
Following error actual value (60F4h)
Torque actual value (6077h)
Point demand value (2D68h) (Note)
Point actual value (2D69h) (Note)
M code actual value (2D6Ah) (Note)
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh)
Touch probe pos1 neg value (60BBh)
Touch probe pos2 pos value (60BCh)
Touch probe pos2 neg value (60BDh)
3rd TxPDO map (1A02h) Unassigned
4th TxPDO map (1A03h) Unassigned

18 - 21
18．EtherCAT COMMUNICATION

18.3.4 PDO variable mapping

POINT
The PDO mapping can be changed only in the Pre Operational state.

The driver supports the variable PDO mapping function, which can arrange objects in any array for the data
transferred with RxPDO or TxPDO.
The following table shows the specifications of the PDO variable mapping.
Maximum number Maximum size Number of mapping
Communication
of objects [byte] settings
RxPDO 4 (1600h to 1603h)
32 64
TxPDO 4 (1A00h to 1A03h)

The following table lists the PDO mapping objects.

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Receive PDO
0 U8 rw 12
Mapping
RECOR
1600h Mapped Object 001 60600008h Refer to section 7.3.2 (1).
1 to D
to U32 rw to
32
Mapped Object 032 00000000h
Receive PDO
0 U8 rw 16
Mapping
RECOR
1601h Mapped Object 001 60600008h Refer to section 7.3.2 (2).
1 to D
to U32 rw to
32
Mapped Object 032 00000000h
Receive PDO
0 U8 rw 10
Mapping
RECOR
1602h Mapped Object 001 60600008h Refer to section 7.3.2 (3).
1 to D
to U32 rw to
32
Mapped Object 032 00000000h
Receive PDO
0 U8 rw 0
Mapping
RECOR
1603h Mapped Object 001 Refer to section 7.3.2 (4).
1 to D
to U32 rw
32
Mapped Object 032
Transmit PDO
0 U8 rw 14
Mapping
RECOR
1A00h Mapped Object 001 60610008h Refer to section 7.3.2 (5).
1 to D
to U32 rw to
32
Mapped Object 032 00000000h
Transmit PDO
0 U8 rw 19
Mapping
RECOR
1A01h Mapped Object 001 60610008h Refer to section 7.3.2 (6).
1 to D
to U32 rw to
32
Mapped Object 032 00000000h
Transmit PDO
0 U8 rw 0
Mapping
RECOR
1A02h Mapped Object 001 Refer to section 7.3.2 (7).
1 to D
to U32 rw
32
Mapped Object 032
Transmit PDO
0 U8 rw 0
Mapping
RECOR
1A03h Mapped Object 001 Refer to section 7.3.2 (8).
1 to D
to U32 rw
32
Mapped Object 032
Sync Manager 2 PDO
1C12h 0 ARRAY U8 ro 1 Refer to section 7.3.3 (2).
Assignment

18 - 22
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
PDO Mapping object
1 index of assigned U16 rw 1600h
RxPDO
Sync Manager 3 PDO
0 U8 ro 1
Assignment
1C13h ARRAY PDO Mapping object Refer to section 7.3.3 (3).
1 index of assigned U16 rw 1A00h
TxPDO

18.3.5 Mapping-necessary objects

The following table lists the objects which are required for each mode.

(1) RxPDO
Function
Mode (Note 1)
(Note 1)
Object name (Index)
Touch
csp csv cst pp pv tq pt jg hm idx
probe
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) - - - - - - - -
Positive torque limit value (60E0h)
Negative torque limit value (60E1h)
Touch probe function (60B8h)
Watch dog counter DL (2D23h) - - - - - - - -
Target point table (2D60h) - - - - - - - - -

Note 1. : Mapping required

: Mapping recommended
-: Mapping not required

18 - 23
18．EtherCAT COMMUNICATION

(2) TxPDO
Function
Mode (Note 1)
(Note 1)
Object name (Index)
Touch
csp csv cst pp pv tq pt jg hm idx
probe
Statusword (6041h)
Status DO 1 (2D11h)
Status DO 2 (2D12h)
Status DO 3 (2D13h)
Status DO 5 (2D15h) - - - - - - - -
Status DO 7 (2D17h) - - - - - - - - -
Position actual value (6064h) -
Following error actual value (60F4h) - - - - -
Velocity actual value (606Ch)
Torque actual value (6077h)
Touch probe status (60B9h)
Touch probe pos1 pos value (60BAh)
Touch probe pos1 neg value (60BBh)
Touch probe pos2 pos value (60BCh)
Touch probe pos2 neg value (60BDh)
Watch dog counter UL (2D24h) - - - - - - - -
Point actual value (2D69h) - - - - - - - - -
M code actual value (2D6Ah) - - - - - - - - - -
Point demand value (2D68h) - - - - - - - - -

Note 1. : Mapping required

: Mapping recommended
-: Mapping not required

18 - 24
18．EtherCAT COMMUNICATION

18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION

The SDO (service data object) communication can transfer object data between a master (upper side) and
slaves (driver) asynchronously.
Object data
(SDO Dow nload Expedited)
(SDO Dow nload Normal)
(Dow nload SDO Segment)

Master Slave
(controller)
(Upper (servo amplifier)
(driver)
Side) Object data
(SDO Upload Expedited)
(SDO Upload Normal)
(Upload SDO Segment)
(Abort SDO Transfer)
(Get OD List)
(Get Object Description)
(Get Entry Description)
(Emergency)

18.4.1 SDO communication-related service

The driver supports the following services relating to the SDO communication.
Service Description
SDO Download Expedited Writes data of up to 4 bytes to a slave.
SDO Download Normal Writes data of the specified bytes to a slave.
Download SDO Segment Writes additional data when the object size is larger than the specified byte size.
SDO Upload Expedited Reads data of up to 4 bytes from a slave.
SDO Upload Normal (Note) Reads data of the specified bytes from a slave.
Upload SDO Segment Reads additional data when the object size is larger than the specified number of octets.
Abort SDO Transfer Sends SDO Abort Code when an error occurs in a service.
Get OD List Reads a list of available object indexes.
Get Object Description Reads the detail of an index.
Get Entry Description Reads the detail of Sub Index.
Emergency Notifies an alarm.

Note. Complete Access is not supported.

18 - 25
18．EtherCAT COMMUNICATION

18.4.2 SDO Abort Code

When an error occurs in the SDO communication, the following error messages are returned with the Abort
SDO Transfer service.
SDO Abort Code Meaning Cause
0504 0005h Out of memory. The memory is out of the range.
0601 0001h Attempt to read to a write only object Reading is attempted to a write-only object.
0601 0002h Attempt to write to a read only object Writing is attempted to a read-only object.
Object mapped to RxPDO, SDO download blocked. SDO Download is executed to an object mapped to
0601 0006h
RxPDO.
0602 0000h The object does not exist in the object dictionary A non-existent index is specified.
0604 0043h General parameter incompatibility reason. An unsupported command is issued.
Data type does not match, The data type does not match. The data length is too
0607 0012h
length of service parameter too high. long.
Data type does not match, The data type does not match. The data length is too
0607 0013h
length of service parameter too short. short.
0609 0011h Subindex does not exist A non-existent Sub Index is specified.
0609 0030h Value range of parameter exceeded A parameter value outside the range is specified.
0609 0031h Value of parameter written too high The value of the parameter written is too large.
0609 0032h Value of parameter written too low The value of the parameter written is too small.
0800 0000h Generic error. General error
Data cannot be transferred or stored to the Writing is limited in the device.
0800 0021h
application because of local control.
Data cannot be transferred or stored to the Data cannot be read or written due to the current device
0800 0022h
application because of the present device state. status.

18.5 CiA 402 DRIVE PROFILE

18.5.1 FSA state

The inside state of the _ driver is controlled based on the FSA state, defined in the CiA 402 drive profile
standard. Figure 5.1 and Table 5.1 show the transition conditions between the FSA states. The states are
switched when the master sends a command following the table (sets Controlword) with the PDO
communication established (the AL state Operational reached). When the state has transitioned from Not
ready to switch on, which is right after the power on, to Operation enabled with the predetermined procedure,
the servo motor becomes ready to operate.

18 - 26
18．EtherCAT COMMUNICATION

Pow er on Pow er off

(0)

(A): Ready-off, Servo-off

Not ready to
switch on
(1)
(15)
Sw itch on
disabled Fault

(2) (7)

(12) (10) Ready to (14)

switch on
(3) (6)

(B): Ready-on, Servo-off

(8) (9)
Sw itched on

(4) (5) Fault reaction

active
(16)
(C): Ready-on, Servo-on
Quick stop Operation
active enabled (13)
(11) Error occurs

Transition by slave
Transition by master
Transition by slave or master

Figure 5.1 Transition between the FSA states

Table 5.1 State transition

Transiti
Event Remark
on No.
(0) The control circuit power supply is turned on. Initialization
The state automatically transitions when the control circuit power
(1) Communication setting
supply is turned on.
(2) The state transitions with the Shutdown command from the master.
(3) The state transitions with the Switch on command from the master. RA turns on.
The state transitions with the Enable operation command from the
(4) The operation becomes ready after servo-on.
master.
The state transitions with the Disable operation command from the
(5) The operation is disabled after servo-off.
master.
(6) The state transitions with the Shutdown command from the master. RA turns off.
The state transitions with the Disable Voltage command or Quick
(7)
Stop command from the master.
(a) The state transitions with the Shutdown command from the
master. Operation is disabled after servo-off or
(8)
(b) The state transitions when the main circuit power supply is turned RA-off.
off.
The state transitions with the Disable Voltage command from the Operation is disabled after servo-off or
(9)
master. RA-off.
The state transitions with the Disable Voltage command or Quick
(10) RA turns off.
Stop command from the master.
(11) The state transitions with the Quick Stop command from the master. Quick Stop starts.
(a) The state automatically transitions after Quick Stop is completed.
(If the Quick Stop option code is 1, 2, 3, or 4) Operation is disabled after servo-off or
(12)
(b) The state transitions with the Disable Voltage command from the RA-off.
master.
(13) Alarm occurrence Processing against the alarm is executed.

18 - 27
18．EtherCAT COMMUNICATION

Transiti
Event Remark
on No.
After processing against the alarm has been
(14) Automatic transition completed, servo-off or RA-off is performed and
the operation is disabled.
The state transitions with the Fault Reset command from the Alarms are reset.
(15)
master. Alarms that can be reset are reset.
(16)
(Not The state transitions with the Enable Operation command from
support the master. The operation becomes ready.
ed) (If the Quick Stop option code is 5, 6, 7, or 8)
(Note)

Note. This is not supported by the driver.

The following table lists the commands issued to the driver. Turn on the bits according to the command.
Command bit setting of Controlword
Bit 3 Bit 1
Command Bit 7 Bit 2 Bit 0 Transition No.
Enable Enable
Fault Reset Quick Stop Switch On
Operation Voltage
Shutdown 0 1 1 0 (2)/(6)/(8)
Switch On 0 0 1 1 1 (3)
(7)/(9)/(10)/(1
Disable Voltage 0 0
2)
Quick Stop 0 0 1 (7)/(10)/(11)
Disable
0 0 1 1 1 (5)
Operation
Enable
0 1 1 1 1 (4)/(16)
Operation
Fault Reset 0 → 1 (Note) (15)

No In faulty communication, hold the state of Bit 7 = 1 for at least 10 ms for the Fault Reset command to prevent the command
te. from failing to be recognized.

Figure 5.1 and Table 5.1 show the FSA state transition conditions of the EtherCAT standard. The transition
from the Switch on disabled state to the Operation enabled state requires Shutdown, Switch on, and Enable
operation to be issued in this order. However, with the driver, transition to the target state skipping the states
in between is possible.
Current state Command State after transition
Switch on disabled Switch on Switched on
Switch on disabled Enable operation Operation enabled
Ready to switch on Enable operation Operation enabled

18 - 28
18．EtherCAT COMMUNICATION

18.5.2 Controlword/Control DI
The FSA state can be switched and control commands for the functions of the drive can be issued by
rewriting the objects of Controlword (6040h) and Control DI (2D01h to 2D03h) from the master (upper side).
Use 6040h to issue control commands defined with CiA 402. Use 2D01h to 2D03h to issue control
commands of the other manufacturer functions.
Objec Data Acces
Index Sub Name Description
t Type s
6040h VAR Controlword U16 rw
2D01
Control DI 1
h
2D02 Control commands to control
VAR Control DI 2 U16 rw
h the driver can be set.
2D03
Control DI 3
h

18.5.2.1 Bit definition of Controlword

Controlword (6040h) can control the FSA state and issue control commands. Use Bit 0 to Bit 3 and Bit 7 for
the FSA state. The following table shows the bit definition of Controlword (6040h).
Bit Symbol Description
0 SO Switch-on
1 EV Enable voltage
2 QS Quick stop
3 EO Enable operation
4
5 OMS Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
6
7 FR Fault reset
0: Operation ready
8 HALT
1: Temporary stop
9 OMS Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
10 The value at reading is undefined. Set "0" at writing.
11
12
13
14
15

18 - 29
18．EtherCAT COMMUNICATION

18.5.2.2 Bit definition of Control DI

Control DI can control the FSA state and issue control commands. The following table shows the bit definition
of Control DI.

(1) Control DI 1
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
Gain switching
4 C_CDP Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
PB60] as the load to motor inertia ratio and gain values.
Fully closed loop control switching
Use this bit when the semi closed loop control/fully closed loop control switching is
5 C_CLD enabled with [Pr. PE01].
Turn off C_CLD to select the semi closed loop control, and turn on C_CLD to select the
fully closed loop control.
6 The value at reading is undefined. Set "0" at writing.
7
8
9
10
11
12
13
14
15

(2) Control DI 2
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
6
7
Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the
proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor, it
8 C_PC generates torque to compensate for a position mismatch. When the servo motor shaft
is to be locked mechanically after positioning completion (stop), switching on the C_PC
upon positioning completion will suppress the unnecessary torque generated to
compensate for a position mismatch.
When the shaft is to be locked for a long time, use the C_PC and torque limit at the
same time to make the torque less than the rated torque.
9 The value at reading is undefined. Set "0" at writing.
10
11
12
13
14
Operation alarm reset
15 C_ORST
Turn on C_ORST from off to reset [AL. F4 Positioning warning].

18 - 30
18．EtherCAT COMMUNICATION

(3) Control DI 3
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
6
7
Home position return completion (for scale measurement)
When C_ABS2 is turned on with the scale measurement function, the absolute position
8 C_ABS2
erased status of a scale measurement encoder can be canceled.
S_ABSV2 turns off.
9 The value at reading is undefined. Set "0" at writing.
10
11
12
13
14
15

18 - 31
18．EtherCAT COMMUNICATION

18.5.3 Statusword/Status DO
The objects of Statusword or Status DO notify the master (upper side) of the FSA state of the _ driver and
other drive status. Use 6041h to notify the status defined with CiA 402. Use 2D11h to 2D13h, 2D15h and
2D17h for the other Vendor-specific statuses.
Data Acces
Index Sub Object Name Description
Type s
6041h VAR Statusword U16 ro
2D11
Status DO 1
h
2D12
Status DO 2
h
2D13
VAR Status DO 3 U16 ro The servo status is returned.
h
2D15
Status DO 5
h
2D17
Status DO 7
h

18.5.3.1 Bit definition of Statusword

The following table shows the bit definition of Statusword.
Bit Symbol Description
0 RTSO Ready-to-switch-on
1 SO Switch-on
2 OE Operation-enabled
3 F Fault
Voltage-enabled
4 VE 0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
Quick stop
5 QS 0: During a quick stop
1: No during a quick stop (including during the test mode)
6 SOD Switch on disabled
Warning
7 W 0: No warning has been occurred.
1: A warning has occurred.
8 The value at reading is undefined.
Remote
9 RM 0: Not following the Controlword command
1: In operation following the Controlword command
Target reached
10 TR
Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position
limit have not been reached
11 ILA
1: The forward rotation stroke end, reverse rotation stroke end, or software position
limit has been reached.
(Enabled in the csp, csv, pp, pv, hm, pt, jg, or idx mode)
12 Differs depending on Modes of operation (6060h). (Refer to section 5.4.)
OMS
13
14 The value at reading is undefined.
15

18 - 32
18．EtherCAT COMMUNICATION

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the FSA state (internal state of the driver). Refer to
the following table for details.
Statusword (bin) FSA state
x0xx xxx0 x0xx 0000 Not ready to switch on (Note)
x0xx xxx0 x1xx 0000 Switch on disabled
x0xx xxx0 x01x 0001 Ready to switch on
x0xx xxx0 x01x 0011 Switched on
x0xx xxx0 x01x 0111 Operation enabled
x0xx xxx0 x00x 0111 Quick stop active
x0xx xxx0 x0xx 1111 Fault reaction active
x0xx xxx0 x0xx 1000 Fault

Note. Statusword is not sent in the Not ready to switch on state.

18.5.3.2 Bit definition of Status DO

The following table shows the bit definition of Status DO.

(1) Status DO 1
Bit Symbol Description
0 The value at reading is undefined.
1
Speed reached
S_SA turns off during servo-off. When the servo motor speed reaches the following
2 S_SA range, S_SA turns on.
Preset speed ± ((Preset speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or slower, S_SA always turns on.
Electromagnetic brake interlock
3 S_MBR
When a servo-off status or alarm occurs, S_MBR turns off.
Variable gain selection
4 S_CDPS
S_CDPS will turn on during variable gain.
During fully closed loop control switching
5 S_CLD
S_CLD turns on during fully closed loop control.
6 The value at reading is undefined.
7
8
9
10
11
In-position
When the number of droop pulses is in the in-position range, S_INP turns on. The
12 S_INP in-position range can be changed with [Pr. PA10]. When the in-position range is
increased, S_INP may be always on during low-speed rotation.
The Status DO cannot be used in the velocity mode or torque mode.
Limiting torque
When the torque reaches the torque limit value during torque generation, S_TLC turns
13 S_TLC
on. When the servo is off, S_TLC will be turned off.
This Status DO cannot be used in the torque mode.
Absolute position undetermined
14 S_ABSV When the absolute position is erased, S_ABSV turns on.
The Status DO cannot be used in the velocity mode or torque mode.
Battery warning
When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has
15 S_BWNG
occurred, S_BWNG turns on. When the battery warning is not occurring, turning on the
power will turn off S_BWNG after 2.5 s to 3.5 s.

18 - 33
18．EtherCAT COMMUNICATION

(2) Status DO 2
Bit Symbol Description
Z-phase already passed
0 S_ZPAS 0: Z-phase unpassed after start-up
1: Z-phase passed once or more after start-up
1 The value at reading is undefined.
2
Zero speed detection
3 S_ZSP When the servo motor speed is at zero speed or slower, S_ZSP turns on. Zero speed
can be changed with [Pr. PC07].
Limiting speed
When the speed reaches the speed limit value in the torque mode, S_VLC turns on.
4 S_VLC
When the servo is off, S_TLC will be turned off.
The Status DO cannot be used in the position mode or velocity mode.
5 The value at reading is undefined.
During IPF
6 S_IPF
S_IPF turns on during an instantaneous power failure.
7
Under proportional control
8 S_PC
S_PC turns on under proportional control.
9 The value at reading is undefined.
External dynamic brake output
10 S_DB
When the dynamic brake needs to operate, S_DB turns off.
11 The value at reading is undefined.
12
13
14
Home position return completion 2 (incremental system)
When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on
unless the home position is erased.
It will be off with the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
Home position return completion 2 (absolute position detection system)
If a home position return completes once, S_ZP2 is always on. However, it will be off
with the following conditions.
15 S_ZP2 1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
4) The home position return is not performed after [AL. 25 Absolute position erased] or
[AL. E3 Absolute position counter warning] occurred.
5) The home position return is not performed after the electronic gear ([Pr. PA06] or
[Pr. PA07]) was changed.
6) The home position return is not performed after the setting of [Pr. PA03 Absolute
position detection system selection] was changed from "Disabled" to "Enabled".
7) [Pr. PA14 Rotation direction selection] was changed.
8) [Pr. PA01 Operation mode] was changed.

18 - 34
18．EtherCAT COMMUNICATION

(3) Status DO 3
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
During STO
5 S_STO
S_STO turns on during STO.
6 The value at reading is undefined.
7
Absolute position undetermined 2 (for scale measurement)
When the absolute position is erased from a scale measurement encoder with the
8 S_ABSV2
scale measurement function, S_ABSV2 turns on.
.
9 The value at reading is undefined.
10
Transition to tough drive mode in process
11 S_MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power
failure tough drive will turn on S_MTTR.
12 The value at reading is undefined.
13
14
15

(4) Status DO 5
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
Rough match
5 S_CPO When a command remaining distance is lower than the rough match output range set with
[Pr. PT12], S_CPO turns on.
Travel completion
When the droop pulses are within the in-position output range set with [Pr. PA10] and the
command remaining distance is "0", S_MEND turns on.
6 S_MEND
S_MEND turns on with servo-on.
S_MEND is off at servo-off status. However, S_MEND will not be off in the indexer
method.
7 The value at reading is undefined.
8
9
10
11
12
13
14
15

18 - 35
18．EtherCAT COMMUNICATION

(5) Status DO 7
Bit Symbol Description
0 The value at reading is undefined.
1
Position range output
When an actual current position is within the range set with [Pr. PT19] to [Pr. PT22],
2 S_POT
S_POT turns on. This will be off when a home position return is not completed or base
circuit shut-off is in progress.
3 The value at reading is undefined.
4
5
6
7
8
9
10
11
12
13
14
15

18 - 36
18．EtherCAT COMMUNICATION

18.5.4 Control mode

18.5.4.1 Selecting control mode (Modes of operation)

Specify a control mode with Modes of operation (6060h). Modes of operation (6060h) can be rewritten with
PDO or SDO. Note that usable control modes are limited depending on the setting of [Pr. PA01], as shown in
the following table.
6060h/6061h
Pr. PA01 setting value pp pv tq hm csp csv cst jg pt idx
Default value
_ _ _ 0: Automatic selection by each network
8 (csp)
_ _ _ 1: Cyclic synchronous mode
_ _ _ 2: Profile mode 1 (pp)
_ _ _ 6: Positioning mode (point table method) -101 (pt)
_ _ _ 8: Positioning mode (indexer method) -103 (idx)

The following table shows the objects selected for control modes.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
Differs
Modes of depending
6060h VAR I8 rw Refer to section 7.3.8 (6).
operation on
[Pr. PA01].
Differs
Modes of depending
6061h VAR I8 ro Refer to section 7.3.8 (7).
operation display on
[Pr. PA01].
Refer to
Supported drive
6502h VAR U32 ro section Refer to section 7.3.8 (8).
mode
7.3.8 (8).

18.5.4.2 Control switching

POINT
Changes to the OMS bit of Controlword (6040h) are not accepted until control
switching is completed. Before inputting commands, check that the control mode
has been switched referring to Modes of operation display (6061h).

Because control switching has a delay, the upper side must keep sending command values corresponding to
the control mode before and after the switching. After the completion of control switching has been checked
with Modes of operation display (6061h), update of the command value before the switching can be stopped.
Before switching the mode from or to the position mode, check that the servo motor speed is zero speed.
Zero speed can be obtained with Bit 3 (S_ZSP) of Status DO 2 (2D12h). If the servo motor speed is not zero
speed, the control will not be switched and Modes of operation display (6061h) will not change.

18 - 37
18．EtherCAT COMMUNICATION

18.5.4.3 Cyclic synchronous position mode (csp)

The following shows the functions and related objects of the cyclic synchronous position mode (csp).
Torque limit value (60E0h, 60E1h)
×
Torque offset (60B2h)

Quick stop deceleration (6085h)

Control
Quick stop option code (605Ah) effort
Position (60FAh) + +
trajectry Position Velocity Torque
Target position (607Ah) control control control Motor
generator
Position [Pos units] [Enc inc]
Software position limit (607Dh) limit
function × ×

Gear ratio (6091h)

Polarity (607Eh) Encoder

Following error actual value
(60F4h) [Pos units] + × ×
-

Position actual internal value

Position actual value (6064h) [Pos units] × × (6063h)

Velocity actual value (606Ch) ×

Torque actual value (6077h) ×

(1) Related object

Data Acces Defau
Index Sub Object Name Description
Type s lt
607Ah VAR Target position I32 rw Command position (Pos units)
0 Position range limit U8 ro 2 Number of entries
Minimum value of the position range
limit
The value is automatically set
according to the setting of "Position
Min position range
1 I32 rw data unit" in [Pr. PT01].
limit
pulse: -2147483648
degree: 0
607Bh The cyclic synchronous mode
(Note ARRAY supports pulses only.
2) Maximum value of the position range
limit
The value is automatically set
according to the setting of "Position
Max position range
2 I32 rw data unit" in [Pr. PT01].
limit
pulse: 2147483647
degree: 359999
The cyclic synchronous mode
supports pulses only.
Software position Number of entries
0 U8 ro 2
limit
607Dh ARRAY
1 Min position limit I32 rw 0 Minimum position address (Pos units)
2 Max position limit I32 rw 0 Maximum position address (Pos units)
Deceleration at deceleration to a stop
Quick stop
6085h VAR U32 rw 100 by Quick stop
deceleration
Unit: ms
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Refer
Servo motor maximum speed
6080h VAR Max motor speed U32 rw to
Unit: r/min
chap7
Position actual
6063h VAR I32 ro Current position (after electronic gear)
internal value
Position actual
6064h VAR I32 ro Current position (command unit)
value
Velocity actual Current speed
606Ch VAR I32 ro
value Unit: 0.01 r/min

18 - 38
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Current torque
Torque actual
6077h VAR I32 ro Unit: 0.1% (rated torque of
value
100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error
60F4h VAR I32 ro Droop pulses (Pos units)
actual value
Position control loop output
(speed command)
60FAh VAR Control effort I32 ro
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Torque limit value (forward)
Positive torque
60E0h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
Torque limit value (reverse)
Negative torque
60E1h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1 servo motor axis (numerator)
6091h ARRAY
U32 rw (Note 1)
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator) (Note 1)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
Torque offset
Unit: 0.1% (rated torque of
100%)
This can be set within -32768 to
60B2h VAR Torque offset I16 rw 0 32767. When this is set to a
value exceeding the maximum
torque of the driver, the value is
clamped at the maximum torque.
Refer to section 5.12.

18 - 39
18．EtherCAT COMMUNICATION

(2) Electronic gear function (unit conversion for position data)

The unit system of position data used inside and outside the driver can be mutually converted with the
Gear ratio value used as a coefficient.
Outside/inside Applicable object example Unit notation
External position information (position information Current position (Position actual value (6064h)) Pos units
exchanged with the upper side) Command position (Target position (607Ah))
Internal position information (position information Internal current position (Position actual internal value Enc inc
in the driver) (6063h))

The following shows the equation.

Position actual internal value (6063h) × Feed constant (6092h)

Position actual value (6064h) = Position encoder resolution (608Fh) × Gear ratio (6091h)
Shaft revolutions (6091h: 2)
Position actual internal value (6063h) × Motor revolutions (6091h: 1)

(3) OMS bit of Controlword (csp mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)

(4) OMS bit of Statusword (csp mode)

Bit Symbol Description
10 (reserved) The value at reading is undefined.
Target position 0: Target position (607Ah) is being discarded.
12
ignored 1: Target position (607Ah) is being used as a position control loop input.
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

18 - 40
18．EtherCAT COMMUNICATION

18.5.4.4 Cyclic synchronous velocity mode (csv)

The following shows the functions and related objects of the cyclic synchronous velocity mode (csv).
T orque limit value (60E0h, 60E1h)
×
T orque offset (60B2h)

Quick stop deceleration (6085h) Veloci ty

demand
Quick stop option code (605Ah) value
Veloci ty (606Bh) Veloci ty + + T orque
Max motor speed (6080h) limit Motor
control control
function
T arget velocity (60FFh)
×

Gear ratio (6091h) Encoder

Polarity (607Eh)

Position actual internal value

Position actual value (6064h) × × (6063h)

Veloci ty actual value (606Ch) ×

T orque actual value (6077h) ×

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Command speed
60FFh VAR Target velocity I32 rw Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Servo motor maximum speed
6080h VAR Max motor speed U32 rw
Unit: r/min
Velocity demand Command speed (after limit)
606Bh VAR I32 ro
value
Position actual Current position (after electronic
6063h VAR I32 ro
internal value gear)
Position actual Current position (command unit)
6064h VAR I32 ro
value
Velocity actual Current speed
606Ch VAR I32 ro
value Unit: 0.01 r/min
Current torque
Torque actual
6077h VAR I32 ro Unit: 0.1% (rated torque of
value
100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Torque limit value (forward)
Positive torque
60E0h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
Torque limit value (reverse)
Negative torque
60E1h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)

18 - 41
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1 servo motor axis (numerator)
6091h ARRAY
U32 rw (Note 1)
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator) (Note 1)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
Torque offset
Unit: 0.1% (rated torque of
100%)
This can be set within -32768 to
60B2h VAR Torque offset I16 rw 0 32767. When this is set to a
value exceeding the maximum
torque of the driver, the value is
clamped at the maximum torque.
Refer to section 5.12.

(2) OMS bit of Controlword (csv mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)

(3) OMS bit of Statusword (csv mode)

Bit Symbol Description
10 (reserved) The value at reading is undefined.
Target velocity 0: Target velocity (60FFh) is being discarded.
12
ignored 1: Target velocity (60FFh) is being used as a speed control loop input.
13 (reserved) The value at reading is undefined.

18 - 42
18．EtherCAT COMMUNICATION

18.5.4.5 Cyclic synchronous torque mode (cst)

The following shows the functions and related objects of the cyclic synchronous torque mode (cst).
Max torque (6072h) T orque
demand
val ue
T orque (6074h) T orque
T orque li mit value (60E0h, 60E1h) l imit Motor
× control
function
T arget torque (6071h) +
+
T orque offset (60B2h)

Gear ratio (6091h) Encoder

Pol ari ty (607Eh)

Position actual internal value

Position actual val ue (6064h) × × (6063h)

Vel oci ty actual val ue (606Ch) ×

T orque actual value (6077h) ×

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Command torque
6071h VAR Target torque I16 rw Unit: 0.1% (rated torque of
100%)
Maximum torque
6072h VAR Max torque U16 rw Unit: 0.1% (rated torque of
100%)
Command torque (after limit)
6074h VAR Torque demand I16 ro Unit: 0.1% (rated torque of
100%)
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
Position actual
6064h VAR I32 ro Current position (Pos units)
value
Velocity actual Current speed Unit: Vel unit (0.01
606Ch VAR I32 ro
value r/min or 0.01 mm/s)
Torque actual Current torque Unit: 0.1% (rated
6077h VAR I32 ro
value torque of 100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Torque limit value (forward)
Positive torque
60E0h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
Torque limit value (reverse)
Negative torque
60E1h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1
6091h ARRAY servo motor axis (numerator)
U32 rw
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.

18 - 43
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Speed limit value
2D20h VAR Velocity limit value I32 rw 50000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
Torque offset
Unit: 0.1% (rated torque of
100%)
This can be set within -32768 to
60B2h VAR Torque offset I16 rw 0 32767. When this is set to a
value exceeding the maximum
torque of the driver, the value is
clamped at the maximum torque.
Refer to section 5.12.

(2) OMS bit of Controlword (cst mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)

(3) OMS bit of Statusword (cst mode)

Bit Symbol Description
10 (reserved) The value at reading is undefined.
Target torque 0: Target torque (6071h) is being discarded.
12
ignored 1: Target torque (6071h) is being used as a torque control loop input.
13 (reserved) The value at reading is undefined.

18 - 44
18．EtherCAT COMMUNICATION

18.5.4.6 Profile position mode (pp)

The following shows the functions and related objects of the profile position mode (pp).
Torque limit value (60E0h, 60E1h)
×
Motion profile type (6086h)
Control
Profile acceleration (6083h) effort
Position (60FAh) Velocity Torque
Profile deceleration (6084h) control Motor
control control
Acceleration
Quick stop deceleration (6085h) limit
function
Position
Quick stop option code (605Ah) trajectry
generator Encoder
Profile velocity (6081h)
Max profile velocity (607Fh) Velocity
limit
Max motor speed (6080h) function ×

Target position (607Ah)

Position
Software position limit (607Dh) limit
function × ×

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h) + × ×

-

Position actual value (6064h) × × Position actual internal value (6063h)

Velocity actual value (606Ch) ×

Torque actual value (6077h) ×

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
607Ah VAR Target position I32 rw Command position (Pos units)
0 Position range limit U8 ro 2 Number of entries
Minimum value of the position
range limit
The value is automatically set
according to the setting of
Min position range
1 I32 rw "Position data unit" in [Pr. PT01].
limit
mm/inch/pulse: -2147483648
degree: 0
The cyclic synchronous mode
607Bh ARRAY supports pulses only.
Maximum value of the position
range limit
The value is automatically set
according to the setting of
Max position range
2 I32 rw "Position data unit" in [Pr. PT01].
limit
mm/inch/pulse: 2147483647
degree: 359999
The cyclic synchronous mode
supports pulses only.
Software position Number of entries
0 U8 ro 2
limit
Minimum position address (Pos
607Dh 1 ARRAY Min position limit I32 rw 0
units)
Maximum position address (Pos
2 Max position limit I32 rw 0
units)
maximum speed
607Fh VAR Max profile velocity U32 rw 2000000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Servo motor maximum speed
6080h VAR Max motor speed U32 rw
Unit: r/min

18 - 45
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Speed after acceleration
completed
6081h VAR Profile velocity U32 rw 10000
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Acceleration at start of
Profile
6083h VAR U32 rw 0 movement to target position
Acceleration
Unit: ms
Deceleration at arrival at target
Profile
6084h VAR U32 rw 0 position
deceleration
Unit: ms
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
(Note 1)
6086h VAR Motion profile type I16 rw 0 1: Sin2 ramp (not supported)
(Note 1)
2: Jerk-free ramp (not supported)
(Note 1)
3: Jerk-limited ramp (not
supported) (Note 1)
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
Position actual
6064h VAR I32 ro Current position (Pos units)
value
Current speed
Velocity actual
606Ch VAR I32 ro Unit: Vel unit (0.01 r/min or 0.01
value
mm/s)
Torque actual Current torque
6077h VAR I32 ro
value Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error
60F4h VAR I32 ro Droop pulses (Pos units)
actual value
Position control loop output
(speed command)
60FAh VAR Control effort I32 ro
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Positive torque Torque limit value (forward)
60E0h VAR U16 rw 10000
limit value Unit: 0.1% (rated torque of 100%)
Negative torque Torque limit value (reverse)
60E1h VAR U16 rw 10000
limit value Unit: 0.1% (rated torque of 100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1
6091h ARRAY servo motor axis (numerator)
U32 rw
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)

18 - 46
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note 1. This is not supported by the driver.

(2) Details on the OMS bit of Controlword (pp mode)

Bit Symbol Description
4 New set-point New positioning parameters are obtained when this bit turns on.
Change set 0: Set of set-points
5
immediately 1: Single set-point
0: Absolute position command
1: Relative position command
6 abs/rel When the unit is set to degree, relative position commands are disabled. When the
relative position command is specified and positioning is started, [AL. F4.8] occurs and
positioning cannot be started.
0: Positioning is executed.
8 HALT
1: The servo motor stops according to Halt option code (605Dh).
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped).
Change on
9 (black line (Refer to (5) in this section.)).
set-point
1: The next positioning starts after positioning is executed with Profile velocity (6081h)
held up to the current set-point. (gray line (Refer to (5) in this section.)).

(3) Details on the OMS bit of Statusword (pp mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached
Judgment condition for Target position reached
If the error between Position actual value (6064h) and Target position (607Ah) has
stayed within Position window (6067h) for Position window time (6068h) or more, Target
position reached is stored.
Set-point 0: Positioning completed (wait for next command)
12
acknowledge 1: Positioning being executed (The set-point can be overwritten.)
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

18 - 47
18．EtherCAT COMMUNICATION

(4) Single Set-point

Update of positioning parameters during a positioning operation is immediately accepted. (The current
positioning operation is cancelled and the next positioning is started.)

Actual
speed
t
New
set-point
(bit 4) t
Target
position
(set-point)
t
Profile velocity

Current target
position
processed
t
Set-point
acknow ledge
(bit 12) t
Target
reached
(bit 10) t

(5) Set of set-points

After the current positioning operation is completed, the next positioning is started. Whether positioning is
stopped at the first positioning point when at an update of the positioning parameter before completion of
the positioning can be switched. To switch the setting, use Change on set-point (Bit 9 of Controlword).

Actual
speed
t
New
set-point
(bit 4)
t
Target position
(set-point)
t
Profile
velocity
t

Current
target
position
processed
t
Set-point
acknow ledge
(bit 12)
t
Target
reached
(bit 10) t

18 - 48
18．EtherCAT COMMUNICATION

18.5.4.7 Profile velocity mode (pv)

The following shows the functions and related objects of the profile velocity mode (pv).
T orque li mit value (60E0h, 60E1h)
×
Moti on profi le type (6086h)

Profi le accel eration (6083h)

Vel ocity T orque
Profi le deceleration (6084h) control Motor
control
Acceleration
Qui ck stop decel erati on (6085h) l imit
function Vel ocity
Qui ck stop opti on code (605Ah) traj ectry
generator
T arget velocity (60FFh) Encoder

Max profi le vel ocity (607Fh) Vel ocity

l imit
×
Max motor speed (6080h) function

Gear ratio (6091h)

Pol ari ty (607Eh)

Vel ocity demand val ue (606Bh) ×

Position actual value (6064h) × × Position actual i nternal val ue (6063h)

Vel ocity actual value (606Ch) ×

T orque actual val ue (6077h) ×

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Command speed Unit: Vel unit
60FFh VAR Target velocity I32 rw
(0.01 r/min or 0.01 mm/s)
maximum speed
607Fh VAR Max profile velocity U32 rw 2000000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Servo motor maximum speed
6080h VAR Max motor speed U32 rw
Unit: r/min
Acceleration at start of
Profile
6083h VAR U32 rw 0 movement to target position
Acceleration
Unit: ms
Deceleration at arrival at target
Profile
6084h VAR U32 rw 0 position
deceleration
Unit: ms
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
(Note 1)
1: Sin2 ramp (not supported)
6086h VAR Motion profile type I16 rw 0
(Note 1)
2: Jerk-free ramp (not
supported) (Note 1)
3: Jerk-limited ramp (not
supported)
(Note 1)
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
Position actual
6064h VAR I32 ro Current position (Pos units)
value
18 - 49
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Velocity demand Speed command (after trajectory
606Bh VAR I32 ro
value generation)
Current speed
Velocity actual
606Ch VAR I32 ro Unit: Vel unit (0.01 r/min or 0.01
value
mm/s)
Current torque
Torque actual
6077h VAR I32 ro Unit: 0.1% (rated torque of
value
100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Torque limit value (forward)
Positive torque
60E0h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
Torque limit value (reverse)
Negative torque
60E1h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1
6091h ARRAY servo motor axis (numerator)
U32 rw
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
Speed error threshold for judging
606Dh VAR Velocity window U16 rw 2000 Target reached
Unit: 0.01 r/min or 0.01 mm/s
Velocity window Target reached judgment time
606Eh VAR U16 rw 0
time Unit: ms
Zero speed threshold for judging
606Fh VAR Velocity threshold U16 rw 5000 Speed
Unit: 0.01 r/min or 0.01 mm/s
Velocity threshold Speed judgment time
6070h VAR U16 rw 10
time Unit: ms
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note 1. This is not supported by the driver.

18 - 50
18．EtherCAT COMMUNICATION

(2) Details on the OMS bit of Controlword (pv mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
0: The servo motor is driven.
8 HALT
1: The servo motor is stopped according to Halt option code (605Dh).
9 (reserved) The value at reading is undefined. Set "0" at writing.

18 - 51
18．EtherCAT COMMUNICATION

(3) Details on the OMS bit of Statusword (pv mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target velocity not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target velocity reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached
Judgment condition for Target velocity reached
If the error between Velocity actual value (606Ch) and Target velocity (60FFh) has
stayed within Velocity window (606Dh) for Velocity window time (606Eh) or more,
Target velocity reached is stored.
0: Speed is not equal 0
1: Speed is equal 0
12 Speed Judgment condition for Speed is not equal 0
If the absolute value of Velocity actual value (606Ch) has exceeded Velocity threshold
(606Fh) for Velocity threshold time (6070h) or more, Speed is not equal 0 is stored.
0: Maximum slippage not reached
13 Max slippage error 1: Maximum slippage reached (not supported) (Note)
Max slippage is a maximum slippage of the asynchronous servo motor.

No
This is not supported by the driver.
te.

(4) pv mode operation sequence

Velocity Actual Value Decelerates w ith Profile deceleration (6084h)

(606Ch)

Accelerates w ith Profile acceleration (6083h)

Target Velocity
(60FFh)

Velocity w indow time (606Eh)

Target reached
Statusw ord
(6041h) bit 10

Velocity threshold time (6070h)

Speed Statusw ord

(6041h) bit 12

18 - 52
18．EtherCAT COMMUNICATION

18.5.4.8 Profile torque mode (tq)

The following shows the functions and related objects of the profile torque mode (tq).
T arget torque (6071h)

T orque sl ope (6087h)

T orque profi le type (6088h) T rajectry T orque demand

generator (6074h)
Controlword (6040h) × Motor
T orque
Max torque (6072h)
control
and
power
stage
T orque li mi t value (60E0h, 60E1h)
Encoder
×

Gear rati o (6091h)

Pol ari ty (607Eh)

Position actual internal

Position actual value (6064h) × × val ue (6063h)

Vel oci ty actual value (606Ch) ×

T orque actual val ue (6077h) ×

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
6040h VAR Controlword U16 rw Common control command
Command torque Unit: 0.1%
6071h VAR Target torque I16 rw
(rated torque of 100%)
Maximum torque Unit: 0.1%
6072h VAR Max torque U16 rw
(rated torque of 100%)
Command torque (after limit)
6074h VAR Torque demand I16 ro Unit: 0.1% (rated torque of
100%)
Torque variation
6087h VAR Torque slope U32 rw 0 Unit: 0.1%/s (rated torque of
100%)
Torque variation pattern
0000h: Linear ramp
0001h: Sin2 ramp (not supported)
6088h VAR Torque profile type U32 rw 0 (Note 1)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer
specific
Position actual Current position (Enc inc)
6063h VAR I32 ro
internal value
Position actual Current position (Pos units)
6064h VAR I32 ro
value
Current speed
Velocity actual
606Ch VAR I32 ro Unit: Vel unit (0.01 r/min or 0.01
value
mm/s)
Current torque
Torque actual
6077h VAR I32 ro Unit: 0.1% (rated torque of
value
100%)
Travel distance per revolution of
0 Feed constant U8 ro 2
an output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).

18 - 53
18．EtherCAT COMMUNICATION

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Torque limit value (forward)
Positive torque
60E0h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
Torque limit value (reverse)
Negative torque
60E1h VAR U16 rw 10000 Unit: 0.1% (rated torque of
limit value
100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the
1 Motor revolutions 1
6091h ARRAY servo motor axis (numerator)
U32 rw
Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
Speed limit value
2D20h VAR Velocity limit value I32 rw 5000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note 1. This is not supported by the driver.

(2) Details on the OMS bit of Controlword (tq mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
0: The servo motor is driven.
8 HALT
1: The servo motor is stopped according to Halt option code (605Dh).
9 (reserved) The value at reading is undefined.

(3) Details on the OMS bit of Statusword (tq mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
Target reached 1 (Halt (Bit 8) = 0): Target torque reached.
10 (not supported) 1 (Halt (Bit 8) = 1): Velocity of axis is 0
(Note) Judgment condition for Target torque reached
If the error between Torque actual value (6077h) and Target torque (6071h) has stayed
within Torque window for Torque window time or more, Target torque reached is stored.
12 (reserved) The value at reading is undefined.
13 (reserved)

Note This is not supported by the driver.

18 - 54
18．EtherCAT COMMUNICATION

(4) tq mode operation sequence

Torque demand
(6074h)
t

Changed w ith Torque slope (6087h)

Changed w ith Torque slope (6087h)
Target torque
(6071h)
t

Halt
Controlw ord
(6040h) Bit 8 t

18 - 55
18．EtherCAT COMMUNICATION

18.5.4.9 Homing mode (hm)

The following shows the function and related objects of the homing mode (hm).

Controlword (6040h)

Homing method (6098h) Statusword (6041h)

Homing
Homing speeds (6099h)
method

Homing acceleration (609Ah)

Home offset (607Ch)

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
The home position saved in
EEP-ROM is stored at power-on.
If a home position return is
executed in the homing mode
607Ch 0 VAR Home offset I32 ro
(hm), the home position will be
updated. If [Pr. PA03 Absolute
position detection system] is
disabled, 0 is always stored.
Specify a home position return
type.Refer to (4) in this section
6098h 0 VAR Homing Method I8 rw -1
for supported home position
return types.
Number of entries of the home
0 Homing Speeds U8 rw 2
position return speed
Specify the travel speed until dog
detection.
Speed during Unit: Vel unit (0.01 r/min or 0.01
1 U32 rw 10000
search for switch mm/s)
Range: 0 to servo motor
6099h ARRAY maximum speed
Specify the travel speed up to the
home position after dog
detection. (Note)
Speed during
2 U32 rw 1000 Unit: Vel unit (0.01 r/min or 0.01
search for zero
mm/s)
Range: 0 to servo motor
maximum speed
Acceleration/deceleration time
Homing
609Ah 0 VAR U32 rw 0 constant at home position return
acceleration
Unit: ms
Number of entries of the
Supported Homing
0 U8 ro 39 supported home position return
Method
type
Refer to The supported home position
1st supported
1 I8 ro section return type is returned.
60E3h ARRAY homing method
7.3.13 (5).
to
Refer to The supported home position
39th supported
39 I8 ro section return type is returned.
homing method
7.3.13 (5).

No In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the
te. stroke end is detected. Set the home position return speed carefully.

18 - 56
18．EtherCAT COMMUNICATION

(2) Details on the OMS bit of Controlword (hm mode)

Bit Symbol Description
Homing operation start
4 HOS 0: Do not start homing procedure
1: Start or continue homing procedure
5 (reserved) The value at reading is undefined. Set "0" at writing.
6 (reserved)
Halt
0: Bit 4 enable
8 HALT
1: Stop axis according to halt option code (605Dh)
In the indexer method, this bit is disabled.
9 (reserved) The value at reading is undefined. Set "0" at writing.

(3) Details on the OMS bit of Statusword (hm mode)

POINT
When the mode is switched to the hm mode after home position return
completion, Statusword is "Homing procedure is completed successfully" unless
"0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12.
For incremental system
At power-on
At communication shut-off by upper side reset
At home position return start
At home position erasure
For absolute position detection system
At home position return start
At home position erasure
To check the home position return status with Statusword, note the following.
(when the communication cycle of 4 ms or less is set)
When the mode is switched to the hm mode, Modes of operation display is
changed to 6 (hm) and Statusword changes at the same time.
The status change of Statusword may take 50 ms at a maximum after Bit 4 of
Controlword (Homing operation start) is set. To obtain the status of Statusword
without any fault, wait 50 ms or more.
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword are changed to "1" and then wait 8 ms.
If 8 ms has not elapsed, the position information may not be updated correctly
depending on the communication cycle setting.

Bit Symbol Description

10 Target reached Refer to the following table for the definition.
12 Homing attained
13 Homing error

18 - 57
18．EtherCAT COMMUNICATION

The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword in the hm mode.
Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 reserved

(4) List of Homing method

POINT
In the following cases, make sure that the Z-phase has been passed through
once before the home position return. Z-phase unpassed will trigger [AL. 90.5
Z-phase unpassed].
When using an incremental external encoder in the fully closed loop control
mode
For the use in the DD motor control mode
To execute a home position return securely, start a home position return after
moving the servo motor to the opposite stroke end with csv or pv from the upper
side and others. Whether the servo motor has reached the stroke end can be
checked with Digital inputs (60FDh).
When changing the mode after the home position return completion, set 0 to the
Target position (607Ah) and change the control mode.
The Method numbers which can be used in indexer method are only -1, -33, -3,
35 and 37.

18 - 58
18．EtherCAT COMMUNICATION

To specify the home position return type in the homing mode (hm), use Homing Method (6098h). The driver
supports Homing method in the following table.
Method Home position return Rotation
Description
No. type direction
Deceleration starts at the front end of the proximity dog. After the
rear end is passed, the position specified by the first Z-phase
Forward signal, or the position of the first Z-phase signal shifted by the
-1 specified home position shift distance is used as the home
Dog type rotation
position.
(Rear end detection
In the indexer method, deceleration starts at the front end of the
Z-phase reference)/
proximity dog, and then the first Z-phase signal at which a
torque limit changing
deceleration to a stop is possible or the position of the Z-phase
dog type
signal shifted by the specified home position shift distance is
(Front end detection
Reverse used as the home position. The torque limit values in Positive
-33 Z-phase reference)
rotation torque limit value (60E0h) and Negative torque limit value
(60E1h) are enabled during execution of home position return,
and the torque limit value in Torque limit value2 (2D6Bh) is
enabled when the home position return is stopped.
Data set type home The current position is set as the home position.
position return/ In the indexer method, the current position is set as the home
-3
torque limit changing position. The torque limit value becomes 0 when switched to the
data set type homing mode (hm).
Forward A workpiece is pressed against a mechanical stopper, and the
-4 Stopper type
rotation position where it is stopped is set as the home position.
(Stopper position
Reverse
-36 reference)
rotation
Forward At the front end of the proximity dog, deceleration starts. After the
-2
Count type rotation front end is passed, the position specified by the first Z-phase
(Front end detection signal after the set distance or the position of the Z-phase signal
Reverse
-34 Z-phase reference) shifted by the set home position shift distance is set as a home
rotation
position.
Forward Deceleration starts from the front end of the proximity dog. After
-6 Dog type
rotation the rear end is passed, the position is shifted by the travel
(Rear end detection distance after proximity dog and the home position shift distance.
Reverse
-38 rear end reference) The position after the shifts is set as the home position.
rotation
Forward Deceleration starts from the front end of the proximity dog. The
-7 Count type
rotation position is shifted by the travel distance after proximity dog and
(Front end detection the home position shift distance. The position after the shifts is
Reverse
-39 front end reference) set as the home position.
rotation
Forward A position, which is specified by the first Z-phase signal after the
-8
rotation front end of the proximity dog is detected, is set as the home
Dog cradle type
Reverse position.
-40
rotation
Forward After the front end of the proximity dog is detected, the position is
-9 shifted away from the proximity dog in the reverse direction.
Dog type last Z-phase rotation
Then, the position specified by the first Z-phase signal or the
reference Reverse
-41 position of the first Z-phase signal shifted by the home position
rotation shift distance is used as the home position.
Forward Starting from the front end of the proximity dog, the position is
-10
Dog type front end rotation shifted by the travel distance after proximity dog and the home
reference Reverse position shift distance. The position after the shifts is set as the
-42 home position.
rotation
Forward The position specified by the first Z-phase signal, or the position
-11
Dogless Z-phase rotation of the first Z-phase signal shifted by the home position shift
reference Reverse distance is used as the home position.
-43
rotation
No homing method Home position return cannot be performed. Starting home
0
assigned position return causes "Homing error".
Same as the dog type last Z-phase reference home position
Homing on positive
Forward return. Note that if the stroke end is detected during home
3 home switch and index
rotation position return, [AL. 90 Home position return incomplete warning]
pulse
occurs.
Homing on positive Same as the dog cradle type home position return.
Forward
4 home switch and index Note that if the stroke end is detected during home position
rotation
pulse return, [AL. 90 Home position return incomplete warning] occurs.

18 - 59
18．EtherCAT COMMUNICATION

Same as the dog type last Z-phase reference home position

Homing on negative
Reverse return.Note that if the stroke end is detected during home
5 home switch and index
rotation position return, [AL. 90 Home position return incomplete warning]
pulse
occurs.

Method Home position return Rotation

Description
No. type direction
Homing on negative Same as the dog cradle type home position return.
Reverse
6 home switch and index Note that if the stroke end is detected during home position
rotation
pulse return, [AL. 90 Home position return incomplete warning] occurs.
Homing on home Forward Same as the dog type last Z-phase reference home position
7
switch and index pulse rotation return.
Homing on home Forward Same as the dog cradle type home position return.
8
switch and index pulse rotation
Homing on home Reverse Same as the dog type last Z-phase reference home position
11
switch and index pulse rotation return.
Homing on home Reverse Same as the dog cradle type home position return.
12
switch and index pulse rotation
Same as the dog type front end reference home position return.
Homing without index Forward
19 Note that if the stroke end is detected during home position
pulse rotation
return, [AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
Homing without index Forward
20 distance after proximity dog and the home position shift distance.
pulse rotation
The position after the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Same as the dog type front end reference home position return.
Homing without index Reverse
21 Note that if the stroke end is detected during home position
pulse rotation
return, [AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
Homing without index Reverse
22 distance after proximity dog and the home position shift distance.
pulse rotation
The position after the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Homing without index Forward Same as the dog type front end reference home position return.
23
pulse rotation
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
Homing without index Forward
24 from the front end of the dog, the position is shifted by the travel
pulse rotation
distance after proximity dog and the home position shift distance.
The position after the shifts is set as the home position.
Homing without index Reverse Same as the dog type front end reference home position return.
27
pulse rotation
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
Homing without index Reverse
28 from the front end of the dog, the position is shifted by the travel
pulse rotation
distance after proximity dog and the home position shift distance.
The position after the shifts is set as the home position.
Although this type is the same as the dogless Z-phase reference
Reverse
33 Homing on index pulse home position return, the creep speed is applied as the
rotation
movement start speed.
Although this type is the same as the dogless Z-phase reference
Forward
34 Homing on index pulse home position return, the creep speed is applied as the
rotation
movement start speed.
Homing on current The current position is set as the home position. This type can be
35
position executed not in the Operation enabled state.
Homing on current The current position is set as the home position. This type can be
37
position executed not in the Operation enabled state.

18 - 60
18．EtherCAT COMMUNICATION

(5) CiA 402-type homing method

(a) Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.
1) Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.

Index Pulse

Home Sw itch

2) Method 5 and 6: Homing on negative home switch and index pulse

These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 differ from
Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the
reversed direction.

18 - 61
18．EtherCAT COMMUNICATION

3) Method 7, 8, 11, 12: Homing on home switch and index pulse

These types include the operation at stroke end detection in addition to the operation of Method 3
to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has
the operation of the dog type last Z-phase reference home position return. Method 8 has the
operation of the dog cradle type home position return at a forward rotation start. Method 11 and 12
differ from Method 7 and Method 8 only in the starting direction: the starting direction of Method 11
and 12 is the reversed direction.

Index Pulse

Home Sw itch

Positive Limit Sw itch

4) Method 17 to 30: Homing without index pulse

Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home
position not on the Z-phase but on the dog. Method 17 to 30 have the operation of Method 1 to
Method 14; however, these types set the home position not on the Z-phase but on the dog. The
following figure shows the operation of the home position return type of Method 19 and Method
20. Method 19 and Method 20 have the operation of Method 3 and Method 4; however, these
types set the home position not on the Z-phase but on the dog Method 19 has the operation of the
dog type front end reference home position return. Method 20 has the operation of the dog cradle
type home position return; however, the stop position is not on the Z-phase but on the dog.

19

19

20

20

Home Sw itch

18 - 62
18．EtherCAT COMMUNICATION

5) Method 33 and 34: Homing on index pulse

These home position return types set the Z-phase detected first as a home position. The
operation is the same as that of the dogless Z-phase reference home position return except that
the creep speed is applied at the start.

33

34

Index Pulse

6) Method 35 and 37: Homing on current position

These home position return types set the current position as a home position. The operation is the
same as that of the data set type home position return; however, these types can be executed
even during servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

18 - 63
18．EtherCAT COMMUNICATION

(b) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing
method.
1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 64
18．EtherCAT COMMUNICATION

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing
method 6 is opposite to that of Homing method 4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 65
18．EtherCAT COMMUNICATION

3) Method 7 and Method 11 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 7. The operation direction of Homing
method 11 is opposite to that of Homing method 7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 66
18．EtherCAT COMMUNICATION

4) Method 8 and Method 12 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 8. The operation direction of Homing
method 12 is opposite to that of Homing method 8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 67
18．EtherCAT COMMUNICATION

5) Method 19 and Method 21 (Homing without index pulse)

The following figure shows the operation of Homing method 19. The operation direction of Homing
method 21 is opposite to that of Homing method 19.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 68
18．EtherCAT COMMUNICATION

6) Method 20 and Method 22 (Homing without index pulse)

The following figure shows the operation of Homing method 20. The operation direction of Homing
method 22 is opposite to that of Homing method 20.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shif t distance
+
Travel distance af ter proximity dog

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 69
18．EtherCAT COMMUNICATION

7) Method 23 and Method 27 (Homing without index pulse)

The following figure shows the operation of Homing method 23. The operation direction of Homing
method 27 is opposite to that of Homing method 23.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 70
18．EtherCAT COMMUNICATION

8) Method 24 and Method 28 (Homing without index pulse)

The following figure shows the operation of Homing method 24. The operation direction of Homing
method 28 is opposite to that of Homing method 24.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shif t distance
+
Travel distance af ter proximity dog

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 71
18．EtherCAT COMMUNICATION

9) Method 33 and Method 34 (Homing on index pulse)

The following figure shows the operation of Homing method 34. The operation direction of Homing
method 33 is opposite to that of Homing method 34.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Deceleration time

constant constant
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return Creep speed
position data
ON Home position shift distance
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

18 - 72
18．EtherCAT COMMUNICATION

(6) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home return.
(a) Method -1 and -33
1) Dog type home position return
The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter td
rotation
Home position return
position data
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end
18 - 73
18．EtherCAT COMMUNICATION

2) Torque limit changing dog type home position return

POINT
Torque limit changing dog type home position return is available with drivers .

The following figure shows the operation of Homing method -1 in the indexer method. The
operation direction of Homing method -33 is opposite to that of Homing method -1.
ON
Pow er supply
OFF
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Point actual value Hold the previous value 0

Home position Set time in [Pr. PT56]

return speed or [Pr. PT57]

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse Home position
rotation shift distance
Set time in
[Pr. PT56]
Position w here the station home
ON position shift distance is added
Z-phase
OFF

Controlw ord bit 4 ON

Homing operation start OFF

ON
DOG (Proximity dog)
OFF
(Note)

T orque li mi t Positive torque limit value

Enabled torque limit value val ue2 Negative torque limit value T orque li mi t val ue2

Note. A delay time can be set with [Pr. PT39].

18 - 74
18．EtherCAT COMMUNICATION

(b) Method -2 and -34 (Count type home position return)

POINT
For the count type home position return, after the front end of the proximity dog is
detected, the position is shifted by the distance set in the travel distance after
proximity dog. Then, the first Z-phase is set as the home position. Therefore,
when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the
dog type home position return cannot be used because the length of the
proximity dog cannot be reserved or other cases.

The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return
Travel distance after position data
proximity dog (Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

18 - 75
18．EtherCAT COMMUNICATION

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.

When the movement is returned at the stroke end

(c) Method -3
1) Data set type home position return
The following figure shows the operation of Homing method -3. This type cannot be executed
during servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

2) Torque limit changing data set type home position return

POINT
Torque limit changing data set type home position return is available with drivers

The following figure shows the operation of Homing method -3 in the indexer method. This type
cannot be executed during servo-off.

Modes of operation Homing mode (hm)

Statusw ord bit 12 ON

Homing attained OFF

Point actual value Hold the previous value 0

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation Home position return
position data
Controlw ord bit 4 ON
Homing operation start OFF

T orque limit
Enabled torque limit value value2 0% T orque limit value2

18 - 76
18．EtherCAT COMMUNICATION

(d) Method -4 and -36 (stopper type home position return)

POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.

The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 is opposite to that of Homing method -4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
Forw ard constant Home position return speed Home position return
rotation position data
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Stopper
Controlw ord bit 4 ON
Homing operation start 5 ms or longer
OFF
ON [Pr. PT10 Stopper type home position return stopper time]
TLC (Limiting torque) (Note 2)
OFF

Torque limit value T orque limit value (Note 1) [Pr. PT11] Torque limit value (Note 1)

Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the
torque limit value of Negative torque limit value (60E1h) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 77
18．EtherCAT COMMUNICATION

(e) Method -6 and -38 (dog type rear end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the rear end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.

The following figure shows the operation of Homing method -6. The operation direction of Homing
method -38 is opposite to that of Homing method -6.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
(Note) Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end
18 - 78
18．EtherCAT COMMUNICATION

(f) Method -7 and -39 (count type front end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.

The following figure shows the operation of Homing method -7. The operation direction of Homing
method -39 is opposite to that of Homing method -7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 79
18．EtherCAT COMMUNICATION

(g) Method -8 and -40 (dog cradle type home position return)
The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 80
18．EtherCAT COMMUNICATION

(h) Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90]
te. occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 81
18．EtherCAT COMMUNICATION

(i) Method -10 and -42 (dog type front end reference home position return)
The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

(Note) Proximity dog

ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

18 - 82
18．EtherCAT COMMUNICATION

(j) Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
Home position return speed constant
constant

Home position return

Forw ard position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance

ON
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

18 - 83
18．EtherCAT COMMUNICATION

18.5.4.10 Point table mode (pt)

POINT
Point table mode (pt) is available with drivers.

The following shows the functions and related objects of the point table mode (pt).
Torque limit value
(60E0h, 60E1h)
×
Quick stop deceleration Control
(6085h) effort
Acceleration (60FAh) Torque
Quick stop option code Position Velocity Motor
limit control
(605Ah) function control control

Speed
(2801h: 2 to 28FFh: 2)
Target point table Acceleration Encoder
(2D60h) (2801h: 3 to 28FFh: 3)
Point Deceleration
Point table
table (2801h: 4 to 28FFh: 4)
(2801h to 28FFh) function
Point data Position
trajectry
(2801h: 1 to 28FFh: 1)
Position generator
Software position limit
limit
(607Dh) function × ×
Point demand value
(2D68h)
Point actual value
(2D69h)
Point table error
(2A43h)
M code actual value
(2D6Ah)

Gear ratio
(6091h)
Polarity
(607Eh)
Following error actual value
(60F4h) + × ×
-

Position actual value

(6064h) × × Position actual internal value (6063h)
Velocity actual value
(606Ch) ×
Torque actual value
(6077h) ×

(1) Related object

Data
Index Sub Object Name Access Default Description
Type
0 Position range limit U8 ro 2 Number of entries
Minimum value of the position range
limit
Min position range The value is automatically set
1 I32 rw
limit according to the setting of "Position
data unit" of [Pr. PT01].
607Bh ARRAY mm/inch/pulse: -2147483648
Maximum value of the position
range limit
Max position range The value is automatically set
2 I32 rw
limit according to the setting of "Position
data unit" of [Pr. PT01].
mm/inch/pulse: 2147483647
0 Software position limit U8 ro 2 Number of entries
Minimum position address (Pos
1 Min position limit I32 rw 0
607Dh ARRAY units)
Maximum position address (Pos
2 Max position limit I32 rw 0
units)

18 - 84
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
6064h VAR Position actual value I32 ro Current position (Pos units)
Current speed
606Ch VAR Velocity actual value I32 ro Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Current torque
6077h VAR Torque actual value I32 ro
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
0 Feed constant U8 ro 2
output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error actual
60F4h VAR I32 ro Droop pulses (Pos units)
value
Position control loop output (speed
command)
60FAh VAR Control effort I32 ro
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Positive torque limit Torque limit value (forward)
60E0h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)
Negative torque limit Torque limit value (reverse)
60E1h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the servo
1 Motor revolutions 1
6091h ARRAY motor axis (numerator)
U32 rw
Number of revolutions of the drive
2 Shaft revolutions 1
axis (denominator)
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of "Position
data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
60A9h VAR SI unit velocity U32 rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
0: Not operate
1 to 255: Execute the specified
2D60h VAR Target point table I16 rw 0
point table
-1: High-speed home position return
The currently specified point table
No. is returned.
2D68h VAR Point demand value I16 ro While the servo motor is stopped,
the value becomes the set value of
the Target point table (2D60h).
The completed point table is
2D69h VAR Point actual value I16 ro
returned.

18 - 85
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
Number of entries
0 Point table 001 to 255 U8 ro 7
Point table
Position data
1 Point data I32 rw
Unit: pos units
Speed
2 Speed I32 rw
Unit: 0.01 r/min or 0.01 mm/s
2801h Acceleration time constant
3 Acceleration I32 rw
to ARRAY Unit: ms
28FFh Deceleration time constant
4 Deceleration I32 rw
Unit: ms
Dwell
5 Dwell I32 rw
Unit: ms
Auxiliary function
6 Auxiliary I32 rw
Refer to section 7.3.17 (4).
7 M code I32 rw M code
Number of entries
0 Point table error U8 ro 2
Point table error
1 Point table error No. I32 ro Point table error number
2A43h ARRAY Point table error factor
Point table error The error status is indicated when
2 I32 ro
factor this bit is turned on.
Refer to section 7.3.17 (5).
The completed M code of the point
2D6Ah VAR M code actual value U8 ro
table is returned.

(2) Details on the OMS bit of Controlword (pt mode)

Bit Symbol Description
The operation starts from the point table specified with the Target point table (2D60h)
4 New set-point
when the Bit turns on.
5 (reserved) The value at reading is undefined. Set "0" when writing.
6 (reserved)
0: Positioning is executed.
8 HALT
1: The servo motor stops according to Halt option code (605Dh).
9 (reserved) The value at reading is undefined. Set "0" when writing.

(3) Details on the OMS bit of Statusword (pt mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached
Judgment condition for Target position reached
When the current position and the point table command position vary within Position
window (6067h) and this state exceeds Position window time (6068h), this bit becomes
Target position reached.
Set-point 0: Positioning completed (wait for next command)
12
acknowledge 1: Positioning being executed
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

18 - 86
18．EtherCAT COMMUNICATION

(4) pt mode operation sequence

(a) Automatic individual positioning operation
While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New
set-point)" starts the automatic positioning operation.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1 2

Forw ard Point table

rotation No. 1
Servo motor speed 0 r/min
Reverse Point table
rotation No. 2

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 2

Point demand value 1 2

M code of point table

M code actual value M code of point table No. 1 No. 2

No Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.
te.

18 - 87
18．EtherCAT COMMUNICATION

(b) Automatic continuous positioning operation

By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation
can be performed in accordance with the point tables having consecutive numbers.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1

Forw ard Point table Point table

rotation No. 1 No. 2
Servo motor speed 0 r/min
Reverse
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1

Point demand value 1 2

M code of point table

M code actual value No. 1

No Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.
te.

18 - 88
18．EtherCAT COMMUNICATION

18.5.4.11 Jog mode (jg)

POINT
Jog mode (jg) is available with drivers.

The following shows the function and related objects of the Jog mode (jg).
Torque limit value2 (2D68h)
Torque
Torque limit value (60E0h, 60E1h) limit
function ×

Software position limit (607Dh)

× Control
Profile acceleration (6083h) effort
Position (60FAh) Velocity Torque
Profile deceleration (6084h) control control control Motor
Acceleration
Quick stop deceleration (6085h) limit
function
Quick stop option code (605Ah) Position
trajectry
Profile velocity (6081h) generator Encoder
Max profile velocity (607Fh) Velocity
limit
Max motor speed (6080h) function ×

Point demand value (2D68h)

Point actual value (2D69h)

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h) + × ×

-

Position actual value (6064h) × × Position actual internal value (6063h)

Velocity actual value (606Ch) ×

Torque actual value (6077h) ×

(1) Related object

Data
Index Sub Object Name Access Default Description
Type
0 Position range limit U8 ro 2 Number of entries
Minimum value of the position range
limit
The value is automatically set
Min position range according to the setting of "Position
1 I32 rw
limit data unit" of [Pr. PT01].
mm/inch/pulse: -2147483648
In the indexer method, the value
becomes "0".
607Bh ARRAY
Maximum value of the position
range limit
The value is automatically set
according to the setting of "Position
Max position range
2 I32 rw data unit" of [Pr. PT01].
limit
mm/inch/pulse: 2147483647
In the indexer method, the value
becomes the set value of [Pr. PT28
Number of stations per rotation] -1.

18 - 89
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
0 Software position limit U8 ro 2 Number of entries
Minimum position address (Pos
units)
1 Min position limit I32 rw 0
This cannot be used in the indexer
607Dh ARRAY method.
Maximum position address (Pos
units)
2 Max position limit I32 rw 0
This cannot be used in the indexer
method.
maximum speed
607Fh VAR Max profile velocity U32 rw 2000000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Servo motor maximum speed
6080h VAR Max motor speed U32 rw
Unit: r/min
Speed after acceleration completed
6081h VAR Profile velocity U32 rw 10000 Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Acceleration at start of movement to
6083h VAR Profile Acceleration U32 rw 0 target position
Unit: ms
Deceleration at arrival at target
6084h VAR Profile deceleration U32 rw 0 position
Unit: ms
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
Current position (Pos units)
6064h VAR Position actual value I32 ro In the indexer method, the value is
fixed to 0.
Current speed
Unit: Vel unit (0.01 r/min or 0.01
606Ch VAR Velocity actual value I32 ro mm/s)
In the indexer method, this is
available only in 0.01 r/min.
Current torque
6077h VAR Torque actual value I32 ro
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
0 Feed constant U8 ro 2
output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error actual
60F4h VAR I32 ro Droop pulses (Pos units) (Note)
value
Position control loop output (speed
command)
60FAh VAR Control effort I32 ro
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Positive torque limit Torque limit value (forward)
60E0h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)
Negative torque limit Torque limit value (reverse)
60E1h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)

18 - 90
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
0 Gear ratio U8 ro 2 Gear ratio
Number of revolutions of the servo
motor axis (numerator)
1 Motor revolutions 1 In the indexer method, this means
the number of gear teeth on
6091h ARRAY machine side.
U32 rw
Number of revolutions of the drive
axis (denominator)
2 Shaft revolutions 1 In the indexer method, this means
the number of gear teeth on servo
motor side.
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
SI unit position
The value is automatically set
60A8h VAR SI unit position U32 rw 0 according to the setting of "Position
data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
60A9h VAR SI unit velocity U32 rw 0
FEB44700h (0.01 r/min)
In the indexer method, this is
available only in 0.01 r/min.
In the point table method, the value
is 0.
2D68h VAR Point demand value I16 ro
In the indexer method, the next
station No. is set.
In the point table method, the
previous value is held.
In the indexer method, the station
2D69h VAR Point actual value I16 ro No. at which the servo motor has
stopped is set. However, the
previous value is held when
S_MEND is off.
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
Set a torque limit value for when the
2D6Bh VAR Torque limit value2 U16 rw 10000
servo motor is stopped.
This can be used only in the indexer
method.

Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).

(2) Details on the OMS bit of Controlword (jg mode)

Bit Symbol Description
0: Stop the servo motor
4 Rotation start
1: Start the servo motor
0: Forward rotation (address increase)
5 Direction
1: Reverse rotation (address decrease)
6 (reserved) The value at reading is undefined. Set "0" when writing.
0: Positioning is executed.
8 HALT 1: The servo motor stops according to Halt option code (605Dh).
In the indexer method, this bit is disabled.
9 (reserved) The value at reading is undefined. Set "0" when writing.

18 - 91
18．EtherCAT COMMUNICATION

(3) Details on the OMS bit of Statusword (jg mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached
Judgment condition for Target position reached
If the error between Position actual value (6064h) and Target position (607Ah) has stayed
within Position window (6067h) for Position window time (6068h) or more, Target position
reached is stored.
12 (reserved) The value at reading is undefined.
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

(4) jg mode operation sequence in the point table method

(a) When operating at a constant speed
Decelerates w ith Profile acceleration
Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

18 - 92
18．EtherCAT COMMUNICATION

(b) When changing the speed during operation

You can change the servo motor speed by changing the "Profile velocity" during operation. However,
the servo motor speed cannot be changed during deceleration. The acceleration time constant and
the deceleration time constant can be changed only while the servo motor is stopped.
Decelerates w ith Profile acceleration

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Profile velocity 1000.00 r/min 2000.00 r/min 500.00 r/min 1500.00 r/min

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

18 - 93
18．EtherCAT COMMUNICATION

(5) jg mode operation sequence in the indexer method

(a) Station JOG operation
The following timing chart shows that a station JOG operation is performed at a stop of the station
No. 0 when servo-on.
(Note 1)
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
(Note 2)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0 4 7 2

Point demand value 0 1 2 3 4 4 5 6 7 7 6 5 4 3 2

(Note 3) (Note 3) (Note 3)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

Note 1. "Controlword bit 4 (Rotation start)" is not received when the rest of command travel distance is other than "0".
2. Switching "Profile velocity" during the servo motor rotation does not enable this.
3. A delay time can be set with [Pr. PT39].

18 - 94
18．EtherCAT COMMUNICATION

(b) JOG operation

The following timing chart shows that a JOG operation is performed at a stop of the station No. 0
when servo-on.
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF

Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0

Point demand value 0 1 2 3 4 5 5 4 3 2 1 0

(Note) (Note)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2

Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value

No A delay time can be set with [Pr. PT39].

te.

18 - 95
18．EtherCAT COMMUNICATION

18.5.4.12 Indexer mode (idx)

POINT
Indexer mode (idx) is available with drivers.

The following shows the function and related objects of the indexer mode (idx).
Torque limit value2 (2D68h)
Torque
Torque limit value (60E0h, 60E1h) limit
function ×
Control
Profile acceleration (6083h) effort
Position (60FAh) Velocity Torque
Profile deceleration (6084h) control Motor
control control
Acceleration
Quick stop deceleration (6085h) limit
function
Quick stop option code (605Ah)
Encoder
Target point table (2D60h)
Position
Profile velocity (6081h) trajectry
generator
Max profile velocity (607Fh) Velocity
limit
Max motor speed (6080h) function ×

Point demand value (2D68h)

Point actual value (2D69h)

M code actual value (2D6Ah) (Fixed to 0)

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h) + × ×

-

Position actual value (6064h) (Fixed to 0) × × Position actual internal value (6063h)

Velocity actual value (606Ch) ×

Torque actual value (6077h) ×

(1) Related object

Data
Index Sub Object Name Access Default Description
Type
0 Position range limit U8 ro 2 Number of entries
Minimum value of the position range
Min position range limit
1 I32 rw
limit In the indexer method, the value
becomes "0".
607Bh ARRAY
Maximum value of the position
range limit
Max position range
2 I32 rw In the indexer method, the value
limit
becomes the set value of [Pr. PT28
Number of stations per rotation] -1.
maximum speed
607Fh VAR Max profile velocity U32 rw 2000000
Unit: Vel unit (0.01 r/min)
Servo motor maximum speed
6080h VAR Max motor speed U32 rw
Unit: r/min
Speed after acceleration completed
6081h VAR Profile velocity U32 rw 10000
Unit: Vel unit (0.01 r/min)
Acceleration at start of movement to
6083h VAR Profile acceleration U32 rw 0 target position
Unit: ms

18 - 96
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
Deceleration at arrival at target
6084h VAR Profile deceleration U32 rw 0 position
Unit: ms
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Quick stop option Operation setting for Quick stop
605Ah VAR I16 rw 2
code Refer to section 5.6.
Position actual
6063h VAR I32 ro Current position (Enc inc)
internal value
Current position (Pos units)
6064h VAR Position actual value I32 ro
Fixed to 0
Current speed
606Ch VAR Velocity actual value I32 ro
Unit: Vel unit (0.01 r/min)
Current torque
6077h VAR Torque actual value I32 ro
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
0 Feed constant U8 ro 2
output shaft
Travel distance
1 Feed
6092h ARRAY Refer to section 7.3.14 (4).
U32 rw Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error actual
60F4h VAR I32 ro Droop pulses (Pos units) (Note)
value
Position control loop output (speed
60FAh VAR Control effort I32 ro command)
Unit: Vel unit (0.01 r/min)
Positive torque limit Torque limit value (forward)
60E0h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)
Negative torque limit Torque limit value (reverse)
60E1h VAR U16 rw 10000
value Unit: 0.1% (rated torque of 100%)
0 Gear ratio U8 ro 2 Gear ratio
Number of gear teeth on machine
1 Motor revolutions 1
6091h ARRAY side
U32 rw
Number of gear teeth on servo
2 Shaft revolutions 1
motor side
Polarity selection
Bit 7: Position POL
607Eh VAR Polarity U8 rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
SI unit position
60A8h VAR SI unit position U32 rw 0
00000000h (no unit)
SI unit velocity
60A9h VAR SI unit velocity U32 rw 0
FEB44700h (0.01 r/min)
Set next station No.
2D60h VAR Target point table I16 rw 0 0 to 254: Positioning operation to
specified stations
The currently specified next station
No. is returned.
2D68h VAR Point demand value I16 ro While the servo motor is stopped,
the value becomes the set value of
the Target point table (2D60h).
The completed point table is
2D69h VAR Point actual value I16 ro returned. The previous value is held
until the operation completes.

18 - 97
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
2D6Ah VAR M code actual value U8 ro Fixed to 0
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
2D6Bh VAR Torque limit value2 U16 rw 10000
Set a torque limit value for when the
servo motor is stopped.

Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).

(2) Details on the OMS bit of Controlword (idx mode)

Bit Symbol Description
The operation starts toward the point table specified with the Target point table (2D60h)
4 New set-point
when the bit turns on.
0: Station No. decreasing direction
5 Direction
1: Station No. increasing direction
0: Rotation direction specifying indexer operation
6 Operation mode
1: Shortest rotating indexer operation
8 (reserved) The value at reading is undefined. Set "0" when writing.
9 (reserved)

(3) Details on the OMS bit of Statusword (idx mode)

Bit Symbol Description
10 (reserved) The value at reading is undefined.
Set-point 0: Positioning completed (wait for next command)
12
acknowledge 1: Positioning being executed
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".

18 - 98
18．EtherCAT COMMUNICATION

(4) idx mode operation sequence

(a) Rotation direction specifying indexer

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.

The following timing chart shows that an operation is performed at a stop of the station No. 0 when
servo-on.
Controlw ord bit 6 ON Rotation direction specifying indexer operation
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation *1
Servo motor speed (Note 4) 0 r/min
Reverse *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

18 - 99
18．EtherCAT COMMUNICATION

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Next station No. No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

18 - 100
18．EtherCAT COMMUNICATION

(b) Shortest rotating indexer

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When travel distances to a target station position from CCW and from CW are
the same, the shaft will rotate to the station No. increasing direction.

This disables "Controlword bit 5 (Direction)". The following timing chart shows that an operation is
performed at a stop of the station No. 0 when servo-on.
Shortest rotating indexer operation
Controlw ord bit 6 ON
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation
Servo motor speed (Note 4) 0 r/min
Reverse *1 *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

18 - 101
18．EtherCAT COMMUNICATION

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Next station No. No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

18 - 102
18．EtherCAT COMMUNICATION

18.5.5 Touch probe

POINT
The touch probe function cannot be used in the indexer method.

The touch probe function that executes current position latch by sensor input can be used.
With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and
TPR2 (touch probe 2) or the position feedback of when the encoder zero point was passed through can be
stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function
(60B8h).
The following shows the touch probe detection resolution. Enabling the high precision touch probe will disable
the encoder output pulses.
Touch probe1 Touch probe2
Input terminal TPR1 TPR2
[Pr. PD37] = _ _ _ 0 (Selection of high-precision touch
Encoder 55 μs 55 μs
probe is disabled)
resolutio
[Pr. PD37] = _ _ _ 1 (Selection of high-precision touch Rising: 2 μs
n 55 μs
probe is enabled) Falling: 55 μs

(1) Related object

Data
Acces
Index Sub Object Name Typ Default Description
s
e
Settings such as
Touch probe enabling/disabling of the touch
60B8h VAR U16 rw
function probe function and trigger
conditions
Touch probe Status information of the touch
60B9h VAR U16 ro 0
status probe function
Shows the rising edge position of
Touch probe pos1
60BAh VAR I32 ro 0 TPR1 (touch probe 1). (Pos
pos value
units)
Shows the falling edge position
Touch probe pos1
60BBh VAR I32 ro 0 of TPR1 (touch probe 1). (Pos
neg value
units)
Shows the rising edge position of
Touch probe pos2
60BCh VAR I32 ro 0 TPR2 (touch probe 2). (Pos
pos value
units)
Shows the falling edge position
Touch probe pos2
60BDh VAR I32 ro 0 of TPR2 (touch probe 2). (Pos
neg value
units)

18 - 103
18．EtherCAT COMMUNICATION

(a) Details of Touch probe function (60B8h)

Bit Definition
0: Touch probe 1 disabled
0
1: Touch probe 1 enabled
0: Single trigger mode
1
1: Continuous trigger mode
0: Set input of touch probe 1 as a trigger
2
1: Set 0 point of the encoder as a trigger
3 (reserved) The value at reading is undefined. Set "0" when writing.
0: Stop sampling at the rising edge of touch probe 1
1: Start sampling at the rising edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback
latched at rising edge of touch probe 1 is stored in Touch probe pos1 pos value
4
(60BAh).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos1 pos
value (60BAh).
0: Stop sampling at the falling edge of touch probe 1
1: Start sampling at the falling edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback
latched at falling edge of touch probe 1 is stored in Touch probe pos1 neg value
5
(60BBh).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos1 neg
value (60BBh).
6 (reserved) The value at reading is undefined. Set "0" when writing.
7
0: Touch probe 2 disabled
8
1: Touch probe 2 enabled
0: Single trigger mode
9
1: Continuous trigger mode
0: Set input of touch probe 2 as a trigger
10
1: Set 0 point of the encoder as a trigger
11 (reserved) The value at reading is undefined. Set "0" when writing.
0: Stop sampling at the rising edge of touch probe 2
1: Start sampling at the rising edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback
latched at rising edge of touch probe 2 is stored in Touch probe pos2 pos value
12
(60BCh).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos2 pos
value (60BCh).
0: Stop sampling at the falling edge of touch probe 2
1: Start sampling at the falling edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback
latched at falling edge of touch probe 2 is stored in Touch probe pos2 neg value
13
(60BDh).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos2 neg
value (60BDh).
14 (reserved) The value at reading is undefined. Set "0" when writing.
15

18 - 104
18．EtherCAT COMMUNICATION

(b) Details of Touch probe status (60B9h)

Bit Definition
0: Touch probe 1 disabled
0
1: Touch probe 1 enabled
0: The rising edge position of touch probe 1 has not been stored.
1: The rising edge position of touch probe 1 has been stored.
1 When the position feedback is stored in Touch probe pos1 pos value (60BAh), this bit
becomes "1".
When "0" is set in the bit 4 of Touch probe function (60B8h), this bit becomes "0".
0: The falling edge position of touch probe 1 has not been stored.
1: The falling edge position of touch probe 1 has been stored.
2 When the position feedback is stored in Touch probe pos1 neg value (60BBh), this bit
becomes "1".
When "0" is set in the bit 5 of Touch probe function (60B8h), this bit becomes "0".
3 (reserved) The value at reading is undefined. Set "0" when writing.
4
5
6
7
0: Touch probe 2 disabled
8
1: Touch probe 2 enabled
0: The rising edge position of touch probe 2 has not been stored.
1: The rising edge position of touch probe 2 has been stored.
9 When the position feedback is stored in Touch probe pos2 pos value (60BCh), this bit
becomes "1".
When "0" is set in the bit 12 of Touch probe function (60B8h), this bit becomes "0".
0: The falling edge position of touch probe 2 has not been stored.
1: The falling edge position of touch probe 2 has been stored.
10 When the position feedback is stored in Touch probe pos2 neg value (60BDh), this bit
becomes "1".
When "0" is set in the bit 13 of Touch probe function (60B8h), this bit becomes "0".
11 (reserved) The value at reading is undefined. Set "0" when writing.
12
13
14
15

18 - 105
18．EtherCAT COMMUNICATION

(2) Timing chart

Touch probe function 60B8h Bit 0 1
Enable Touch Probe 1
13
60B8h Bit 1
Trigger first event

60B8h Bit 4 1
Enable Sampling at positive edge
7 9
60B8h Bit 5
Enable Sampling at negative edge

2 14
Touch probe status 60B9h Bit 0
Touch Probe 1 is enabled
8
4 12
60B9h Bit 1 14
Touch Probe 1 positive edge stored

6
60B9h Bit 2 14
Touch Probe 1 negative edge stored
(Note)
3 (Note) 5 11
Touch Probe Signal (Note) 0.5 ms or longer

0.5 ms or
longer
4a 8a 10 12a
60BAh
Touch Probe position 1 positive value 0000 yyyy uuuu
6a 14a
60BBh
Touch Probe position 1 negative value 0000 xxxx

No Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.
te.

Transiti
Object Description
on No.
1 60B8h Bit 0, 4, 5 = 1 Enables Touch Probe1. The rising edge and falling edge are enabled.
2 → 60B9h Bit 0 = 1 Turns on the Touch Probe1 enable status.
3 Turns on Touch Probe Signal (TPR1).
4 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 positive edge stored status.
4a → 60BAh Sets the latched position feedback for Touch probe position1 positive value.
5 Turns off Touch Probe Signal (TPR1).
6 → 60B9h Bit 2 = 1 Turns on the Touch Probe1 negative edge stored status.
6a → 60BBh Sets the latched position feedback for Touch probe position1 negative value.
7 60B8h Bit 4 = 0 Turns off Sample positive edge. Rising edge detection is disabled.
8 → 60B9h Bit 1 = 0 Turns off Touch Probe1 positive edge stored status.
8a → 60BAh Touch probe position1 positive value does not change.
9 60B8h Bit 4 = 1 Turns on Sample positive edge. Rising edge detection is enabled.
10 → 60BAh Touch probe position1 positive value does not change.
11 Turns on Touch Probe Signal (TPR1).
12 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 negative edge stored status.
12a → 60BAh Sets the latched position feedback for Touch probe position1 negative value.
13 60B8h Bit 0 = 0 Disables Touch Probe1.
14 → 60B9h Bit 0, 1, 2 = 0 Clears all the status Bit.
14a → 60BAh, 60BBh Touch probe position1 positive/negative value does not change.

18 - 106
18．EtherCAT COMMUNICATION

(3) High-precision touch probe

TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch
function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely
startup of TPR2 (touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set [Pr.
PD37] to "_ _ _ 1". While the high-precision touch probe is being used, the encoder pulse output function
cannot be used. The precision of falling edge is 55 μs in this case as well.

18.5.6 Quick stop

Decelerate the servo motor to a stop with the Quick stop command of Controlword (6040h). The following
table shows the related objects.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
Deceleration at deceleration to a
Quick stop
6085h VAR U32 rw 100 stop by Quick stop
deceleration
Unit: ms
Quick stop option
605Ah VAR I16 rw 2 Refer to table 5.2 for details.
code

The operation method of deceleration to a stop can be specified with Quick stop option code (605Ah). The
following table shows the supported methods and the operations.

Table 5.2 Quick stop option code

Setting value Description
csp/csv: The servo motor decelerates to a stop with Quick stop deceleration (6085h) and the state shifts to
the Switch On Disabled state.
cst/tq: The state immediately shifts to the Switch on disabled state and the servo motor is stopped with the
1
dynamic brake.
(Not supported)
pp/pv: The servo motor decelerates to a stop with Profile deceleration (6084h) and the state shifts to the
(Note)
Switch On Disabled state.
hm: The servo motor decelerates to a stop with Homing acceleration (609Ah) and the state shifts to the
Switch On Disabled state.
In the cyclic synchronous mode (csp/csv), profile mode (pp/pv), homing mode (hm), point table mode (pt),
Jog mode (jg) and indexer mode (idx), the servo motor decelerates to a stop with Quick stop deceleration
2 (6085h) and the state shifts to the Switch On Disabled.
In the cyclic synchronous torque mode (cst) and profile torque mode (tq), the state immediately shifts to the
Switch On Disabled state and the servo motor stops with the dynamic brake.
3 The current is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On
(Not supported) Disabled state.
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On
(Not supported) Disabled state.
(Note)
5 The servo motor decelerates to a stop. The state does not change from the Quick Stop Active state
(Not supported) (servo-on).
(Note)
6 The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change
(Not supported) from the Quick Stop Active state (servo-on).
(Note)
7 The current is limited and the servo motor decelerates to a stop. The state does not change from the Quick
(Not supported) Stop Active state (servo-on).
(Note)
8 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Quick
(Not supported) Stop Active state (servo-on).
(Note)

No
This is not supported by the driver.
te.

18 - 107
18．EtherCAT COMMUNICATION

18.5.7 Halt
When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration
time constant of Homing acceleration (609Ah), Profile deceleration (6084h) or the point table according to the
setting of Halt option code (605Dh). This function can be used in profile mode, homing mode (hm) and point
table method (pt/jg). Operation in other modes can be performed regardless of the Halt Bit status. When Halt
Bit is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to the
operable state. The following table shows the related object.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
Setting for executing the Halt
605Dh VAR Halt option code I16 rw 1 function
Refer to table 5.3 for details.

The following table shows descriptions of Halt option code (605Dh). However, in the profile torque mode (tq),
Torque demand value (6074h) is set to 0 regardless of Halt option code (605Dh). The amount of torque
change at this time can be set using Torque slope (6087h).

Table 5.3 Halt option code

Setting
Description
value
pp/pv/jg: The servo motor decelerates to a stop with Profile deceleration (6084h), and the state does not change
from Operation Enabled (servo-on).
hm: The servo motor decelerates to a stop with Homing acceleration (609Ah), and the state does not change
1
from Operation Enabled (servo-on).
pt: The servo motor decelerates to a stop with the deceleration time constant set in the point tables, and the state
does not change from Operation Enabled (servo-on).
2 The servo motor decelerates to a stop with Quick stop deceleration (6085h). The state does not change from the
(Not Operation Enabled state (servo-on).
supported)
(Note)
3 The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not Enabled (servo-on).
supported)
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not Enabled (servo-on).
supported)
(Note)

No
This is not supported by the driver.
te.

18 - 108
18．EtherCAT COMMUNICATION

18.5.8 Software position limit

Specify the upper and lower limits of the command position and current position. If a command position
exceeding the limit position is specified, the command position is clamped at the limit position. Specify a
relative position from the machine home point (position address = 0) as the limit position.
This function is enabled when the home position is not erased in the cyclic synchronous position mode (csp),
profile position mode (pp), point table mode (pt) or Jog mode (jg). While the clamp processing is being
performed with the command position exceeding the limit value, [AL. 98 Software limit warning] occurs and
not cleared. When the position command of the direction opposite to reached Software position limit (607Dh)
is given, the operation can be restarted.
In the cyclic synchronous position mode (csp), stop a command when the software position limit is detected.
When the command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 69 Command error]
occurs. When the command position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 69
Command error] also occurs.
When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return
again. The following table lists the related objects.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
Software position
0 U8 ro 2 Number of entries
limit
Specify a relative position from the
machine home point (position
address = 0) as the minimum
Min position limit value of the command position
1 I32 rw 0
(Note) and current position. When the
value falls below the minimum
value, it is clamped and
607Dh ARRAY
processed as the minimum value.
Specify a relative position from the
machine home point (position
address = 0) as the maximum
Max position limit value of the command position
2 I32 rw 0
(Note) and current position. When the
value exceeds the maximum
value, it is clamped and
processed as the maximum value.

No When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software
te. position limit (607Dh) is disabled.

18.5.9 Torque limit

Generated torque can be limited with the values of Positive torque limit value (60E0h) and Negative torque
limit value (60E1h). When "0" is set, torque () is not generated. The following table lists the related objects.
Data
Acces
Index Sub Object Name Typ Default Description
s
e
[Pr. PA11 Forward rotation
torque limit/positive direction
Positive torque limit] Torque limit value in CCW
60E0h VAR U16 rw 10000
limit value power running/CW regeneration
Unit: 0.1% (rated torque of
100%) Range: 0 to 10000
[Pr. PA12 Reverse rotation
torque limit/negative direction
Negative torque limit] Torque limit value in CW
60E1h VAR U16 rw 10000
limit value power running/CCW regeneration
Unit: 0.1% (rated torque of
100%) Range: 0 to 10000

18 - 109
18．EtherCAT COMMUNICATION

18.5.10 Polarity
The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set with Polarity (607Eh). For the Polarity (607Eh) setting to position commands and speed commands,
use [Pr. PA14]. For the Polarity (607Eh) setting to torque commands, use [Pr. PA14] and "POL reflection
selection at torque mode" of [Pr. PC29]. A change in the setting of Polarity (607Eh) is not applied without
enabling the change. Refer to section 6.5.2 for the procedure of enabling parameters.

(1) Object definition

Bit Description
0 (reserved) The value at reading is undefined. Set "0" at writing.
1
2
3
4
Torque POL
5
The polarity is reversed when this bit is turned on.
Velocity POL
6
The polarity is reversed when this bit is turned on.
Position POL
7
The polarity is reversed when this bit is turned on.

18 - 110
18．EtherCAT COMMUNICATION

(2) Target object

The following shows objects whose polarity is reversed according to the setting of Polarity (607Eh).
Object name (Index) Remark
Target position (607Ah)
Target velocity (60FFh)
Target torque (6071h)
Position actual value (6064h)
Velocity demand value (606Bh) Whether to reverse the polarity using Polarity (607Eh) can be switched with
"Internal command speed POL reflection selection" of [Pr. PC76].
[Pr. PC76] = _ 0 _ _ (Automatic setting): Automatically set depending on the
type of the network in use.
[Pr. PC76] = _ 1 _ _ (POL setting enabled): The polarity is reversed using
Polarity.
[Pr. PC76] = _ 2 _ _ (POL setting disabled): The polarity is not reversed
using Polarity.
Velocity actual value (606Ch)
Torque demand (6074h)
Torque actual value (6077h)
Positive torque limit value (60E0h) The corresponding parameters are changed according to "POL reflection
selection at torque mode" in [Pr. PA14] and [Pr. PC29] as follows.
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA11
Forward rotation torque limit/positive direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA11
Forward rotation torque limit/positive direction limit].
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA11 Forward
rotation torque limit/positive direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
Negative torque limit value (60E1h) The corresponding parameters are changed according to "POL reflection
selection at torque mode" in [Pr. PA14] and [Pr. PC29] as follows.
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA11 Forward
rotation torque limit/positive direction limit].
Digital inputs (60FDh) The corresponding status is changed according to the setting of [Pr. PA14]
as follows.
[Pr. PA14] = 0: The status of LSN (reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSP (forward rotation stroke end)
is applied to Positive limit switch (bit 1).
[Pr. PA14] = 1: The status of LSP (forward rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSN (reverse rotation stroke end)
is applied to Positive limit switch (bit 1).

18 - 111
18．EtherCAT COMMUNICATION

18.5.11 Degree function

(1) Summary
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with card
coordinates (axis of rotation). The following shows the differences when "degree" is selected.
Item Description
Target position (607Ah) The range will be -360.000° to 360.000°.
Position actual value (6064h) The range will be 0° to 359.999°.
Software position limit (607Dh) The range will be 0° to 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.
Position range limit (607Bh) The range will be 0° to 359.999°.
Touch probe pos1 pos value (60BAh) The range will be 0° to 359.999°.
Touch probe pos1 neg value (60BBh) The range will be 0° to 359.999°.
Touch probe pos2 pos value (60BCh) The range will be 0° to 359.999°.
Touch probe pos2 neg value (60BDh) The range will be 0° to 359.999°.
Home offset (607Ch) The range will be 0° to 359.999°.
Current position (2B2Fh) The range will be 0° to 359.999°.
Command position (2B30h) The range will be 0° to 359.999°.
Command remaining distance (2B31h) The range will be 0° to 359.999°.
Alarm Monitor 47 Current position (2BAFh) The range will be 0° to 359.999°.
Alarm Monitor 48 Command position (2BB0h) The range will be 0° to 359.999°.
Alarm Monitor 49 Command remaining distance The range will be 0° to 359.999°.
(2BB1h)
Position range output address ([Pr. PT19] to [Pr. The range will be 0° to 359.999°. When a value outside the range is set, the
PT22]) value will be clamped within the range 0° to 359.999°.

(2) Setting of the operation pattern

Positioning operation patterns can be changed with Positioning option code (60F2h) or [Pr. PT03].
Change the setting while the servo motor is stopped (Target reached is on). If the setting is changed
while the servo motor is rotating (Target reached is off), the setting value is not applied immediately. The
new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once
turned on. The following table shows the bit of Positioning option code (60F2h) and the setting of [Pr.
PT03].
Bit 7 Bit 6 [Pr. PT03] Rotation direction definition for the axis of rotation
The servo motor rotates to the target position in a direction specified with a sign of the
0 0 _0__
position data.
The servo motor rotates in the address decreasing direction regardless of the sign of the
0 1 _2__
position data.
The servo motor rotates in the address increasing direction regardless of the sign of the
1 0 _3__
position data.
The servo motor rotates from the current position to the target position in the shorter
1 1 _1__ direction. If the distances from the current position to the target position are the same for
CCW and CW, the servo motor rotates in the CCW direction.

18 - 112
18．EtherCAT COMMUNICATION

(3) Sequence
The following shows the operation patterns corresponding to the settings of Positioning option code
(60F2h).

(a) When POL is disabled ([Pr. PA14] = 0)

360 = 0 360 = 0 360 = 0 360 = 0
50 50 50 50
330 330 330 330

150 210 150 210 150 210 150 210

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

(b) When POL is enabled ([Pr. PA14] = 1)

360 = 0 360 = 0 360 = 0 360 = 0
330 330 330 330
50 50 50 50

210 150 210 150 210 150 210 150

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

18 - 113
18．EtherCAT COMMUNICATION

18.5.12 Torque offset

POINT
.
Torque changes steeply depending on the set value in the Torque offset (60B2h)
when the cyclic synchronous mode (csp/csv/cst) switches to the homing mode
(hm), and this may rotate the servo motor. Check the set value in the Torque
offset (60B2h) when switching.
Torque changes steeply depending on the set value in the Torque offset (60B2h)
when servo-on, and this may rotate the servo motor. Check the set value in the
Torque offset (60B2h) when switching.
Torque offset (60B2h) can be used with [Pr. PE47 Torque offset]. When other
than "0" is set to both the parameter and the object, both of the set values in the
Torque offset (60B2h) and [Pr. PE47 Torque offset] are added to the torque
command.
In the test operation mode, the Torque offset (60B2h) is disabled.

(1) Summary
This function compensates the torque command with the set value in the Torque offset (60B2h). This
function will be enabled in the cyclic synchronous mode (csp/csv/cst). The set values will be disabled in
the other control modes.

(2) Usage
(a) Set "_ _ _ 0" or "_ _ _ 1" in [Pr. PA01] and cycle the power of the driver.

(b) Switch the control mode to csp, csv or cst in the Modes of operation (6060h) after the state shifts to
Operational.

(c) Set a value in Torque offset (60B2h).

(3) Monitor data

The following monitor data shows the values to which the set values in Torque offset (60B2h) are added.
Item Monitor data
Object Effective load ratio (2B09h)
Peak load ratio (2B0Ah)
Instantaneous torque (2B0Bh)
Alarm Monitor 9 Effective load ratio (2B89h)
Alarm Monitor 10 Peak load ratio (2B8Ah)
Alarm Monitor 11 Instantaneous torque (2B8Bh)
Torque demand value (6074h)
Torque actual value (6077h)
Setup software (MR Configurator2TM) "Monitor" - "Display All" - "Instantaneous torque"
"Monitor" - "Display All" - "Effective load ratio"
"Monitor" - "Display All" - "Peak load ratio"
"Monitor" - "Graph" - "Torque"
"Monitor" - "Graph" - "Curr. cmd."
"Monitor" - "Graph" - "Torque equivalent to disturbance"
"Monitor" - "Graph" - "Torque cmd."
"Monitor" - "Graph" - "Effective load ratio"
Analog monitor output voltage 1
Analog monitor output voltage 2
Output signal Torque monitor of the analog monitor

18 - 114
18．EtherCAT COMMUNICATION

18.6 MANUFACTURER FUNCTIONS

18.6.1 Object for status monitor

The monitor data as the manufacturer functions can be checked with the objects in the following table.
Da
Inde Su Obje ta Acc Defa
Name Description
x b ct Ty ess ult
pe
Cumulative feedback pulses
2B0 Monitor 1
VAR I32 rw (Unit: pulse)
1h Cumulative feedback pulses
Cleared by writing "00001EA5h".
2B0 Monitor 2 Servo motor speed
VAR I32 ro
2h Servo motor speed (Unit: r/min)
2B0 Monitor 3 Droop pulses
VAR I32 ro
3h Droop pulse (Unit: pulse)
Cumulative command pulses
2B0 Monitor 4
VAR I32 ro (Unit: pulse)
4h Cumulative command pulses
Cleared by writing "00001EA5h".
2B0 Monitor 5 Command pulse frequency
VAR I32 ro
5h Command pulse frequency (Unit: kpulse/s)
2B0 Monitor 8 U1 Regenerative load ratio
VAR ro
8h Regenerative load ratio 6 (Unit: %)
2B0 Monitor 9 U1 Effective load ratio
VAR ro
9h Effective load ratio 6 (Unit: %)
2B0 Monitor 10 U1 Peak load ratio
VAR ro
Ah Peak load ratio 6 (Unit: %)
2B0 Monitor 11 Instantaneous torque
VAR I16 ro
Bh Instantaneous torque (Unit: %)
2B0 Monitor 12 Position within one-revolution
VAR I32 ro
Ch Within one-revolution position (Unit: pulse)
2B0 Monitor 13 ABS counter
VAR I32 ro
Dh ABS counter (Unit: rev)
2B0 Monitor 14 U1 Load to motor inertia ratio
VAR ro
Eh Load to motor inertia ratio 6 (Unit: 0.01 times)
2B0 Monitor 15 U1 Bus voltage
VAR ro
Fh Bus voltage 6 (Unit: V)
Monitor 16 Load-side encoder cumulative
2B1
VAR Load side encoder cumulative I32 ro feedback pulses
0h
feedback pulses (Unit: pulse)
2B1 Monitor 17 Load-side encoder droop pulses
VAR I32 ro
1h Load side encoder droop pulses (Unit: pulse)
2B1 Monitor 18 Load-side encoder information 1
VAR I32 ro
2h Load side encoder information 1 (Unit: pulse)
2B1 Monitor 19 Load-side encoder information 2
VAR I32 ro
3h Load side encoder information 2 (Unit: rev)
Temperature of servo motor
2B1 Monitor 23
VAR I16 ro thermistor
7h Temperature of motor thermistor
(Unit: °C)
Monitor 24 Servo motor-side cumulative
2B1
VAR Motor side cumulative F/B pulses I32 ro feedback pulses (before gear)
8h
(Before Gear) (Unit: pulse)
2B1 Monitor 25 Electrical angle
VAR I32 ro
9h Electrical angle (Unit: pulse)
Servo motor-side/load-side position
2B2 Monitor 35
VAR I32 ro deviation
3h Motor/load side position deviation
(Unit: pulse)
Servo motor-side/load-side speed
2B2 Monitor 36
VAR I32 ro deviation
4h Motor/load side speed deviation
(Unit: r/min)

18 - 115
18．EtherCAT COMMUNICATION

Da
Inde Su Obje ta Acc Defa
Name Description
x b ct Ty ess ult
pe
2B2 Monitor 37 Internal temperature of encoder
VAR I16 ro
5h Internal temperature of encoder (Unit: °C)
2B2 Monitor 38 Settling time
VAR I16 ro
6h Settling time (Unit: ms)
2B2 Monitor 39 Oscillation detection frequency
VAR I16 ro
7h Oscillation detection frequency (Unit: Hz)
2B2 Monitor 40 U3 Number of tough drive operations
VAR ro
8h Number of tough drive operations 2 (Unit: time)
2B2 Monitor 45 Unit power consumption
VAR I16 ro
Dh Unit power consumption (Unit: W)
2B2 Monitor 46 Unit total power consumption
VAR I32 ro
Eh Unit total power consumption (Unit: Wh)
2B2F
h Monitor 47 Current position (Note 2)
VAR I32 ro
(Note Current position (Unit: pos units)
1)
2B30h
Monitor 48 Command position (Note 2)
(Note VAR I32 ro
Command position (Unit: pos units)
1)
2B31h Command remaining distance (Note
Monitor 49
(Note VAR I32 ro 3)
Remaining command distance
1) (Unit: pos units)
2B32h Monitor 50 Point table/program No./command
(Note VAR Point table No./Program I16 ro station position (Note 3)
1) No./Station position No. (Unit: none)

2. In the indexer method, the value is fixed to 0.

3. This is available in the point table method and the indexer method. The value is fixed to 0 in the other control modes.

18 - 116
18．EtherCAT COMMUNICATION

18.6.2 Incremental counter

To protect the operation when a PDO communication error occurs, the incremental counter can be used in
the DC mode. When an incremental counter object has been mapped in the PDO communication, the
detection of [AL. 86.2 Network communication error 2] is enabled. Increment the incremental counter
(download) on the master (upper side) per communication cycle. When incremental counter objects are
mapped to RxPDO and TxPDO, the slave (driver) sends the sum of the received incremental counter value
and 1. Detect an incremental counter update error on the master side (upper side) as necessary.
The incremental counter value is an unsigned integer from 0 to 255 and added per send/receive of the PDO
communication. The value returns to 0 when exceeding 255.
Data
Objec Defaul
Index Sub Name Typ Description
t t
e
2D23 Incremental counter
VAR Watch dog counter DL U8
h (download)
2D24 Incremental counter
VAR Watch dog counter UL U8
h (upload)

18.6.3 Stroke end

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is
performed by either of the following stop methods.
In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the
command position exceeds by 30 bits from the position where the stroke end is detected, [AL. 69 Command
error] occurs.
When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return
again.
Operation status
Remark
During rotation at constant speed During deceleration to a stop

No S-pattern acceleration/ No S-pattern acceleration/

Travels for the droop pulse
deceleration deceleration portion and stops the servo
With S-pattern acceleration/ With S-pattern acceleration/
deceleration deceleration motor.
Part of droop Part of A difference will be
pulses droop
Servo motor speed Servo motor speed
pulses generated between the
command position and the
0 r/min 0 r/min
(0 mm/s) (0 mm/s) current position.
Perform a home position
LSP ON LSP ON return again.
or OFF or OFF
LSN LSN

Perform a return as follows when the stroke end is detected.

Mode Return method
Cyclic synchronous position mode After following up Target position (607Ah) with Position actual value (6061h), change the
(csp) direction opposite to the limit.
Check that Bit 12 of Statusword (6041h) is 0 before performing the return.
Cyclic synchronous velocity mode Input the speed command of the direction opposite to the limit to Target velocity (60FFh).
(csv) Check that Bit 12 of Statusword (6041h) is 0 before performing the return.
Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (607Ah).
Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (60FFh).
Point table mode (pt) Perform operation opposite to the limit with the Jog mode (jg).
Jog mode (jg) Perform operation opposite to the limit with the Jog mode.
Indexer mode (idx) Perform operation opposite to the limit with the Jog mode (jg).

18 - 117
18．EtherCAT COMMUNICATION

18.6.4 Definition of alarm-related objects

Whether an alarm occurs or not in the slave (driver) can be detected on the master (upper side) with Bit 3
and Bit 7 of Statusword in the PDO communication. The alarm history of the latest alarm and 15 alarms that
have occurred can be referred to by acquiring the following related object values in the SDO communication.
Data
Objec Acces
Index Sub Name Typ Description
t s
e
0 Alarm history newest U8 ro
ARRA
2A00h 1 Alarm No. U32 ro Refer to section 7.3.5 (1).
Y
2 Alarm time (Hour) U32 ro
0 Alarm history 1 U8 ro
ARRA
2A01h 1 Alarm No. U32 ro
Y
2 Alarm time (Hour) U32 ro
: : : : : : Refer to section 7.3.5 (2).
0 Alarm history 15 U8 ro
2A0F ARRA
1 Alarm No. U32 ro
h Y
2 Alarm time (Hour) U32 ro
2A40h VAR Clear alarm history U16 wo Refer to section 7.3.5 (3).
2A41h VAR Current alarm U32 ro Refer to section 7.3.5 (4).
2A44h 0 VAR Parameter error number U16 ro Refer to section 7.3.5 (5).
0 Parameter error list U8 ro
1 ARRA (No. 1) U16 ro
2A45h Refer to section 7.3.5 (6).
: Y : : :
16 (No. 16) U16 ro

18 - 118
18．EtherCAT COMMUNICATION

18.6.5 Parameter object

18.6.5.1 Definition of parameter objects

The parameter of the driver can be changed on the master (upper side) by writing values to the following
objects in the SDO communication. However, once the power supply is shut off, the changed setting is not
held at the next startup. To hold the changed setting even after the power supply is shut-off, save the
parameter setting value to EEP-ROM using Store Parameters (1010h).
To change the setting of the parameters where the changes are reflected by cycling the power (parameters
whose symbols are preceded by **), change the value of the corresponding object and execute Store
Parameters (1010h) before cycling the power. Refer to chapter 5 of "_ Driver Instruction Manual" for "**" of
the parameter symbol. The following table lists the related objects.
Data
Objec Acces
Index Sub Name Typ Description
t s
e
2001h VAR PA01 I32 rw
: : : : : : [Pr. PA_ _] group
2020h VAR PA32 I32 rw
2081h VAR PB01 I32 rw
: : : : : :
[Pr. PB_ _] group
20C0
VAR PB64 I32 rw
h
2101h VAR PC01 I32 rw
: : : : : : [Pr. PC_ _] group
2150h VAR PC80 I32 rw
2181h VAR PD01 I32 rw
: : : : : : [Pr. PD_ _] group
21B0h VAR PD48 I32 rw
2201h VAR PE01 I32 rw
: : : : : : [Pr. PE_ _] group
2240h VAR PE64 I32 rw
2281h VAR PF01 I32 rw
: : : : : :
[Pr. PF_ _] group
22C0
VAR PF48 I32 rw
h
2401h VAR PL01 I32 rw
: : : : : : [Pr. PL_ _] group
2430h VAR PL48 I32 rw
2481h VAR PT01 I32 rw
: : : : : :
[Pr. PT_ _] group
24D0
VAR PT80 I32 rw
h
2581h VAR PN01 I32 rw
: : : : : : [Pr. PN_ _] group
25A0h VAR PN32 I32 rw

18 - 119
18．EtherCAT COMMUNICATION

18.6.5.2 Enabling parameters

The parameters whose symbols are preceded by "*" are enabled by the following operations. Refer to chapter
5 in "_ Driver Instruction Manual" for the parameters with "*". Refer to chapter 5 of "_ Driver Instruction
Manual" for "*" of the parameter symbol.

(1) Network communication reset

A parameter is enabled when the EtherCAT state shifts from the Operational state to another state. Refer
to section 1.4.4 for the procedure of network disconnection.

(2) Enabling a parameter with a parameter enabling object

A parameter is enabled by writing "1EA5h" to User parameter configuration (2D34h). This operation can
be performed only when the EtherCAT state is the Pre-Operational state. The parameter enabling
processing requires a maximum of about 100 ms. The following table shows the read values of User
parameter configuration (2D34h). By checking the read value, the completion of the parameter enabling
processing can be checked.
Value Description
0 Parameter enabling processing is being executed.
Parameter enabling processing is not being executed. (The processing is
1
completed.)

18 - 120
18．EtherCAT COMMUNICATION

18.6.7 One-touch tuning

POINT
One-touch tuning via a network is available with drivers

Refer to section 6.2 of "_ Driver Instruction Manual" for one-touch tuning. Using One-touch tuning mode
(2D50h) allows one-touch tuning from a upper side.

(1) Related object

Data
Index Sub Object Name Access Default Description
Type
One-touch tuning command
Setting a value of "1" to "3" starts
one-touch tuning. After one-touch
tuning is completed, the setting
One-touch tuning value automatically changes to "0".
2D50h VAR U8 rw 0
mode
0: During one-touch tuning stop
1: Basic mode
2: High mode
3: Low mode
One-touch tuning status
Regardless of whether one-touch
One-touch tuning tuning is properly completed or not,
2D51h VAR I8 ro 0
status the setting value changes to 100%
at the completion.
Unit: %
One-touch tuning stop command
Writing "1EA5h" stops one-touch
tuning.
One-touch tuning
2D52h VAR U16 wo 0 Writing any value other than
Stop
"1EA5h" causes SDO Abort Code
(0609 0030h Value range of
parameter exceeded).
The parameter changed in
one-touch tuning can be returned to
the value before the change.
0000h: Restores the initial value.
One-touch tuning
2D53h VAR U16 wo 0 0001h: Restores the value before
Clear
one-touch tuning.
The setting value of the restored
parameter is stored to the
EEP-ROM.
One-touch tuning error code
0000h: Finished normally
C000h: Tuning canceled
C001h: Overshoot exceeded
One-touch tuning C002h: Servo-off during tuning
2D54h VAR U16 ro 0
Error Code C003h: Control mode error
C004h: Time-out
C005h: Load to motor inertia ratio
misestimated
C00Fh: One-touch tuning disabled

18 - 121
18．EtherCAT COMMUNICATION

(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.

Start

Refer to chapter 4 of "_ Driver Instruction Manual" to start the system.

Startup of the system

Operation Rotate the servo motor with a upper side. (One-touch tuning cannot be performed if the servo
motor is not operating.)

One-touch tuning execution Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to
perform in One-touch tuning mode (2D50h) during servo motor driving to perform one-touch
tuning.

One-touch tuning in progress Gains and filters will be adjusted automatically. During one-touch tuning, the progress can be
checked with One-touch tuning status (2D51h).

One-touch tuning completion Check whether one-touch tuning is completed normally with One-touch tuning Error Code
(2D54h). When one-touch tuning is completed normally, the parameters will be set
automatically. Refer to section 6.2 of "_ Driver Instruction Manual" for the parameters that are
set automatically.
After a tuning error is returned, take the appropriate action according to section 6.2.2 (4) of "_
Driver Instruction Manual".

Tuning result check Check the tuning result.

If the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value using One-touch tuning Clear (2D53h).

End

18 - 122
18．EtherCAT COMMUNICATION

18.6.8 Machine diagnosis function

POINT
The machine diagnosis function via a network is available with drivers

This function estimates the friction and vibrational component of the drive system in the equipment based on
the data in the driver, and recognizes an error in the machine parts, including a ball screw and bearing. The
information of the machine diagnosis function can be obtained with the following objects.
2C20h
Bit 0 to Bit 3
Friction estimation status at forw ard rotation During estimation Estimation completed

Bit 4 to Bit 7
Friction estimation status at reverse rotation During estimation Estimation completed

Bit 8 to Bit 11
Vibration estimation status During estimation Estimation completed

2C21h/2C22h Undefined value Estimated value

2C23h/2C24h Undefined value Estimated value

2C25h to 2C28h Undefined value Estimated value

18 - 123
18．EtherCAT COMMUNICATION

Data
Index Sub Object Name Access Default Description
Type
Machine diagnostic Machine diagnostic status
2C20h VAR U16 ro
status Refer to section 7.3.7 (4).
Static friction torque at forward
rotation
Static friction torque
2C21h VAR I16 ro Static friction torque at forward
at forward rotation
rotation is returned in increments of
0.1%.
Dynamic friction torque at forward
Dynamic friction
rotation (at rated speed)
torque at forward
2C22h VAR I16 ro Dynamic friction torque at forward
rotation
rotation at the rated speed is
(at rated speed)
returned in increments of 0.1%.
Static friction torque at reverse
rotation
Static friction torque
2C23h VAR I16 ro Static friction torque at reverse
at reverse rotation
rotation is returned in increments of
0.1%.
Dynamic friction torque at reverse
Dynamic friction
rotation (at rated speed)
torque at reverse
2C24h VAR I16 ro Dynamic friction torque at reverse
rotation
rotation at rated speed is returned in
(at rated speed)
increments of 0.1%.
Vibration frequency at
stop/servo-lock
Oscillation frequency
2C25h VAR I16 ro Vibration frequency during
during motor stop
stop/servo-lock is returned in
increments of 1 Hz.
Vibration level at stop/servo-lock
Vibration level during Vibration level during
2C26h VAR I16 ro
motor stop stop/servo-lock is returned in
increments of 0.1%.
Oscillation frequency Vibration frequency during operation
2C27h VAR during motor I16 ro Vibration frequency during operation
operating is returned in increments of 1 Hz.
Vibration level during operation
Vibration level during
2C28h VAR I16 ro Vibration level during operation is
motor operating
returned in increments of 0.1%.

18.6.9 Driver life diagnosis function

POINT
The driver life diagnosis function via a network is available with drivers

You can check the cumulative energization time and the number of on/off times of the inrush relay based on
the data in the driver. This function gives an indication of the replacement time for parts of the driver including
a capacitor and a relay before they malfunction. The information of the driver life diagnosis function can be
obtained with the following objects.
Data
Index Sub Object Name Access Default Description
Type
Power ON cumulative The cumulative energization time of
2C18h VAR U32 ro
time the driver is returned.
Number of inrush The number of on/off times of the
2C19h VAR U32 ro
relay on/off times inrush relay of the driver is returned.

18 - 124
18．EtherCAT COMMUNICATION

18.7 OBJECT DICTIONARY

POINT
In ARRAY data type objects, SubIndex names displayed on the upper side are
"SubIndex xxx" (xxx indicates the SubIndex number).

18.7.1 Store Parameters

POINT
Before shutting off the power after executing Store Parameters, always check
that parameters are not being saved (bit 0 is on).

For the objects that can be saved, write "65766173h" (= reverse order of the ASCII code of "save") to the
corresponding sub object of Store Parameters (1010h) to store the object in the EEP-ROM of the driver.
The value saved in the EEP-ROM is set to the object at the next power-on. For the parameters, the setting
can also be changed through the object dictionary. However the new setting is not automatically written to the
EEP-ROM. To write the new setting, use the Store Parameters (1010h).
Executing Store Parameters (1010h) takes about a maximum of 25 s because all parameters are written at
the same time. Be careful not to shut off the power during writing.
Data
Index Sub Object Name Access Description
Type
0 Store Parameters U8 ro Number of entries
Saves all parameters.
Writing "save" (= 65766173h) saves all
1 Save all parameters U32 rw
the objects which can be stored in
EEP-ROM.
2 Saves communication parameters.
(Not Writing "save" (= 65766173h) saves the
1010h ARRAY Save communication parameters U32 rw
supported) communication objects (objects in the
(Note) 1000 s) in EEP-ROM.
Saves application parameters.
3
Writing "save" (= 65766173h) saves the
(Not
Save application parameters U32 rw objects which can be saved in
supported)
EEP-ROM except for the communication
(Note)
objects (objects in the 1000 s).

Note. This is not supported by the driver.

The following values are read from this object. When a parameter is being saved, "0" is read. When no
parameter is being saved, "1" is read.
Bit Description
0: The parameter cannot be saved with the command. (A parameter is being saved.)
0
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.

18 - 125
18．EtherCAT COMMUNICATION

18.7.2 Supported object dictionary list

Group Name Index
General Objects Device Type 1000h
Error Register 1001h
Pre-defined error field 1003h
Manufacturer Device Name 1008h
Manufacturer Hardware Version 1009h
Manufacturer Software Version 100Ah
Store parameters 1010h
Restore default parameters 1011h
Identity Object 1018h
Error Settings 10F1h
PDO Mapping Objects Receive PDO Mapping 1600h to 1603h
Transmit PDO Mapping 1A00h to 1A03h
Sync Manager Communication Objects Sync Manager Communication Type 1C00h
Sync Manager RxPDO assign 1C12h
Sync Manager TxPDO assign 1C13h
SM output parameter 1C32h
SM input parameter 1C33h
Parameter Objects PA_ _ 2001h to 2020h
PB_ _ 2081h to 20C0h
PC_ _ 2101h to 2150h
PD_ _ 2181h to 21B0h
PE_ _ 2201h to 2240h
PF_ _ 2281h to 22C0h
PL_ _ 2401h to 2430h
PT_ _ 2481h to 24D0h
PN_ _ 2581h to 25A0h
Alarm Objects Alarm history newest 2A00h
Alarm history _ 2A01h to 2A0Fh
Clear alarm history 2A40h
Current alarm 2A41h
Parameter error number 2A44h
Parameter error list 2A45h
Monitor Objects Cumulative feedback pulses 2B01h
Servo motor speed 2B02h
Droop pulses 2B03h
Cumulative command pulses 2B04h
Command pulse frequency 2B05h
Regenerative load ratio 2B08h
Effective load ratio 2B09h
Peak load ratio 2B0Ah
Instantaneous torque 2B0Bh
Within one-revolution position 2B0Ch
ABS counter 2B0Dh
Load to motor inertia ratio 2B0Eh
Bus voltage 2B0Fh
Load-side cumulative feedback pulses 2B10h
Load-side droop pulses 2B11h
Load-side encoder information 1 Z-phase counter 2B12h
Load-side encoder information 2 2B13h
Temperature of motor thermistor 2B17h
Motor-side cumu. feedback pulses (before gear) 2B18h
Electrical angle 2B19h
Motor-side/load-side position deviation 2B23h

18 - 126
18．EtherCAT COMMUNICATION

Group Name Index

Monitor Objects Motor-side/load-side speed deviation 2B24h
Internal temperature of encoder 2B25h
Settling time 2B26h
Oscillation detection frequency 2B27h
Number of tough drive operations 2B28h
Unit power consumption 2B2Dh
Unit total power consumption 2B2Eh
Current position 2B2Fh
Command position 2B30h
Remaining command distance 2B31h
Point table No./Program No./Station position No. 2B32h
Alarm Monitor 1 Cumulative feedback pulses 2B81h
Alarm Monitor 2 Servo motor speed 2B82h
Alarm Monitor 3 Droop pulses 2B83h
Alarm Monitor 4 Cumulative command pulses 2B84h
Alarm Monitor 5 Command pulse frequency 2B85h
Alarm Monitor 8 Regenerative load ratio 2B88h
Alarm Monitor 9 Effective load ratio 2B89h
Alarm Monitor 10 Peak load ratio 2B8Ah
Alarm Monitor 11 Instantaneous torque 2B8Bh
Alarm Monitor 12 Within one-revolution position 2B8Ch
Alarm Monitor 13 ABS counter 2B8Dh
Alarm Monitor 14 Load to motor inertia ratio 2B8Eh
Alarm Monitor 15 Bus voltage 2B8Fh
Alarm Monitor 16 Load-side cumulative feedback pulses 2B90h
Alarm Monitor 17 Load-side droop pulses 2B91h
Alarm Monitor 18 Load-side encoder information 1 2B92h
Z-phase counter
Alarm Monitor 19 Load-side encoder information 2 2B93h
Alarm Monitor 23 Temperature of motor thermistor 2B97h
Alarm Monitor 24 Motor-side cumu. feedback pulses 2B98h
(before gear)
Alarm Monitor 25 Electrical angle 2B99h
Alarm Monitor 35 Motor-side/load-side position deviation 2BA3h
Alarm Monitor 36 Motor-side/load-side speed deviation 2BA4h
Alarm Monitor 37 Internal temperature of encoder 2BA5h
Alarm Monitor 38 Settling time 2BA6h
Alarm Monitor 39 Oscillation detection frequency 2BA7h
Alarm Monitor 40 Number of tough drive operations 2BA8h
Alarm Monitor 45 Unit power consumption 2BADh
Alarm Monitor 46 Unit total power consumption 2BAEh
Alarm monitor 47 Current position 2BAFh
Alarm monitor 48 Command position 2BB0h
Alarm monitor 49 Remaining command distance 2BB1h
Alarm monitor 50 Point table No./Program No./Station 2BB2h
position No.
Manufacturer Specific Control Objects External Output pin display 2C11h
Power ON cumulative time 2C18h
Number of inrush relay on/off times 2C19h
Machine diagnostic status 2C20h
Static friction torque at forward rotation 2C21h
Dynamic friction torque at forward rotation (at rated
2C22h
speed)
Static friction torque at reverse rotation 2C23h
Dynamic friction torque at reverse rotation (at rated 2C24h
speed)

18 - 127
18．EtherCAT COMMUNICATION

Group Name Index

Manufacturer Specific Control Objects Oscillation frequency during motor stop 2C25h
Vibration level during motor stop 2C26h
Oscillation frequency during motor operating 2C27h
Vibration level during motor operating 2C28h
Control DI 1 2D01h
Control DI 2 2D02h
Control DI 3 2D03h
Status DO 1 2D11h
Status DO 2 2D12h
Status DO 3 2D13h
Status DO 5 2D15h
Velocity limit value 2D20h
Watch dog counter DL 2D23h
Watch dog counter UL 2D24h
Motor rated speed 2D28h
Manufacturer Device Name 2 2D30h
Manufacturer Hardware Version 2 2D31h
Manufacturer Software Version 2 2D32h
Serial Number 2 2D33h
User parameter configuration 2D34h
Encoder status 2D35h
Scale cycle counter 2D36h
Scale ABS counter 2D37h
Scale measurement encoder resolution 2D38h
Scale measurement encoder reception status 2D3Ch
One-touch tuning mode 2D50h
One-touch tuning status 2D51h
One-touch tuning Stop 2D52h
One-touch tuning Clear 2D53h
One-touch tuning Error Code 2D54h
Torque limit value 2 2D6Bh
PDS Control Objects Error code 603Fh
Controlword 6040h
Statusword 6041h
Quick stop option code 605Ah
Halt option code 605Dh
Modes of operation 6060h
Modes of operation display 6061h
Supported drive modes 6502h
Position Control Function Objects Position actual internal value 6063h
Position actual value 6064h
Following error window 6065h
Following error time out 6066h
Position window 6067h
Position window time 6068h
Positioning option code 60F2h
Following error actual value 60F4h
Control effort 60FAh
Profile Velocity Mode Objects Velocity demand value 606Bh
Velocity actual value 606Ch
Velocity window 606Dh
Velocity window time 606Eh
Velocity threshold 606Fh
Velocity threshold time 6070h
Target velocity 60FFh

18 - 128
18．EtherCAT COMMUNICATION

Group Name Index

Profile Torque Mode Objects Target torque 6071h
Max torque 6072h
Torque demand value 6074h
Torque actual value 6077h
Torque slope 6087h
Torque profile type 6088h
Positive torque limit value 60E0h
Negative torque limit value 60E1h
Profile Position Mode Objects Target position 607Ah
Position range limit 607Bh
Software position limit 607Dh
Max profile velocity 607Fh
Max motor speed 6080h
Profile velocity 6081h
Profile acceleration 6083h
Profile deceleration 6084h
Quick stop deceleration 6085h
Motion profile type 6086h
Homing Mode Objects Home offset 607Ch
Homing method 6098h
Homing speeds 6099h
Homing acceleration 609Ah
Supported homing method 60E3h
Factor Group Objects Polarity 607Eh
Position encoder resolution 608Fh
Gear ratio 6091h
Feed constant 6092h
SI unit position 60A8h
SI unit velocity 60A9h
Touch Probe Function Objects Touch probe function 60B8h
Touch probe status 60B9h
Touch probe pos1 pos value 60BAh
Touch probe pos1 neg value 60BBh
Touch probe pos2 pos value 60BCh
Touch probe pos2 neg value 60BDh
Optional application FE Objects Digital inputs 60FDh
Digital outputs 60FEh
Point table mode objects Target point table 2D60h
Point demand value 2D68h
Point actual value 2D69h
Point table _ _ _ 2801h to 28FFh
Point table error 2A43h
M code actual value 2D6Ah
Cyclic synchronous position mode Objects Torque offset 60B2h

18 - 129
18．EtherCAT COMMUNICATION

18.7.3 Object dictionary

This section describes the details of the object dictionary for each group.
The following is shown in the "Access" column.
"ro": Only reading is available.
"rw": Reading and writing are available.

"Impossible": The data is not saved to the EEP-ROM. The value of the data written from the upper side
returns to the value of "Default" when the power is shut off.
"Possible": The data can be saved to the EEP-ROM with Store Parameters (1010h). The data is saved in the
parameter corresponding to the object. For the corresponding parameters, refer to "Parameter".

18.7.3.1 General Objects

(1) Device Type (1000h)
Index Sub Name Data Type Access PDO Mapping
1000h 0 Device Type UNSIGNED32 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

1000h 0 00020192h 00020192h to 00020192h Impossible

The value "00020192h", which indicates a servo drive defined with the CiA 402 profile, is returned.

(2) Error Register (1001h)

Index Sub Name Data Type Access PDO Mapping
1001h 0 Error Register UNSIGNED8 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

1001h 0 00h to 01h Impossible

The error occurrence is returned.

bit Description
0 Turns on when an alarm has occurred.
1 Unused
2 Unused
3 Unused
4 Unused
5 Unused
6 Unused
7 Unused

18 - 130
18．EtherCAT COMMUNICATION

(3) Pre-defined error field (1003h)

Index Sub Name Data Type Access PDO Mapping
0 Pre-defined error field UNSIGNED8 rw
1 Standard error field 1
2 Standard error field 2
1003h Impossible
3 Standard error field 3 UNSIGNED32 ro
4 Standard error field 4
5 Standard error field 5

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 05h
1
2
1003h Impossible
3 00000000h or 0000FFFFh
4
5

The error history that occurred after the power-on is returned. Up to five errors can be stored. Standard
error field 1 is the latest error, and Standard error field 5 is the oldest error. This object differs in
description depending on the driver software version. The following table shows the details.
Error number Description
Manufacturer specific error
If an alarm has occurred, a value that
the corresponding alarm No. is added
0000FFXXh
to bit 0 to bit 7 is returned. For
example, when [AL 20.1] has
occurred, "0000FF20h" is returned.

(4) Manufacturer Device Name (1008h)

Index Sub Name Data Type Access PDO Mapping
1008h 0 Manufacturer Device Name VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

1008h 0 Impossible

This object differs in description depending on the driver software version. The following table shows the
details.
Description
The model name of the driver "MR-J4-TM" is returned. To
read a detailed model name with the rated output and power
supply, such as "MR-J4-10TM1", use Manufacturer Device
Name 2 (2D30h).

18 - 131
18．EtherCAT COMMUNICATION

(5) Manufacturer Hardware Version (1009h)

Index Sub Name Data Type Access PDO Mapping
1009h 0 Manufacturer Hardware Version VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

1009h 0 Impossible

The hardware version of the EtherCAT network card is returned. Refer to Manufacturer Hardware
Version 2 (2D31h) for the hardware version of the driver.

(6) Manufacturer Software Version (100Ah)

Index Sub Name Data Type Access PDO Mapping
100Ah 0 Manufacturer Software Version VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

100Ah 0 Impossible

The software version of the EtherCAT network card is returned. Refer to Manufacturer Software Version
2 (2D32h) for the software version of the driver.

18 - 132
18．EtherCAT COMMUNICATION

(7) Store parameters (1010h)

Index Sub Name Data Type Access PDO Mapping
0 Store parameters UNSIGNED8 ro
1 Save all parameters
2
(Not
sup-por Save communication parameters
1010h ted) Impossible
(Note) UNSIGNED32 rw
3
(Not
sup-por Save application parameters
ted)
(Note)

Index Sub Default Range Units EEP-ROM Parameter

0 3 03h
1
2
(Not
sup-por
1010h ted) Impossible
(Note) 00000001h Refer to the following table.
3
(Not
sup-por
ted)
(Note)

Note. This is not supported by the driver.

Writing "65766173h" (= reverse order of ASCII code of "save") to the corresponding sub object saves an
object value in EEP-ROM. The relationship between Sub Index and the saved object is shown below.
Sub Saved object
1 All objects

Whether saving a parameter has been completed can be checked by reading this object. The read
values are as follows.
bit Description
0 0: The parameter cannot be saved with the command. (A parameter is being saved.)
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.
2 to 31 Unused

18 - 133
18．EtherCAT COMMUNICATION

(8) Restore default parameters (1011h)

Index Sub Name Data Type Access PDO Mapping
0 Restore default parameters UNSIGNED8 ro
1011h Impossible
1 Restore all default parameters UNSIGNED32 rw

Index Sub Default Range Units EEP-ROM Parameter

0 1 01h
1011h Impossible
1 00000001h Refer to the text.

The following set values of the driver can be rewritten with the factory setting. When "64616F6Ch" (=
reverse order of ASCII code of "load") is written to Restore all default parameters (1011h: 01h) and the
power in cycled, the value is initialized. The home position is erased after the power is cycled. Perform
home position return again.
Basic setting parameters ([Pr. PA_ _ ])
Gain/filter setting parameters ([Pr. PB_ _ ])
Extension setting parameters ([Pr. PC_ _ ]) (except [Pr. PC11] and [Pr. PC12])
I/O setting parameters ([Pr. PD_ _ ])
Extension setting 2 parameters ([Pr. PE_ _ ])
Extension setting 3 parameters ([Pr. PF_ _ ])
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
Positioning control parameters ([Pr. PT_ _])
Network setting parameters ([Pr. PN_ _])
Point table

(9) Identity Object (1018h)

Index Sub Name Data Type Access PDO Mapping
0 Identity Object UNSIGNED8
1 Vendor ID
1018h 2 Product Code ro Impossible
UNSIGNED32
3 Revision Number
4 Serial Number

Index Sub Default Range Units EEP-ROM Parameter

0 4 04h
1 00000A1Eh 00000A1Eh
1018h 2 00000201h 00000201h Impossible
3
00000000h to FFFFFFFFh
4

The following values are returned for each Sub Index.

Sub Index Description
1 Vendor ID of the _ driver
2 Model code of the _ driver
3 Revision number of the _ driver
Serial number of the EtherCAT Network card
4
Refer to Serial Number 2 (2D33h) for the serial number of the _ driver.

18 - 134
18．EtherCAT COMMUNICATION

(10) Error Settings (10F1h)

Index Sub Name Data Type Access PDO Mapping
0 Error Settings UNSIGNED8 ro
10F1h 1 Reserved Impossible
UNSIGNED32 rw
2 Sync Error Counter Limit

Index Sub Default Range Units EEP-ROM Parameter

0 02h
Impossible
10F1h 1 00000000h
2 00000000h to 00007FFFh Refer to the text. Possible PN02

Set a threshold at which [AL. 86.1] is detected. When data reception missing occurs, error counter will
be incremented by 3 and alarm will be detected when the value of Sync Error Counter Limit (10F1h: 2)
is exceeded. Set Sync Error Counter Limit (10F1h: 2) with parameters or objects.

(a) Setting with parameters

[Pr. PN06] [Pr. PN02] Sync Error Counter Limit (Index: 10F1h: 2)
Automatic setting 0 The threshold at which [AL. 86.1] is detected is automatically
(0 _ _ _) set at 7 ms.
Other than 0 (Note 3) The threshold at which [AL. 86.1] is detected is automatically
set at ([Pr. PN 02] / 96) ms.
Manual setting 0 (Note 2) Disabled (0). The detection of [AL. 86.1] is not performed.
(1 _ _ _) Other than 0 (Note 3) The value of [Pr. PN02] is set. [AL. 86.1] is detected by (([Pr.
PN02] / 3) x communication cycle) ms.

2. If the setting value is set to "0", the servo motor cannot be stopped when a communication error
occurs.
3. If the setting value is increased, it takes longer for the servo motor to stop at the occurrence of a
communication error. Be careful when changing the setting value as it may cause a collision.

(b) Setting with objects

Sync Error Counter Limit (Index: 10F1h: 2)
[Pr. PN06]
Setting value Description
Automatic setting In drivers writing any value causes SDO Abort code (06090030h Value range of
(0 _ _ _) parameter exceeded).
In drivers , writing any value causes SDO Abort code (08000021h Data cannot be
transferred or stored to the application because of local control).
Manual setting 0 (Note 2) The detection of [AL. 86.1] is not performed.
(1 _ _ _) When (10F1h: 2) is updated, the value of (10F1h: 2) is set in [Pr. PN02].
Other than 0 (Note 3) [AL. 86.1] is detected by (((10F1h: 2) / 3) x communication cycle) ms.
When (10F1h: 2) is updated, the value of (10F1h: 2) is set in [Pr. PN02].

2. If the setting value is set to "0", the servo motor cannot be stopped when a communication error occurs.
3. If the setting value is increased, it takes longer for the servo motor to stop at the occurrence of a communication error.
Be careful when changing the setting value as it may cause a collision.

18 - 135
18．EtherCAT COMMUNICATION

18.7.3.2 PDO Mapping Objects

(1) Receive PDO Mapping (1600h)
Index Sub Name Data Type Access PDO Mapping
0 Receive PDO Mapping UNSIGNED8
1 Mapped Object 001

1600h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 8 00h to 20h (32)
1 60600008h

1600h Impossible
00000000h to FFFFFFFFh

32 00000000h

The object to be mapped for RxPDO can be set. Set the number of objects to be mapped for Receive
PDO Mapping (1600h: 0). Set the objects to be mapped for Mapped Object 001 (1600h: 1) to Mapped
Object 032 (1600h: 32). The following shows the description of Mapped Object 001 (1600h: 1) to Mapped
Object 032 (1600h: 32).
Bit Description
0 to 7 Length of the object to be mapped (Bit unit) (For the gap in PDO, the bit length of the
gap)
8 to 15 Sub Index of the object to be mapped (For the gap in PDO, 0)
16 to 31 The index of the object to be mapped (For the gap in PDO, 0)

(2) Receive PDO Mapping (1601h)

Index Sub Name Data Type Access PDO Mapping
0 Receive PDO Mapping UNSIGNED8
1 Mapped Object 001

1601h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1601h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (1) in this section. Refer to (1) in this section.

18 - 136
18．EtherCAT COMMUNICATION

(3) Receive PDO Mapping (1602h)

Index Sub Name Data Type Access PDO Mapping
0 Receive PDO Mapping UNSIGNED8
1 Mapped Object 001

1602h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1602h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (1) in this section. Refer to (1) in this section.

(4) Receive PDO Mapping (1603h)

Index Sub Name Data Type Access PDO Mapping
0 Receive PDO Mapping UNSIGNED8
1 Mapped Object 001

1603h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1603h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (1) in this section. Refer to (1) in this section.

18 - 137
18．EtherCAT COMMUNICATION

(5) Transmit PDO Mapping (1A00h)

Index Sub Name Data Type Access PDO Mapping
0 Transmit PDO Mapping UNSIGNED8
1 Mapped Object 001

1A00h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 9 00h to 20h (32)
1 60610008h

1A00h Impossible
00000000h to FFFFFFFFh

32 00000000h

The object to be mapped for TxPDO can be set. Set the number of objects to be mapped for Transmit
PDO Mapping (1A00h: 0). Set the objects to be mapped for Mapped Object 001 (1A00h: 1) to Mapped
Object 032 (1A00h: 32). The following shows the description of Mapped Object 001 (1A00h: 1) to
Mapped Object 032 (1A00h: 32).
Bit Description
0 to 7 Length of the object to be mapped (Bit unit) (For the gap in PDO, the bit length of the
gap)
8 to 15 Sub Index of the object to be mapped (For the gap in PDO, 0)
16 to 31 The index of the object to be mapped (For the gap in PDO, 0)

(6) Transmit PDO Mapping (1A01h)

Index Sub Name Data Type Access PDO Mapping
0 Transmit PDO Mapping UNSIGNED8
1 Mapped Object 001

1A01h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1A01h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (5) in this section. Refer to (5) in this section.

18 - 138
18．EtherCAT COMMUNICATION

(7) Transmit PDO Mapping (1A02h)

Index Sub Name Data Type Access PDO Mapping
0 Transmit PDO Mapping UNSIGNED8
1 Mapped Object 001

1A02h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1A02h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (5) in this section. Refer to (5) in this section.

(8) Transmit PDO Mapping (1A03h)

Index Sub Name Data Type Access PDO Mapping
0 Transmit PDO Mapping UNSIGNED8
1 Mapped Object 001

1A03h rw Impossible
UNSIGNED32

32 Mapped Object 032

Index Sub Default Range Units EEP-ROM Parameter

0 0 00h to 20h (32)
1 00000000h

1A03h Impossible
00000000h to FFFFFFFFh

32 00000000h

The details are the same as those of (5) in this section. Refer to (5) in this section.

18 - 139
18．EtherCAT COMMUNICATION

18.7.3.3 Sync Manager Communication Objects

(1) Sync Manager Communication Type (1C00h)
Index Sub Name Data Type Access PDO Mapping
0 Sync Manager Communication Type
1 Sync Manager 0
1C00h 2 Sync Manager 1 UNSIGNED8 ro Impossible
3 Sync Manager 2
4 Sync Manager 3

Index Sub Default Range Units EEP-ROM Parameter

0 4 04h
1 1 01h
1C00h 2 2 02h Impossible
3 3 03h
4 4 04h

The information of each Sync Manager is returned. The following shows the description of Sync Manager
0 (1C00h: 1) to Sync Manager 3 (1C00h: 4).
Value Description
00h Unused
01h Received in the mail box (master → slave)
02h Received in the mail box (slave → master)
03h Process data output (master → slave)
04h Process data input (slave → master)

(2) Sync Manager RxPDO assign (1C12h)

Index Sub Name Data Type Access PDO Mapping
0 Sync Manager RxPDO assign UNSIGNED8
1 Assigned PDO 001
1C12h 2 Assigned PDO 002 rw Impossible
UNSIGNED16
3 Assigned PDO 003
4 Assigned PDO 004

Index Sub Default Range Units EEP-ROM Parameter

0 1 00h to 04h
1 1600h
1C12h 2 Impossible
1600h to 1603h
3
4

Set the mapping table to be assigned to Sync Manager 2 (RxPDO). Select an object from Receive PDO
Mapping (1600h) to Receive PDO Mapping (1603h).

18 - 140
18．EtherCAT COMMUNICATION

(3) Sync Manager TxPDO assign (1C13h)

Index Sub Name Data Type Access PDO Mapping
0 Sync Manager TxPDO assign UNSIGNED8
1 Assigned PDO 001
1C13h 2 Assigned PDO 002 rw Impossible
UNSIGNED16
3 Assigned PDO 003
4 Assigned PDO 004

Index Sub Default Range Units EEP-ROM Parameter

0 1 00h to 04h
1 1A00h
1C13h 2 Impossible
1A00h to 1A03h
3
4

Set the mapping table to be assigned to Sync Manager 3 (TxPDO). Select an object from Transmit PDO
Mapping (1A00h) to Transmit PDO Mapping (1A03h).

(4) SM output parameter (1C32h)

Index Sub Name Data Type Access PDO Mapping
0 SM output parameter UNSIGNED8 ro
1 Synchronization Type UNSIGNED16
rw
2 Cycle Time
UNSIGNED32
3 Shift Time rw (Note)
1C32h 4 Synchronization Types supported UNSIGNED16 Impossible
5 Minimum Cycle Time
6 Calc and Copy Time UNSIGNED32 ro
9 Delay Time
12 Cycle Time Too Small UNSIGNED16

Index Sub Default Range Units EEP-ROM Parameter

0 12 0Ch (12)
1 0 0000h or 0002h
0003D090h (250000)
0007A120h (500000)
2 250000
000F4240h (1000000) ns
001E8480h (2000000)
1C32h 3 222222 222222 Impossible
4 0025h 0025h (35)
5 250000 0003D090h (250000)
6 222722 00000000h to FFFFFFFFh
ns
9 0 00000000h
12 0 0000h

Note. No value can be written because Shift time (1C32: 3) is set automatically. Writing any value causes SDO Abort Code (0609
0030h Value range of parameter exceeded).

18 - 141
18．EtherCAT COMMUNICATION

Set Sync Manager 2 (RxPDO). The description of each Sub Index is as follows.
Sub Name Description
0 SM output parameter The number of entries is returned.
Set the synchronous mode.
0000h: Free Run
0001h: Synchronous (Not supported) (Note 2)
0002h: DC Sync0
1 Synchronization Type
0003h: DC Sync1 (Not supported) (Note 2)
The value can be changed in the Pre Operational state.
If the value of 1C33h: 1 is changed, the same value as that of 1C33h: 1 is automatically
set to this sub index.
Set the RxPDO communication cycle.
250000: 0.25 ms
500000: 0.5 ms
1000000: 1 ms
2000000: 2 ms
2 Cycle Time
The PDO communication cycle can be changed by changing the value in the Pre
Operational state.
Communication cycles other than the above cannot be set.
If the value of 1C33h: 2 is changed, the same value as that of 1C33h: 2 is automatically
set to this sub index.
The delay time from SYNC0 to output is returned.
3 Shift Time
Unit: [ns]
The supported synchronous type is returned.
Bit 0: Free Run supported
Bit 1: Synchronous supported (Not supported) (Note 2)
Bit 4 to Bit 2: DC Type supported
000 = No DC (Not supported) (Note 2)
001 = DC Sync0
010 = DC Sync1 (Not supported) (Note 2)
100 = Subordinated Application with fixed Sync0 (Not supported) (Note 2)
Synchronization Types Bit 6 to Bit 5: Shift settings
4
supported 00 = No Output Shift supported (Not supported) (Note 2)
01 = Output Shift with local time
10 = Output Shift with Sync1 (Not supported) (Note 2)
Bit 9 to Bit 7: Reserved
Bit 10: Delay Time should be measured (Not supported) (Note 2)
Bit 11: Delay Time is fix. (Not supported) (Note 2)
Bit 13 to Bit 11: Reserved
Bit 14: Dynamic Cycle Times (Not supported) (Note 2)
Bit 15: Reserved
The minimum communication cycle is returned.
5 Minimum Cycle Time
Unit: [ns]
The minimum value of the delay time from data reception to output is returned. The value
6 Calc and Copy Time varies according to the communication cycle setting.
Unit: [ns]
9 Delay Time Not supported (Note 2)
12 Cycle Time Too Small Not supported (Note 2)

2. This is not supported by the driver.

18 - 142
18．EtherCAT COMMUNICATION

(5) SM input parameter (1C33h)

Index Sub Name Data Type Access PDO Mapping
0 SM input parameter UNSIGNED8 ro
1 Synchronization Type UNSIGNED16
rw
2 Cycle Time
UNSIGNED32
3 Shift Time rw (Note)
1C33h 4 Synchronization Types supported UNSIGNED16 Impossible
5 Minimum Cycle Time
6 Calc and Copy Time UNSIGNED32 ro
9 Delay Time
12 Cycle Time Too Small UNSIGNED16

Index Sub Default Range Units EEP-ROM Parameter

0 12 0Ch (12)
1 0 0000h or 0002h
0003D090h (250000)
0007A120h (500000)
2 250000
000F4240h (1000000) ns
001E8480h (2000000)
1C33h 3 27778 00000000h to FFFFFFFFh Impossible
4 0025h 0025h (35)
5 250000 0003D090h (250000)
6 306055 00000000h to FFFFFFFFh
ns
9 0 00000000h
12 0 0000h

Note. No value can be written because Shift time (1C33: 3) is set automatically. Writing any value causes SDO Abort Code (0609
0030h Value range of parameter exceeded).

18 - 143
18．EtherCAT COMMUNICATION

Set Sync Manager 3 (TxPDO). The description of each Sub Index is as follows.
Sub Name Description
0 SM output parameter The number of entries is returned.
Set the synchronous mode.
0000h: Free Run
0001h: Synchronous (Not supported) (Note 2)
0002h: DC Sync0
1 Synchronization Type
0003h: DC Sync1 (Not supported) (Note 2)
The value can be changed in the Pre Operational state.
If the value of 1C32h: 1 is changed, the same value as that of 1C32h: 1 is automatically
set to this sub index.
Set the TxPDO communication cycle.
250000: 0.25 ms
500000: 0.5 ms
1000000: 1 ms
2000000: 2 ms
2 Cycle Time
The PDO communication cycle can be changed by changing the value in the Pre
Operational state.
Communication cycles other than the above cannot be set.
If the value of 1C32h: 2 is changed, the same value as that of 1C32h: 2 is automatically
set to this sub index.
The delay time from SYNC0 to input is returned.
3 Shift Time
Unit: [ns]
The supported synchronous type is returned.
Bit 0: Free Run supported
Bit 1: Synchronous supported (Not supported) (Note 2)
Bit 4 to Bit 2: DC Type supported
000 = No DC (Not supported) (Note 2)
001 = DC Sync0
010 = DC Sync1 (Not supported) (Note 2)
100 = Subordinated Application with fixed Sync0 (Not supported) (Note 2)
Synchronization Types Bit 6 to Bit 5: Shift settings
4
supported 00 = No Output Shift supported (Not supported) (Note 2)
01 = Output Shift with local time
10 = Output Shift with Sync1 (Not supported) (Note 2)
Bit 9 to Bit 7: Reserved
Bit 10: Delay Time should be measured (Not supported) (Note 2)
Bit 11: Delay Time is fix. (Not supported) (Note 2)
Bit 13 to Bit 11: Reserved
Bit 14: Dynamic Cycle Times (Not supported) (Note 2)
Bit 15: Reserved
The minimum communication cycle is returned.
5 Minimum Cycle Time
Unit: [ns]
The minimum value of the delay time from input to sending is returned. The value varies
6 Calc and Copy Time according to the communication cycle setting.
Unit: [ns]
9 Delay Time Not supported (Note 2)
12 Cycle Time Too Small Not supported (Note 2)

2. This is not supported by the driver.

18 - 144
18．EtherCAT COMMUNICATION

18.7.3.4 Parameter Objects

(1) Parameter Objects PA (2001h to 2020h)
Index Sub Name Data Type Access PDO Mapping
2001h PA01

0 INTEGER32 rw Impossible

2020h PA32

Index Sub Default Range Units EEP-ROM Parameter

2001h PA01

0 Refer to "_ Driver Instruction Manual". Possible

2020h PA32

The value of the basic setting parameters ([Pr. PA_ _ ]) can be obtained and set.

(2) Parameter Objects PB (2081h to 20C0h)

Index Sub Name Data Type Access PDO Mapping
2081h PB01

0 INTEGER32 rw Impossible

20C0h PB64

Index Sub Default Range Units EEP-ROM Parameter

2081h PB01

0 Refer to "_ Driver Instruction Manual". Possible

20C0h PB64

The value of the gain/filter setting parameters ([Pr. PB_ _ ]) can be obtained and set.

(3) Parameter Objects PC (2101h to 2150h)

Index Sub Name Data Type Access PDO Mapping
2101h PC01

0 INTEGER32 rw Impossible

2150h PC80

Index Sub Default Range Units EEP-ROM Parameter

2101h PC01

0 Refer to "_ Driver Instruction Manual". Possible

2150h PC80

The value of the extension setting parameters ([Pr. PC_ _ ]) can be obtained and set.

18 - 145
18．EtherCAT COMMUNICATION

(4) Parameter Objects PD (2181h to 21B0h)

Index Sub Name Data Type Access PDO Mapping
2181h PD01

0 INTEGER32 rw Impossible

21B0h PD48

Index Sub Default Range Units EEP-ROM Parameter

2181h PD01

0 Refer to "_ Driver Instruction Manual". Possible

21B0h PD48

The value of the I/O setting parameters ([Pr. PD_ _ ]) can be obtained and set.

(5) Parameter Objects PE (2201h to 2240h)

Index Sub Name Data Type Access PDO Mapping
2201h PE01

0 INTEGER32 rw Impossible

2240h PE64

Index Sub Default Range Units EEP-ROM Parameter

2201h PE01

0 Refer to "_ Driver Instruction Manual". Possible

2240h PE64

The value of the extension setting 2 parameters ([Pr. PE_ _ ]) can be obtained and set.

(6) Parameter Objects PF (2281h to 22C0h)

Index Sub Name Data Type Access PDO Mapping
2281h PF01

0 INTEGER32 rw Impossible

22C0h PF64

Index Sub Default Range Units EEP-ROM Parameter

2281h PF01

0 Refer to "_ Driver Instruction Manual". Possible

22C0h PF64

The value of the extension setting 3 parameters ([Pr. PF_ _ ]) can be obtained and set.

18 - 146
18．EtherCAT COMMUNICATION

(7) Parameter Objects PL (2401h to 2430h)

Index Sub Name Data Type Access PDO Mapping
2401h PL01

0 INTEGER32 rw Impossible

2430h PL48

Index Sub Default Range Units EEP-ROM Parameter

2401h PL01

0 Refer to "_ Driver Instruction Manual". Possible

2430h PL48

The value of the linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) can be obtained and set.

(8) Parameter Objects PT (2481h to 24D0h)

Index Sub Name Data Type Access PDO Mapping
2481h PT01

0 INTEGER32 rw Impossible

24D0h PT80

Index Sub Default Range Units EEP-ROM Parameter

2481h PT01

0 Refer to "_ Driver Instruction Manual". Possible

24D0h PT80

The value of the positioning control parameters ([Pr. PT_ _ ]) can be obtained and set.

(9) Parameter Objects PN (2581h to 25A0h)

Index Sub Name Data Type Access PDO Mapping
2581h PN01

0 INTEGER32 rw Impossible

25A0h PN32

Index Sub Default Range Units EEP-ROM Parameter

2581h PN01

0 Refer to "_ Driver Instruction Manual". Possible

25A0h PN32

The value of the network setting parameters ([Pr. PN_ _ ]) can be obtained and set.

18 - 147
18．EtherCAT COMMUNICATION

18.7.3.5 Alarm Objects

(1) Alarm history newest (2A00h)
Index Sub Name Data Type Access PDO Mapping
0 Alarm history newest UNSIGNED8
2A00h 1 Alarm No. ro Impossible
UNSIGNED32
2 Alarm time (Hour)

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2A00h 1 0 00000000h to FFFFFFFFh Possible
2 0 00000000h to FFFFFFFFh hour

The latest alarm information of the alarm history is returned. The description of each Sub Index is as
follows.
Sub Name Description
0 Alarm history newest The number of entries is returned.
The number of the alarm that has occurred is returned. The description is as follows.
When no history exists, 0 is returned.
1 Alarm No. Bit 0 to Bit 15: Alarm detail No.
Bit 16 to Bit 31: Alarm No.
If [AL. 16.3] occurs, 00160003h is returned.
Alarm occurrence time is returned. When no history exists, 0 is returned.
2 Alarm time (Hour)
Unit: [hour]

(2) Alarm history 1 (2A01h) to Alarm history 15 (2A0Fh)

Index Sub Name Data Type Access PDO Mapping
2A01h 0 Alarm history 1 to Alarm history 15 UNSIGNED8
to 1 Alarm No. ro Impossible
2A0Fh UNSIGNED32
2 Alarm time (Hour)

Index Sub Default Range Units EEP-ROM Parameter

2A01h 0 2 02h to 02h
to 1 0 00000000h to FFFFFFFFh Possible
2A0Fh 2 0 00000000h to FFFFFFFFh hour

The second (2A01h) to 16th (2A0Fh) latest alarm information of the alarm history is returned. The
description of each Sub Index is the same as that of (1) in this section.

(3) Clear alarm history (2A40h)

Index Sub Name Data Type Access PDO Mapping
2A40h 0 Clear alarm history UNSIGNED16 wo Impossible

Index Sub Default Range Units EEP-ROM Parameter

2A40h 0 Refer to the text. Impossible

Writing "1EA5h" clears the alarm history.

18 - 148
18．EtherCAT COMMUNICATION

(4) Current alarm (2A41h)

Index Sub Name Data Type Access PDO Mapping
2A41h 0 Current alarm UNSIGNED32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2A41h 0 00000000h to FFFFFFFFh Impossible

The number of the current alarm is returned. When no alarm has occurred, "00000000h" is returned. The
description of the values is as follows. If [AL. 16.3] occurs, "00160003h" is returned.
Bit Description
0 to 15 Alarm detail No.
16 to 31 Alarm No.

(5) Parameter error number (2A44h)

Index Sub Name Data Type Access PDO Mapping
2A44h 0 Parameter error number UNSIGNED16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2A44h 0 0000h to 01F4h (500) Impossible

When [AL. 37 Parameter error] has occurred, the number of the parameters which cause the error is
returned. Refer to Parameter error list (2A45h) for the number of each parameter which causes the error.

18 - 149
18．EtherCAT COMMUNICATION

(6) Parameter error list (2A45h)

Index Sub Name Data Type Access PDO Mapping
0 Parameter error list UNSIGNED8
1 No. 1

2A45h ro Impossible
UNSIGNED16

16 No. 16

Index Sub Default Range Units EEP-ROM Parameter

0 10h to 10h (16)
1

2A45h Impossible
0000h to FFFFh

16

A list of parameter No. in which [AL. 37 Parameter error] has occurred is returned. The description of
2A45h: 1 to 2A45h: 16 is as follows. If [Pr. PC01] is an error factor, "0201h" is returned. If more than 17
parameter errors have occurred, the 17th and later parameter errors are returned after the parameters
are corrected and the power is cycled.
Bit Description
0 to 7 Parameter number
Parameter group number
00: [Pr. PA _ _ ]
01: [Pr. PB _ _ ]
02: [Pr. PC _ _ ]
03: [Pr. PD _ _ ]
04: [Pr. PE _ _ ]
05: [Pr. PF _ _ ]
8 to 15 06: Parameter for manufacturer setting
07: Parameter for manufacturer setting
08: Parameter for manufacturer setting
09: Parameter for manufacturer setting
0A: Parameter for manufacturer setting
0B: [Pr. PL _ _ ]
0C: [Pr. PT _ _ ]
0E: [Pr. PN _ _ ]

18 - 150
18．EtherCAT COMMUNICATION

18.7.3.6 Monitor Objects

(1) Cumulative feedback pulses (2B01h)
Index Sub Name Data Type Access PDO Mapping
2B01h 0 Cumulative feedback pulses INTEGER32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2B01h 0 80000000h to FFFFFFFFh pulse Impossible

The cumulative feedback pulses are returned. Writing "00001EA5h" clears the cumulative feedback
pulses.

(2) Servo motor speed (2B02h)

Index Sub Name Data Type Access PDO Mapping
2B02h 0 Servo motor speed INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B02h 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

The servo motor speed is returned.

Unit: [r/min] ([mm/s] when a linear servo motor is used)

(3) Droop pulses (2B03h)

Index Sub Name Data Type Access PDO Mapping
2B03h 0 Droop pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B03h 0 80000000h to 7FFFFFFFh pulse Impossible

The droop pulses (encoder unit) are returned.

(4) Cumulative command pulses (2B04h)

Index Sub Name Data Type Access PDO Mapping
2B04h 0 Cumulative command pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B04h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative command pulses are returned.

(5) Command pulse frequency (2B05h)

Index Sub Name Data Type Access PDO Mapping
2B05h 0 Command pulse frequency INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B05h 0 80000000h to 7FFFFFFFh kpulse/s Impossible

The command pulse frequency is returned.

18 - 151
18．EtherCAT COMMUNICATION

(6) Regenerative load ratio (2B08h)

Index Sub Name Data Type Access PDO Mapping
2B08h 0 Regenerative load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B08h 0 0000h to FFFFh % Impossible

The regenerative load ratio is returned.

(7) Effective load ratio (2B09h)

Index Sub Name Data Type Access PDO Mapping
2B09h 0 Effective load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B09h 0 0000h to FFFFh % Impossible

The effective load ratio is returned.

(8) Peak load ratio (2B0Ah)

Index Sub Name Data Type Access PDO Mapping
2B0Ah 0 Peak load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Ah 0 0000h to FFFFh % Impossible

The peak load ratio is returned.

(9) Instantaneous torque (2B0Bh)

Index Sub Name Data Type Access PDO Mapping
2B0Bh 0 Instantaneous torque INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Bh 0 8000h to 7FFFh % Impossible

The instantaneous torque is returned.

(10) Within one-revolution position (2B0Ch)

Index Sub Name Data Type Access PDO Mapping
2B0Ch 0 Within one-revolution position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Ch 0 80000000h to 7FFFFFFFh pulse Impossible

The position within one-revolution is returned.

18 - 152
18．EtherCAT COMMUNICATION

(11) ABS counter (2B0Dh)

Index Sub Name Data Type Access PDO Mapping
2B0Dh 0 ABS counter INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Dh 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter is returned.

(12) Load to motor inertia ratio (2B0Eh)

Index Sub Name Data Type Access PDO Mapping
2B0Eh 0 Load to motor inertia ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Eh 0 0000h to FFFFh 0.01 times Impossible

The load to motor inertia ratio is returned.

(13) Bus voltage (2B0Fh)

Index Sub Name Data Type Access PDO Mapping
2B0Fh 0 Bus voltage UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B0Fh 0 0000h to FFFFh V Impossible

The bus voltage is returned.

(14) Load-side cumulative feedback pulses (2B10h)

Index Sub Name Data Type Access PDO Mapping
2B10h 0 Load-side cumulative feedback pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B10h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side cumulative feedback pulses (load-side encoder unit) are returned.

(15) Load-side droop pulses (2B11h)

Index Sub Name Data Type Access PDO Mapping
2B11h 0 Load-side droop pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B11h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side droop pulses are returned.

18 - 153
18．EtherCAT COMMUNICATION

(16) Load-side encoder information 1 Z-phase counter (2B12h)

Index Sub Name Data Type Access PDO Mapping
2B12h 0 Load-side encoder information 1 Z-phase counter INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B12h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side encoder information 1 is returned.

(17) Load-side encoder information 2 (2B13h)

Index Sub Name Data Type Access PDO Mapping
2B13h 0 Load-side encoder information 2 INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B13h 0 80000000h to 7FFFFFFFh rev Impossible

The load-side encoder information 2 is returned.

(18) Temperature of motor thermistor (2B17h)

Index Sub Name Data Type Access PDO Mapping
2B17h 0 Temperature of motor thermistor INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B17h 0 8000h to 7FFFh °C Impossible

The temperature of servo motor thermistor is returned.

(19) Motor-side cumu. feedback pulses (before gear) (2B18h)

Index Sub Name Data Type Access PDO Mapping
2B18h 0 Motor-side cumu. feedback pulses (before gear) INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B18h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses are returned.

(20) Electrical angle (2B19h)

Index Sub Name Data Type Access PDO Mapping
2B19h 0 Electrical angle INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B19h 0 80000000h to 7FFFFFFFh pulse Impossible

The electrical angle is returned.

18 - 154
18．EtherCAT COMMUNICATION

(21) Motor-side/load-side position deviation (2B23h)

Index Sub Name Data Type Access PDO Mapping
2B23h 0 Motor-side/load-side position deviation INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B23h 0 80000000h to 7FFFFFFFh pulse Impossible

The servo motor-side/load-side position deviation is returned.

(22) Motor-side/load-side speed deviation (2B24h)

Index Sub Name Data Type Access PDO Mapping
2B24h 0 Motor-side/load-side speed deviation INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B24h 0 80000000h to 7FFFFFFFh r/min Impossible

The servo motor-side/load-side speed deviation is returned.

(23) Internal temperature of encoder (2B25h)

Index Sub Name Data Type Access PDO Mapping
2B25h 0 Internal temperature of encoder INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B25h 0 8000h to 7FFFh °C Impossible

The internal temperature of encoder is returned.

(24) Settling time (2B26h)

Index Sub Name Data Type Access PDO Mapping
2B26h 0 Settling time INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B26h 0 8000h to 7FFFh ms Impossible

The settling time is returned.

(25) Oscillation detection frequency (2B27h)

Index Sub Name Data Type Access PDO Mapping
2B27h 0 Oscillation detection frequency INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B27h 0 8000h to 7FFFh Hz Impossible

The oscillation detection frequency is returned.

18 - 155
18．EtherCAT COMMUNICATION

(26) Number of tough drive operations (2B28h)

Index Sub Name Data Type Access PDO Mapping
2B28h 0 Number of tough drive operations UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B28h 0 0000h to FFFFh number of times Impossible

The number of tough drive operations is returned.

(27) Unit power consumption (2B2Dh)

Index Sub Name Data Type Access PDO Mapping
2B2Dh 0 Unit power consumption INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B2Dh 0 8000h to 7FFFh W Impossible

The unit power consumption is returned.

(28) Unit total power consumption (2B2Eh)

Index Sub Name Data Type Access PDO Mapping
2B2Eh 0 Unit total power consumption INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B2Eh 0 80000000h to 7FFFFFFFh Wh Impossible

The unit total power consumption is returned.

(29) Current position (2B2Fh)

Index Sub Name Data Type Access PDO Mapping
2B2Fh 0 Current position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B2Fh 0 80000000h to 7FFFFFFFh pos units Impossible

The current position is returned. In the indexer method, the value is fixed to 0.
This object is available with drivers

(30) Command position (2B30h)

Index Sub Name Data Type Access PDO Mapping
2B30h 0 Command position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B30h 0 80000000h to 7FFFFFFFh pos units Impossible

The command position is returned. In the indexer method, the value is fixed to 0.
This object is available with drivers

18 - 156
18．EtherCAT COMMUNICATION

(31) Remaining command distance (2B31h)

Index Sub Name Data Type Access PDO Mapping
2B31h 0 Remaining command distance INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B31h 0 80000000h to 7FFFFFFFh pos units Impossible

The command remaining distance is returned.

This object is available with drivers

(32) Point table No./Program No./Station position No. (2B32h)

Index Sub Name Data Type Access PDO Mapping
2B32h 0 Point table No./Program No./Station position No. INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B32h 0 0000h to 00FFh Impossible

Point table No. or station position No. is returned.

This object is available with drivers

(33) Alarm Monitor 1 Cumulative feedback pulses (2B81h)

Index Sub Name Data Type Access PDO Mapping
2B81h 0 Alarm Monitor 1 Cumulative feedback pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B81h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses at alarm occurrence are returned.

(34) Alarm Monitor 2 Servo motor speed (2B82h)

Index Sub Name Data Type Access PDO Mapping
2B82h 0 Alarm Monitor 2 Servo motor speed INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B82h 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

The servo motor speed at alarm occurrence is returned.

Unit: [r/min] ([mm/s] when a linear servo motor is used)

(35) Alarm Monitor 3 Droop pulses (2B83h)

Index Sub Name Data Type Access PDO Mapping
2B83h 0 Alarm Monitor 3 Droop pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B83h 0 80000000h to 7FFFFFFFh pulse Impossible

The droop pulses at alarm occurrence are returned.

18 - 157
18．EtherCAT COMMUNICATION

(36) Alarm Monitor 4 Cumulative command pulses (2B84h)

Index Sub Name Data Type Access PDO Mapping
2B84h 0 Alarm Monitor 4 Cumulative command pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B84h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative command pulses (encoder unit) at alarm occurrence are returned.

(37) Alarm Monitor 5 Command pulse frequency (2B85h)

Index Sub Name Data Type Access PDO Mapping
2B85h 0 Alarm Monitor 5 Command pulse frequency INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B85h 0 80000000h to 7FFFFFFFh kpulse/s Impossible

The command pulse frequency at alarm occurrence is returned.

(38) Alarm Monitor 8 Regenerative load ratio (2B88h)

Index Sub Name Data Type Access PDO Mapping
2B88h 0 Alarm Monitor 8 Regenerative load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B88h 0 0000h to FFFFh % Impossible

The regenerative load ratio at alarm occurrence is returned.

(39) Alarm Monitor 9 Effective load ratio (2B89h)

Index Sub Name Data Type Access PDO Mapping
2B89h 0 Alarm Monitor 9 Effective load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B89h 0 0000h to FFFFh % Impossible

The effective load ratio at alarm occurrence is returned.

(40) Alarm Monitor 10 Peak load ratio (2B8Ah)

Index Sub Name Data Type Access PDO Mapping
2B8Ah 0 Alarm Monitor 10 Peak load ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Ah 0 0000h to FFFFh % Impossible

The peak load ratio at alarm occurrence is returned.

18 - 158
18．EtherCAT COMMUNICATION

(41) Alarm Monitor 11 Instantaneous torque (2B8Bh)

Index Sub Name Data Type Access PDO Mapping
2B8Bh 0 Alarm Monitor 11 Instantaneous torque INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Bh 0 8000h to 7FFFh % Impossible

The instantaneous torque at alarm occurrence is returned.

(42) Alarm Monitor 12 Within one-revolution position (2B8Ch)

Index Sub Name Data Type Access PDO Mapping
2B8Ch 0 Alarm Monitor 12 Within one-revolution position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Ch 0 80000000h to 7FFFFFFFh pulse Impossible

The position within one-revolution at alarm occurrence is returned.

(43) Alarm Monitor 13 ABS counter (2B8Dh)

Index Sub Name Data Type Access PDO Mapping
2B8Dh 0 Alarm Monitor 13 ABS counter INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Dh 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter at alarm occurrence is returned.

(44) Alarm Monitor 14 Load to motor inertia ratio (2B8Eh)

Index Sub Name Data Type Access PDO Mapping
2B8Eh 0 Alarm Monitor 14 Load to motor inertia ratio UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Eh 0 0000h to FFFFh 0.1 times Impossible

The load to motor inertia ratio at alarm occurrence is returned.

(45) Alarm Monitor 15 Bus voltage (2B8Fh)

Index Sub Name Data Type Access PDO Mapping
2B8Fh 0 Alarm Monitor 15 Bus voltage INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B8Fh 0 80000000h to 7FFFFFFFh V Impossible

The bus voltage at alarm occurrence is returned.

18 - 159
18．EtherCAT COMMUNICATION

(46) Alarm Monitor 16 Load-side cumulative feedback pulses (2B90h)

Index Sub Name Data Type Access PDO Mapping
2B90h 0 Alarm Monitor 16 Load-side cumulative feedback pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B90h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side cumulative feedback pulses at alarm occurrence are returned.

(47) Alarm Monitor 17 Load-side droop pulses (2B91h)

Index Sub Name Data Type Access PDO Mapping
2B91h 0 Alarm Monitor 17 Load-side droop pulses INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B91h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side droop pulses (load-side encoder unit) at alarm occurrence are returned.

(48) Alarm Monitor 18 Load-side encoder information 1 Z-phase counter (2B92h)

Index Sub Name Data Type Access PDO Mapping
Alarm Monitor 18 Load-side encoder information 1
2B92h 0 INTEGER32 ro Possible
Z-phase counter

Index Sub Default Range Units EEP-ROM Parameter

2B92h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side encoder information 1 at alarm occurrence is returned.

(49) Alarm Monitor 19 Load-side encoder information 2 (2B93h)

Index Sub Name Data Type Access PDO Mapping
2B93h 0 Alarm Monitor 19 Load-side encoder information 2 INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B93h 0 80000000h to 7FFFFFFFh rev Impossible

The load-side encoder information 2 at alarm occurrence is returned.

(50) Alarm Monitor 23 Temperature of motor thermistor (2B97h)

Index Sub Name Data Type Access PDO Mapping
2B97h 0 Alarm Monitor 23 Temperature of motor thermistor INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B97h 0 80000000h to 7FFFFFFFh °C Impossible

The temperature of servo motor thermistor at alarm occurrence is returned.

18 - 160
18．EtherCAT COMMUNICATION

(51) Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) (2B98h)
Index Sub Name Data Type Access PDO Mapping
Alarm Monitor 24 Motor-side cumu. feedback pulses
2B98h 0 INTEGER32 ro Possible
(before gear)

Index Sub Default Range Units EEP-ROM Parameter

2B98h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses (servo motor-side unit) at alarm occurrence are returned.

(52) Alarm Monitor 25 Electrical angle (2B99h)

Index Sub Name Data Type Access PDO Mapping
2B99h 0 Alarm Monitor 25 Electrical angle INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2B99h 0 80000000h to 7FFFFFFFh pulse Impossible

The electrical angle at alarm occurrence is returned.

(53) Alarm Monitor 35 Motor-side/load-side position deviation (2BA3h)

Index Sub Name Data Type Access PDO Mapping
2BA3h 0 Alarm Monitor 35 Motor-side/load-side position deviation INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA3h 0 80000000h to 7FFFFFFFh pulse Impossible

The motor-side/load-side position deviation at alarm occurrence is returned.

(54) Alarm Monitor 36 Motor-side/load-side speed deviation (2BA4h)

Index Sub Name Data Type Access PDO Mapping
2BA4h 0 Alarm Monitor 36 Motor-side/load-side speed deviation INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA4h 0 80000000h to 7FFFFFFFh r/min Impossible

The motor-side/load-side speed deviation at alarm occurrence is returned.

(55) Alarm Monitor 37 Internal temperature of encoder (2BA5h)

Index Sub Name Data Type Access PDO Mapping
2BA5h 0 Alarm Monitor 37 Internal temperature of encoder INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA5h 0 80000000h to 7FFFFFFFh °C Impossible

The internal temperature of encoder at alarm occurrence is returned.

18 - 161
18．EtherCAT COMMUNICATION

(56) Alarm Monitor 38 Settling time (2BA6h)

Index Sub Name Data Type Access PDO Mapping
2BA6h 0 Alarm Monitor 38 Settling time INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA6h 0 80000000h to 7FFFFFFFh ms Impossible

The settling time at alarm occurrence is returned.

(57) Alarm Monitor 39 Oscillation detection frequency (2BA7h)

Index Sub Name Data Type Access PDO Mapping
2BA7h 0 Alarm Monitor 39 Oscillation detection frequency INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA7h 0 80000000h to 7FFFFFFFh Hz Impossible

The oscillation detection frequency at alarm occurrence is returned.

(58) Alarm Monitor 40 Number of tough drive operations (2BA8h)

Index Sub Name Data Type Access PDO Mapping
2BA8h 0 Alarm Monitor 40 Number of tough drive operations INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BA8h 0 80000000h to 7FFFFFFFh number of times Impossible

The number of tough drive operations at alarm occurrence is returned.

(59) Alarm Monitor 45 Unit power consumption (2BADh)

Index Sub Name Data Type Access PDO Mapping
2BADh 0 Alarm Monitor 45 Unit power consumption INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BADh 0 80000000h to 7FFFFFFFh W Impossible

The unit power consumption at alarm occurrence is returned.

(60) Alarm Monitor 46 Unit total power consumption (2BAEh)

Index Sub Name Data Type Access PDO Mapping
2BAEh 0 Alarm Monitor 46 Unit total power consumption INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BAEh 0 80000000h to 7FFFFFFFh Wh Impossible

The unit total power consumption at alarm occurrence is returned.

18 - 162
18．EtherCAT COMMUNICATION

(61) Alarm Monitor 47 Current position (2BAFh)

Index Sub Name Data Type Access PDO Mapping
2BAFh 0 Alarm Monitor 47 Current position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BAFh 0 80000000h to 7FFFFFFFh pos units Impossible

The current position at alarm occurrence is returned. In the indexer method, the value is fixed to 0.
This object is available with drivers

(62) Alarm Monitor 48 Command position (2BB0h)

Index Sub Name Data Type Access PDO Mapping
2BB0h 0 Alarm Monitor 48 Command position INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BB0h 0 80000000h to 7FFFFFFFh pos units Impossible

The command position at alarm occurrence is returned. In the indexer method, the value is fixed to 0.
This object is available with drivers

(63) Alarm Monitor 49 Command remaining distance (2BB1h)

Index Sub Name Data Type Access PDO Mapping
2BB1h 0 Alarm Monitor 49 Command remaining distance INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2BB1h 0 80000000h to 7FFFFFFFh pos units Impossible

The command remaining distance at alarm occurrence is returned.

This object is available with drivers

(64) Alarm Monitor 50 Point table No./Program No./Station position No. (2BB2h)
Index Sub Name Data Type Access PDO Mapping
Alarm Monitor 50 Point table No./Program No./
2BB2h 0 INTEGER16 ro Possible
Station position No.

Index Sub Default Range Units EEP-ROM Parameter

2BB2h 0 0000h to 00FFh Impossible

Point table No. or station position No. at alarm occurrence is returned.

This object is available with drivers

18 - 163
18．EtherCAT COMMUNICATION

18.7.3.7 Manufacturer Specific Control Objects

(1) External Output pin display (2C11h)
Index Sub Name Data Type Access PDO Mapping
0 Number of entries UNSIGNED8 ro
2C11h Impossible
1 External Output pin display1 INTEGER32 ro

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2C11h Impossible
1 0 00000000h to 0000000Fh

The ON/OFF state of external output pins output from the driver can be read.
This object is available with drivers.

The following shows the detail of External Output pin display1. When the output of the target pin is on, "1"
is returned. When the output of the target pin is off, "0" is returned. The values in the areas marked with
diagonal lines at reading is undefined.
Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin
0 13 8 16 24
1 15 9 17 25
2 9 10 18 26
3 8 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

(2) Power ON cumulative time (2C18h)

Index Sub Name Data Type Access PDO Mapping
2C18h 0 Power ON cumulative time UNSIGNED32 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C18h 0 00000000h to FFFFFFFFh hour Impossible

The cumulative energization time of the driver is returned.

This object is available with drivers.

(3) Number of inrush relay on/off times (2C19h)

Index Sub Name Data Type Access PDO Mapping
2C19h 0 Number of inrush relay on/off times UNSIGNED32 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C19h 0 00000000h to FFFFFFFFh number of times Impossible

The number of on/off times of the inrush relay of the driver is returned.
This object is available with drivers.

18 - 164
18．EtherCAT COMMUNICATION

(4) Machine diagnostic status (2C20h)

Index Sub Name Data Type Access PDO Mapping
2C20h 0 Machine diagnostic status UNSIGNED16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C20h 0 Refer to the text. Impossible

The machine diagnostic status is returned. The description is as follows.

This object is available with drivers.
Bit Description
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
0 to 3
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
4 to 7
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
Vibration estimation status
8 to 11 0: During estimation
1: Estimation is completed.
12 to 15 (reserved) The value at reading is undefined.

(5) Static friction torque at forward rotation (2C21h)

Index Sub Name Data Type Access PDO Mapping
2C21h 0 Static friction torque at forward rotation INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C21h 0 8000h to 7FFFh 0.1% Impossible

Static friction torque at forward rotation is returned in increments of 0.1%.

This object is available with drivers.

18 - 165
18．EtherCAT COMMUNICATION

(6) Dynamic friction torque at forward rotation (at rated speed) (2C22h)
Index Sub Name Data Type Access PDO Mapping
2C22h 0 Dynamic friction torque at forward rotation (at rated speed) INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C22h 0 8000h to 7FFFh 0.1% Impossible

Dynamic friction torque at forward rotation at the rated speed is returned in increments of 0.1%.
This object is available with drivers.

(7) Static friction torque at reverse rotation (2C23h)

Index Sub Name Data Type Access PDO Mapping
2C23h 0 Static friction torque at reverse rotation INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C23h 0 8000h to 7FFFh 0.1% Impossible

Static friction torque at reverse rotation is returned in increments of 0.1%.

This object is available with drivers.

(8) Dynamic friction torque at reverse rotation (at rated speed) (2C24h)
Index Sub Name Data Type Access PDO Mapping
2C24h 0 Dynamic friction torque at reverse rotation (at rated speed) INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C24h 0 8000h to 7FFFh 0.1% Impossible

Dynamic friction torque at reverse rotation at rated speed is returned in increments of 0.1%.
This object is available with drivers.

(9) Oscillation frequency during motor stop (2C25h)

Index Sub Name Data Type Access PDO Mapping
2C25h 0 Oscillation frequency during motor stop INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C25h 0 8000h to 7FFFh Hz Impossible

Vibration frequency during stop/servo-lock is returned in increments of 1 Hz.

This object is available with drivers.

(10) Vibration level during motor stop (2C26h)

Index Sub Name Data Type Access PDO Mapping
2C26h 0 Vibration level during motor stop INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C26h 0 8000h to 7FFFh 0.1% Impossible

Vibration level during stop/servo-lock is returned in increments of 0.1%.

This object is available with drivers.

18 - 166
18．EtherCAT COMMUNICATION

(11) Oscillation frequency during motor operating (2C27h)

Index Sub Name Data Type Access PDO Mapping
2C27h 0 Oscillation frequency during motor operating INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C27h 0 8000h to 7FFFh Hz Impossible

Vibration frequency during operation is returned in increments of 1 Hz.

This object is available with drivers.

(12) Vibration level during motor operating (2C28h)

Index Sub Name Data Type Access PDO Mapping
2C28h 0 Vibration level during motor operating INTEGER16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2C28h 0 8000h to 7FFFh 0.1% Impossible

Vibration level during operation is returned in increments of 0.1%.

This object is available with drivers

(13) Control DI 1 (2D01h)

Index Sub Name Data Type Access PDO Mapping
2D01h 0 Control DI 1 UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2D01h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (1) for details.

(14) Control DI 2 (2D02h)

Index Sub Name Data Type Access PDO Mapping
2D02h 0 Control DI 2 UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2D02h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (2) for details.

(15) Control DI 3 (2D03h)

Index Sub Name Data Type Access PDO Mapping
2D03h 0 Control DI 3 UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2D03h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (3) for details.

18 - 167
18．EtherCAT COMMUNICATION

(16) Status DO 1 (2D11h)

Index Sub Name Data Type Access PDO Mapping
2D11h 0 Status DO 1 UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D11h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (1) for details.

(17) Status DO 2 (2D12h)

Index Sub Name Data Type Access PDO Mapping
2D12h 0 Status DO 2 UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D12h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (2) for details.

(18) Status DO 3 (2D13h)

Index Sub Name Data Type Access PDO Mapping
2D13h 0 Status DO 3 UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D13h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (3) for details.

(19) Status DO 5 (2D15h)

Index Sub Name Data Type Access PDO Mapping
2D15h 0 Status DO 5 UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D15h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (4) for details.

(20) Status DO 7 (2D17h)

Index Sub Name Data Type Access PDO Mapping
2D17h 0 Status DO 7 UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D17h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (5) for details.

18 - 168
18．EtherCAT COMMUNICATION

(21) Velocity limit value (2D20h)

Index Sub Name Data Type Access PDO Mapping
2D20h 0 Velocity limit value UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

00000000h to instantaneous permissible
2D20h 0 50000 vel units Possible PT67
speed

Set the speed limit value of the cyclic synchronous torque mode (cst) and the profile torque mode (tq).
Unit: [0.01 r/min] ([0.01 mm/s] when a linear servo motor is used)

(22) Watch dog counter DL (2D23h)

Index Sub Name Data Type Access PDO Mapping
2D23h 0 Watch dog counter DL UNSIGNED8 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2D23h 0 00h to FFh Impossible

When this object is mapped for RxPDO, set a value so that the counter is incremented by 1 per
communication cycle. If the value is not updated correctly in the _ driver, [AL. 86.2 Network
communication error 2] occurs.

(23) Watch dog counter UL (2D24h)

Index Sub Name Data Type Access PDO Mapping
2D24h 0 Watch dog counter UL UNSIGNED8 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D24h 0 00h to FFh Impossible

This counter is incremented by 1 per communication cycle. The sum of the value of Watch dog counter
DL (2D23h) and 1 is returned.

(24) Motor rated speed (2D28h)

Index Sub Name Data Type Access PDO Mapping
2D28h 0 Motor rated speed UNSIGNED32 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D28h 0 00000000h to FFFFFFFFh r/min Impossible

The servo motor rated speed is returned.

Unit: [r/min] ([mm/s] when a linear servo motor is used)

(25) Manufacturer Device Name 2 (2D30h)

Index Sub Name Data Type Access PDO Mapping
2D30h 0 Manufacturer Device Name 2 VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D30h 0 Impossible

The model name of the driver is returned. When MR-J4-10TM1 driver is used, "MR-J4-10TM1" is
returned.

18 - 169
18．EtherCAT COMMUNICATION

(26) Manufacturer Hardware Version 2 (2D31h)

Index Sub Name Data Type Access PDO Mapping
2D31h 0 Manufacturer Hardware Version 2 VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D31h 0 Impossible

The hardware version of the driver is returned.

(27) Manufacturer Software Version 2 (2D32h)

Index Sub Name Data Type Access PDO Mapping
2D32h 0 Manufacturer Software Version 2 VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D32h 0 Impossible

The software version of the driver is returned.

(28) Serial Number 2 (2D33h)

Index Sub Name Data Type Access PDO Mapping
2D33h 0 Serial Number 2 VISIBLE STRING ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D33h 0 Impossible

The serial number of the driver is returned.

(29) User parameter configuration (2D34h)

Index Sub Name Data Type Access PDO Mapping
2D34h 0 User parameter configuration UNSIGNED16 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D34h 0 1 Refer to the text. Impossible

The parameters whose symbols are preceded by * are not automatically enabled. Writing "1EA5h" to
this object enables the parameters. This operation can be performed only in the Pre-Operational state.

The read values of this object are as follows. The completion of the parameter enables processing can
be checked.
Value Description
0 Parameter enabling processing is being executed.
1 Parameter enabling processing is not being executed. (The processing is completed.)

18 - 170
18．EtherCAT COMMUNICATION

(30) Encoder status (2D35h)

Index Sub Name Data Type Access PDO Mapping
0 Encoder status UNSIGNED8
2D35h 1 Encoder status1 ro Impossible
UNSIGNED32
2 Encoder status2

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2D35h 1 00000000h to 00000001h Impossible
2 00000000h to 00000007h

The status of the encoder is returned. The description of each Sub Index is as follows.
This object is available with drivers.
Sub Name Description
0 Encoder status Number of entries
The status of the encoder is returned. For a fully closed loop system, the external encoder
status is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
1 Encoder status1 returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1 to Bit 31: Reserved
The status of the scale measurement encoder is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1: Whether the scale measurement function is enabled or disabled is returned.
2 Encoder status2 0 = Disabled
1 = Enabled
Bit 2: Whether the connected scale measurement encoder is the absolute position type or
not is returned.
0 = Incremental type
1 = Absolute position type
Bit 3 to Bit 31: Reserved

(31) Scale cycle counter (2D36h)

Index Sub Name Data Type Access PDO Mapping
2D36h 0 Scale cycle counter UNSIGNED32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D36h 0 00000000h to FFFFFFFFh pulse Impossible

The position within one-revolution of the scale measurement encoder is returned. Returned values differ
depending on the scale measurement encoder type.
This object is available with drivers
Scale measurement encoder Description
Rotary encoder Cycle counter
Linear encoder ABS counter
Absolute position type
Linear encoder Scale coasting counter
Incremental type
Linear encoder Scale coasting counter
A/B/Z-phase differential
output type
Incremental type
18 - 171
18．EtherCAT COMMUNICATION

(32) Scale ABS counter (2D37h)

Index Sub Name Data Type Access PDO Mapping
2D37h 0 Scale ABS counter INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D37h 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter of the scale measurement encoder is returned. Returned values differ depending on
the scale measurement encoder type.
This object is available with drivers.
Scale measurement encoder Description
Rotary encoder Multi-revolution ABS counter
Linear encoder Fixed to 0
Absolute position type
Linear encoder Fixed to 0
Incremental type
Linear encoder Fixed to 0
A/B/Z-phase differential
output type
Incremental type

(33) Scale measurement encoder resolution (2D38h)

Index Sub Name Data Type Access PDO Mapping
2D38h 0 Scale measurement encoder resolution UNSIGNED32 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D38h 0 00000000h to FFFFFFFFh inc/rev Impossible

The resolution of the scale measurement encoder is returned.

This object is available with drivers.

(34) Scale measurement encoder reception status (2D3Ch)

Index Sub Name Data Type Access PDO Mapping
2D3Ch 0 Scale measurement encoder reception status UNSIGNED32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D3Ch 0 00000000h to FFFFFFFFh Impossible

The alarm data of the scale measurement encoder is returned. The value "0" indicates that no error
occurs. A value other than "0" indicates that an error occurs.
This object is available with drivers

18 - 172
18．EtherCAT COMMUNICATION

(35) One-touch tuning mode (2D50h)

Index Sub Name Data Type Access PDO Mapping
2D50h 0 One-touch tuning mode UNSIGNED8 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D50h 0 00h to 03h Impossible

Setting a value of "1" to "3" starts one-touch tuning. After one-touch tuning is completed, the setting
value automatically changes to "0". The description of the setting values is as follows.
This object is available with drivers
Setting
Description
value
0 During one-touch tuning stop
1 Basic mode
2 High mode
3 Low mode

(36) One-touch tuning status (2D51h)

Index Sub Name Data Type Access PDO Mapping
2D51h 0 One-touch tuning status INTEGER8 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D51h 0 00h to 64h % Impossible

The one-touch tuning progress is returned.

This object is available with drivers

(37) One-touch tuning Stop (2D52h)

Index Sub Name Data Type Access PDO Mapping
2D52h 0 One-touch tuning Stop UNSIGNED16 wo Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D52h 0 0000h/1EA5h Impossible

Writing "1EA5h" can stop one-touch tuning. Writing any value other than "1EA5h" causes SDO Abort
Code (0609 0030h Value range of parameter exceeded).
This object is available with drivers

18 - 173
18．EtherCAT COMMUNICATION

(38) One-touch tuning Clear (2D53h)

Index Sub Name Data Type Access PDO Mapping
2D53h 0 One-touch tuning Clear UNSIGNED16 wo Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D53h 0 0000h to 0001h Impossible

The parameter changed in one-touch tuning can be returned to the value before the change. The
description of the setting values is as follows.
This object is available with drivers
Setting
Description
value
0000h Restores the initial value.
0001h Restores the value before one-touch tuning.

(39) One-touch tuning Error Code (2D54h)

Index Sub Name Data Type Access PDO Mapping
2D54h 0 One-touch tuning Error Code UNSIGNED16 ro Impossible

Index Sub Default Range Units EEP-ROM Parameter

2D54h 0 0000h to C00Fh Impossible

An error code of the one-touch tuning is returned. The description of the error codes is as follows.
This object is available with drivers
Error code Description
0000h Finished normally
C000h Tuning canceled
C001h Overshoot exceeded
C002h Servo-off during tuning
C003h Control mode error
C004h Time-out
C005h Load to motor inertia ratio
misestimated
C00Fh One-touch tuning disabled

(40) Torque limit value 2 (2D6Bh)

Index Sub Name Data Type Access PDO Mapping
2D6Bh 0 Torque limit value 2 UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
2D6Bh 0 10000 0000h to 2710h Impossible
rated torque

The generated torque at a servo motor stop in the indexer method can be limited. Set this parameter to
"0" to generate no torque.
This object is available with drivers

18 - 174
18．EtherCAT COMMUNICATION

18.7.3.8 PDS Control Objects

(1) Error code (603Fh)
Index Sub Name Data Type Access PDO Mapping
603Fh 0 Error code UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

603Fh 0 0 0000h to FFFFh Impossible

The number of the latest error that occurred after the power on is returned. The description of the error
number is the same as that of Pre-defined error field (1003h). Refer to section 7.3.1 (3).

(2) Controlword (6040h)

Index Sub Name Data Type Access PDO Mapping
6040h 0 Controlword UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6040h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.1 for details.

(3) Statusword (6041h)

Index Sub Name Data Type Access PDO Mapping
6041h 0 Statusword UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

6041h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.1 for details.

(4) Quick stop option code (605Ah)

Index Sub Name Data Type Access PDO Mapping
605Ah 0 Quick stop option code INTEGER16 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

605Ah 0 2 0002h to 0002h Possible PT68

Set how to decelerate the servo motor to a stop at Quick Stop reception. The description of the setting
values is as follows.
Setting
Description
value
1
In the cyclic synchronous mode (csp/csv), profile mode (pp/pv), and homing mode
(hm), the servo motor decelerates to a stop with Quick stop deceleration (6085h) and
the state shifts to the Switch On Disabled state.
2
In the cyclic synchronous torque mode (cst) and profile torque mode (tq), the state
immediately shifts to the Switch On Disabled state and the servo motor stops with the
dynamic brake.
3
4
5
6
7
8

18 - 175
18．EtherCAT COMMUNICATION

(5) Halt option code (605Dh)

Index Sub Name Data Type Access PDO Mapping
605Dh 0 Halt option code INTEGER16 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

605Dh 0 1 0001h to 0001h Possible PT68

Set how to decelerate the servo motor to a stop at Halt reception. The description of the setting values is
as follows.
Setting
Description
value
For Profile deceleration (6084h) and the homing mode (hm), the servo motor
1 decelerates to a stop according to Homing acceleration (609Ah) and the state does
not change from the Operation Enabled state (servo-on).
2
3
4

(6) Modes of operation (6060h)

Index Sub Name Data Type Access PDO Mapping
6060h 0 Modes of operation INTEGER8 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6060h 0 0 Refer to the text. Impossible

Set the control mode. The setting values are as follows.

Setting
Description
value
0 No mode change/No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
-100 Jog mode (jg)
-101 Point table mode (pt)
-103 Indexer mode (idx)

The settable values are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.

18 - 176
18．EtherCAT COMMUNICATION

(7) Modes of operation display (6061h)

Index Sub Name Data Type Access PDO Mapping
6061h 0 Modes of operation display INTEGER8 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

6061h 0 0 Refer to the text. Impossible

The current control mode is returned. The description is as follows.

Setting
Description
value
0 No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
-100 Jog mode (jg)
-101 Point table mode (pt)
-103 Indexer mode (idx)

The default values vary depending on the setting value of [Pr. PA01].
Setting value of [Pr.
Default value
PA01]
___0
8 (csp)
___1
___2 1 (pp)
___6 -101 (pt)
___8 -103 (idx)

18 - 177
18．EtherCAT COMMUNICATION

(8) Supported drive modes (6502h)

Index Sub Name Data Type Access PDO Mapping
6502h 0 Supported drive modes UNSIGNED32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

6502h 0 Refer to the text. Refer to the text. Impossible

The supported control mode is returned. The description is as follows.

Bit Description Defined value
0 Profile position mode (pp) 1: Supported
1 Velocity mode (vl) 0
2 Profile velocity mode (pv) 1: Supported
3 Profile torque mode (tq) 1: Supported
4 Reserved 0
5 Homing mode (hm) 1: Supported
6 Interpolated position mode (ip) 0
7 Cyclic synchronous position mode (csp) 1: Supported
8 Cyclic synchronous velocity mode (csv) 1: Supported
9 Cyclic synchronous torque mode (cst) 1: Supported
10 Cyclic synchronous torque mode with communication angle (cstca) 0
11 to 15 Reserved 0
16 Jog mode (jg) 1: Supported
17 Point table mode (pt) 1: Supported
18 Reserved 0
19 Indexer mode (idx) 1: Supported
20 to 31 Reserved 0

The fixed value is returned regardless of the setting of [Pr. PA01]. However, the usable control modes
are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.

18 - 178
18．EtherCAT COMMUNICATION

18.7.3.9 Position Control Function Objects

(1) Position actual internal value (6063h)
Index Sub Name Data Type Access PDO Mapping
6063h 0 Position actual internal value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

6063h 0 80000000h to 7FFFFFFFh inc Impossible

The current position is returned.

(2) Position actual value (6064h)

Index Sub Name Data Type Access PDO Mapping
6064h 0 Position actual value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

6064h 0 80000000h to 7FFFFFFFh pos units Impossible

The current position in the command unit is returned. In the indexer method, "0" is returned.

(3) Following error window (6065h)

Index Sub Name Data Type Access PDO Mapping
6065h 0 Following error window UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6065h 0 00C00000h 00000000h to FFFFFFFFh pos units Possible PC67/PC68

In the profile position mode (pp), cyclic synchronous position mode (csp), point table mode (pt), Jog
mode (jg) or indexer mode (idx) when the time set with Following error time out (6066h) has elapsed with
the number of droop pulses exceeding the setting value of this object, Bit 13 of Statusword (6041h) is
turned on. When "FFFFFFFFh" is set, Bit 13 of Statusword (6041h) is always off.

(4) Following error time out (6066h)

Index Sub Name Data Type Access PDO Mapping
6066h 0 Following error time out UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6066h 0 10 0000h to FFFFh ms Possible PC69

Refer to Following error window (6065h).

18 - 179
18．EtherCAT COMMUNICATION

(5) Position window (6067h)

Index Sub Name Data Type Access PDO Mapping
6067h 0 Position window UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6067h 0 100 Refer to the text. pos units Possible PC70

The description of this object is as follows.

Setting value Description
In the profile position mode (pp), point table mode (pt) or Jog mode (jg), when the
time set with Position windows time (6068h) has elapsed with the number of droop
00000000h to 0000FFFEh
pulses equal to or lower than the setting value of this object, Bit 10 of Statusword
(6041h) is turned on.
0000FFFFh to FFFFFFFEh Unsettable
Bit 10 of Statusword (6041h) is always on in the profile position mode (pp), point table
FFFFFFFFh
mode (pt) or Jog mode (jg).

(6) Position window time (6068h)

Index Sub Name Data Type Access PDO Mapping
6068h 0 Position window time UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6068h 0 10 0000h to FFFFh ms Possible PC71

Refer to Position window (6067h).

18 - 180
18．EtherCAT COMMUNICATION

(7) Positioning option code (60F2h)

Index Sub Name Data Type Access PDO Mapping
60F2h 0 Positioning option code UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

60F2h 0 0000h 0000h to 00C0h Possible PT03

Set the profile position mode (pp). The description of this object is as follows.
Bit Description Defined value
00b: The positioning is performed with the relative position from the internal absolute
target position.
01b: The positioning is performed with the relative position from Position demand
0 to 1 actual value (60FCh). (Not supported) (Note 1) 00b
10b: The positioning is performed with the relative position from Position actual value
(6064h). (not supported) (Note 1)
11b: reserved
00b: New values of Target position (607Ah), Profile velocity (6081h), and Acceleration
are promptly reflected.
01b: The current positioning continues to reach the target position. Then a new
2 to 3 setting of Target position (607Ah), Profile velocity (6081h), and Acceleration is 00b
applied. (not supported) (Note 1)
10b: reserved
11b: reserved
4 to 5 Reserved 0
00b: The servo motor rotates to the target position in a direction specified with a sign
of the position data.
01b: The servo motor rotates in the address decreasing direction regardless of the
sign of the position data.
6 to 7 10b: The servo motor rotates in the address increasing direction regardless of the 00b
sign of the position data.
11b: The servo motor rotates from the current position to the target position in the
shorter direction. If the distances from the current position to the target position
are the same for CCW and CW, the servo motor rotates in the CCW direction.
8 to 15 Reserved 0

Note 1. This is not supported by the driver.

(8) Following error actual value (60F4h)

Index Sub Name Data Type Access PDO Mapping
60F4h 0 Following error actual value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60F4h 0 80000000h to 7FFFFFFFh pos units Impossible

The droop pulses are returned.

(9) Control effort (60FAh)

Index Sub Name Data Type Access PDO Mapping
60FAh 0 Control effort INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60FAh 0 80000000h to 7FFFFFFFh vel units Impossible

The speed command is returned.

Unit: [0.01 r/min]

18 - 181
18．EtherCAT COMMUNICATION

18.7.3.10 Profile Velocity Mode Objects

(1) Velocity demand value (606Bh)
Index Sub Name Data Type Access PDO Mapping
606Bh 0 Velocity demand value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

606Bh 0 80000000h to 7FFFFFFFh vel units Impossible

The speed command is returned.

Unit: [0.01 r/min]

(2) Velocity actual value (606Ch)

Index Sub Name Data Type Access PDO Mapping
606Ch 0 Velocity actual value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

606Ch 0 80000000h to 7FFFFFFFh vel units Impossible

The current speed is returned.

Unit: [0.01 r/min]

(3) Velocity window (606Dh)

Index Sub Name Data Type Access PDO Mapping
606Dh 0 Velocity window UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

606Dh 0 2000 0000h to FFFFh vel units Possible PC72

In the profile velocity mode (pv), when the time set with Velocity window time (606Eh) has elapsed with
the current speed equal to or lower than the setting value of this object, Bit 10 of Statusword (6041h) is
turned on.
Unit: [0.01 r/min]

(4) Velocity window time (606Eh)

Index Sub Name Data Type Access PDO Mapping
606Eh 0 Velocity window time UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

606Eh 0 10 0000h to FFFFh ms Possible PC73

Refer to Velocity window (606Dh).

18 - 182
18．EtherCAT COMMUNICATION

(5) Velocity threshold (606Fh)

Index Sub Name Data Type Access PDO Mapping
606Fh 0 Velocity threshold UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

606Fh 0 5000 0000h to FFFFh vel units Possible PC65

In the profile velocity mode (pv), when the time set with Velocity threshold time (6070h) has elapsed with
the current speed higher than the setting value of this object, Bit 12 of Statusword (6041h) is turned off.
Unit: [0.01 r/min]

(6) Velocity threshold time (6070h)

Index Sub Name Data Type Access PDO Mapping
6070h 0 Velocity threshold time UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6070h 0 10 0000h to FFFFh ms Possible PC66

Refer to Velocity threshold (606Fh).

(7) Target velocity (60FFh)

Index Sub Name Data Type Access PDO Mapping
60FFh 0 Target velocity INTEGER32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

60FFh 0 0 80000000h to 7FFFFFFFh vel units Impossible

Set the speed command used in the cyclic synchronous velocity mode (csv) and the profile velocity mode
(pv).
Unit: [0.01 r/min]

18 - 183
18．EtherCAT COMMUNICATION

18.7.3.11 Profile Torque Mode Objects

(1) Target torque (6071h)
Index Sub Name Data Type Access PDO Mapping
6071h 0 Target torque INTEGER16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
6071h 0 0 8000h to 7FFFh Impossible
rated torque

Set the torque command used in the cyclic synchronous torque mode (cst) and the profile torque mode
(tq).

(2) Max torque (6072h)

Index Sub Name Data Type Access PDO Mapping
6072h 0 Max torque UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
6072h 0 0000h to FFFFh Impossible
rated torque

The maximum torque of the servo motor is returned. The value notified by this object is the maximum
current and feedback value and may not match the maximum torque mentioned in "Servo Motor
Instruction Manual (Vol. 3)".

(3) Torque demand value (6074h)

Index Sub Name Data Type Access PDO Mapping
6074h 0 Torque demand value INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
6074h 0 8000h to 7FFFh Impossible
rated torque

The torque command is returned.

(4) Torque actual value (6077h)

Index Sub Name Data Type Access PDO Mapping
6077h 0 Torque actual value INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
6077h 0 8000h to 7FFFh Impossible
rated torque

The current torque is returned.

18 - 184
18．EtherCAT COMMUNICATION

(5) Torque slope (6087h)

Index Sub Name Data Type Access PDO Mapping
6087h 0 Torque slope UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand of
6087h 0 00000000h 00000000h to 00989680h (10000000) rated torque per Possible PT53
second

Set the variation per second of the torque command used in the profile torque mode (tq). When "0" is set,
the setting value is invalid and the torque command is input with step input.

(6) Torque profile type (6088h)

Index Sub Name Data Type Access PDO Mapping
6088h 0 Torque profile type INTEGER16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6088h 0 0 0000h to 0000h Impossible

Set the torque command pattern. The description is as follows.

Setting
Description
value
0 Linear ramp
1 sin2 ramp (Not supported) (Note)

Note. This is not supported by the driver.

Values other than "0" cannot be set.

(7) Positive torque limit value (60E0h)

Index Sub Name Data Type Access PDO Mapping
60E0h 0 Positive torque limit value UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

PA11 (POL
per thousand of
60E0h 0 10000 0000h to 2710h (10000) Possible disabled) PA12
rated torque
(POL enabled)

You can limit the torque or generated by the servo motor. Set the limit value of the torque of the servo
motor in the CCW power running or CW regeneration, or the limit value of the linear servo motor in the
positive direction power running or negative direction regeneration. Set this object to "0" to generate no
torque

18 - 185
18．EtherCAT COMMUNICATION

(8) Negative torque limit value (60E1h)

Index Sub Name Data Type Access PDO Mapping
60E1h 0 Negative torque limit value UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

PA12 (POL
per thousand of
60E1h 0 10000 0000h to 2710h (10000) Possible disabled) PA11
rated torque
(POL enabled)

You can limit the torque or generated by the servo motor. Set the limit value of the torque of the servo
motor in the CW power running or CCW regeneration, or the limit value of the linear servo motor in the
negative direction power running or positive direction regeneration. Set this object to "0" to generate no
torque.

18.7.3.12 Profile Position Mode Objects

(1) Target position (607Ah)
Index Sub Name Data Type Access PDO Mapping
607Ah 0 Target position INTEGER32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

607Ah 0 0 Refer to the text. pos units Impossible

Set the position command used in the cyclic synchronous position mode (csp) and the profile position
mode (pp). The settable values vary depending on the control mode and the setting of [Pr. PT01].
Control mode [Pr. PT01] setting Range
Cyclic synchronous position
80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
mode (csp)
_ 0 _ _ (mm) FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 1 _ _ (inch) FFF0BDC1h to 000F423Fh (-999999 to 999999)
Profile position mode (pp)
_ 2 _ _ (degree) FFFA81C0h to 00057E40h (-360000 to 360000)
_ 3 _ _ (pulse) FFF0BDC1h to 000F423Fh (-999999 to 999999)

Set also Gear ratio (6091h) for the profile position mode (pp).

18 - 186
18．EtherCAT COMMUNICATION

(2) Position range limit (607Bh)

Index Sub Name Data Type Access PDO Mapping
0 Position range limit UNSIGNED8 ro Impossible
607Bh 1 Min position range limit
INTEGER32 rw Possible
2 Max position range limit

Index Sub Default Range Units EEP-ROM Parameter

0 2 00h to 02h
607Bh 1 Impossible
Refer to the text. pos units
2

No value can be written because Position range limit (607Bh) is set automatically with the control mode
and [Pr. PT01]. Writing any value causes SDO Abort Code (0609 0030h Value range of parameter
exceeded).
This object is available with drivers.
Control mode [Pr. PT01] setting Range
Cyclic synchronous mode 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 0 _ _ (mm) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 1 _ _ (inch) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Profile mode
_ 2 _ _ (degree) 00000000h to 00057E3Fh (0 to 359999)
_ 3 _ _ (pulse) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 0 _ _ (mm) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Point table method _ 1 _ _ (inch) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 3 _ _ (pulse) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Indexer method 0 to set value in [Pr. PT28] -1

(3) Software position limit (607Dh)

Index Sub Name Data Type Access PDO Mapping
0 Software position limit UNSIGNED8 ro Impossible
607Dh 1 Min position limit
INTEGER32 rw Possible
2 Max position limit

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
607Dh 1 PT17/PT18
0 80000000h to 7FFFFFFFh pos units Possible
2 PT15/PT16

Set the range for limiting the command position. Target position (607Ah) is limited within the range
between Min position limit (607Dh: 1) and Max position limit (607Dh: 2). When the set value of Min
position limit (607Dh: 1) is equal to or greater than the set value of Max position limit (607Dh: 2), the
function of Software position limit (607Dh) is disabled. In the indexer method, this function is disabled.

18 - 187
18．EtherCAT COMMUNICATION

(4) Max profile velocity (607Fh)

Index Sub Name Data Type Access PDO Mapping
607Fh 0 Max profile velocity UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

607Fh 0 2000000 00000000h to 001E8480h (2000000) vel units Possible PT66

Set the speed limit value for the profile position mode (pp), profile velocity mode (pv), Jog mode (jg) and
indexer mode (idx). When a value exceeding this object is set to Target velocity (60FFh) or Profile
velocity (6081h), the speed is limited with the value of this object.

(5) Max motor speed (6080h)

Index Sub Name Data Type Access PDO Mapping
6080h 0 Max motor speed UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6080h 0 00000000h to FFFFFFFFh Refer to the text. Impossible

The instantaneous permissible speed of the servo motor is returned. Operation cannot be performed at a
speed exceeding the speed set with this object.
Unit: [r/min]

(6) Profile velocity (6081h)

Index Sub Name Data Type Access PDO Mapping
6081h 0 Profile velocity UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

00000000h to instantaneous permissible
6081h 0 10000 vel units Possible PT65
speed

Set the command speed for the profile position mode (pp), Jog mode (jg) and indexer mode (idx). Set a
value within the range between "0" and permissible speed.
Unit: [0.01 r/min]

18 - 188
18．EtherCAT COMMUNICATION

(7) Profile acceleration (6083h)

Index Sub Name Data Type Access PDO Mapping
6083h 0 Profile acceleration UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6083h 0 0 Refer to the text. ms Possible PT49

Set the acceleration time constant for the profile position mode (pp), profile velocity mode (pv), Jog mode
(jg) and indexer mode (idx). Set a time for the servo motor to reach the rated speed. The settable values
vary depending on the control mode.
Control mode Range
Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000
Jog mode (jg) 0 to 20000
Indexer mode (idx) 0 to 20000

(8) Profile deceleration (6084h)

Index Sub Name Data Type Access PDO Mapping
6084h 0 Profile deceleration UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6084h 0 0 Refer to the text. ms Possible PT50

Set the deceleration time constant for the profile position mode (pp), profile velocity mode (pv), Jog mode
(jg) and indexer mode (idx). Set a time for the servo motor to stop from the rated speed. The settable
values vary depending on the control mode.
Control mode Range
Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000
Jog mode (jg) 0 to 20000
Indexer mode (idx) 0 to 20000

(9) Quick stop deceleration (6085h)

Index Sub Name Data Type Access PDO Mapping
6085h 0 Quick stop deceleration UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6085h 0 100 0 to 20000 ms Possible PC24

Set a deceleration time constant for the Quick stop function. Set a time for the servo motor to stop from
the rated speed. When "0" is set, the operation is performed with 100 ms.

18 - 189
18．EtherCAT COMMUNICATION

(10) Motion profile type (6086h)

Index Sub Name Data Type Access PDO Mapping
6086h 0 Motion profile type INTEGER16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6086h 0 -1 FFFFh to FFFFh (-1) Impossible

Set the acceleration/deceleration pattern in the profile position mode (pp). The description is as follows.
Setting
Description
value
-1 S-pattern
0 Linear ramp (Not supported) (Note)
1 sin2 ramp (Not supported) (Note)
2 Jerk-free ramp (Not supported) (Note)
3 Jerk-limited ramp (Not supported) (Note)

Note. This is not supported by the driver.

For this object, "-1" is always returned. Values other than "-1" cannot be set.

18.7.3.13 Homing Mode Objects

(1) Home offset (607Ch)
Index Sub Name Data Type Access PDO Mapping
607Ch 0 Home offset INTEGER32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

607Ch 0 0 80000000h to 7FFFFFFFh pos units Possible

The home position is returned. No value can be written because Home offset (607Ch) is set
automatically. Writing any value causes SDO Abort Code (0609 0030h Value range of parameter
exceeded).

(2) Homing method (6098h)

Index Sub Name Data Type Access PDO Mapping
6098h 0 Homing method INTEGER8 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

6098h 0 37 D5h (-43) to 25h (37) Possible PT45

Set a home position return type. Refer to section 5.4.9 (4) for the settable values.

18 - 190
18．EtherCAT COMMUNICATION

(3) Homing speeds (6099h)

Index Sub Name Data Type Access PDO Mapping
0 Homing speeds UNSIGNED8 ro Impossible
6099h 1 Speed during search for switch
UNSIGNED32 rw Possible
2 Speed during search for zero

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
6099h 1 10000 PT05
0 to instantaneous permissible speed vel units Possible
2 1000 PT06

Set the servo motor speed at home position return.

Set the servo motor speed at home position return for Speed during search for switch (6099h: 1).
Unit: [0.01 r/min]

Set the creep speed after proximity dog at home position return for Speed during search for zero (6099h:
2).
Unit: [0.01 r/min]

(4) Homing acceleration (609Ah)

Index Sub Name Data Type Access PDO Mapping
609Ah 0 Homing acceleration UNSIGNED32 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

609Ah 0 0 00000000h to 00004E20h (20000) ms Possible PT56

Set the acceleration/deceleration time constants at home position return. Set a time for the servo motor
to reach the rated speed.

18 - 191
18．EtherCAT COMMUNICATION

(5) Supported homing method (60E3h)

(a) In the cyclic synchronous mode/profile mode/point table method
Index Sub Name Data Type Access PDO Mapping
0 Supported homing method UNSIGNED8
1 1st supported homing method
2 2nd supported homing method
3 3rd supported homing method
4 4th supported homing method
5 5th supported homing method
6 6th supported homing method
7 7th supported homing method
8 8th supported homing method
9 9th supported homing method
10 10th supported homing method
11 11th supported homing method
12 12th supported homing method
13 13th supported homing method
14 14th supported homing method
15 15th supported homing method
16 16th supported homing method
17 17th supported homing method
18 18th supported homing method
19 19th supported homing method
60E3h ro Impossible
20 20th supported homing method INTEGER8
21 21st supported homing method
22 22nd supported homing method
23 23rd supported homing method
24 24th supported homing method
25 25th supported homing method
26 26th supported homing method
27 27th supported homing method
28 28th supported homing method
29 29th supported homing method
30 30th supported homing method
31 31st supported homing method
32 32nd supported homing method
33 33rd supported homing method
34 34th supported homing method
35 35th supported homing method
36 36th supported homing method
37 37th supported homing method
38 38th supported homing method
39 39th supported homing method

18 - 192
18．EtherCAT COMMUNICATION

Index Sub Default Range Units EEP-ROM Parameter

0 39 27h (39)
1 37 25h (37)
2 35 23h (35)
3 34 22h (34)
4 33 21h (33)
5 28 1Ch (28)
6 27 1Bh (27)
7 24 18h (24)
8 23 17h (23)
9 22 16h (22)
10 21 15h (21)
11 20 14h (20)
12 19 13h (19)
13 12 0Ch (12)
14 11 0Bh (11)
15 8 08h (8)
16 7 07h (7)
17 6 06h (6)
18 5 05h (5)
19 4 04h (4)
60E3h Impossible
20 3 03h (3)
21 -1 FFh (-1)
22 -2 FEh (-2)
23 -3 FDh (-3)
24 -4 FCh (-4)
25 -6 FAh (-6)
26 -7 F9h (-7)
27 -8 F8h (-8)
28 -9 F7h (-9)
29 -10 F6h (-10)
30 -11 F5h (-11)
31 -33 DFh (-33)
32 -34 DEh (-34)
33 -36 DCh (-36)
34 -38 DAh (-38)
35 -39 D9h (-39)
36 -40 D8h (-40)
37 -41 D7h (-41)
38 -42 D6h (-42)
39 -43 D5h (-43)

The supported home position return type is returned.

18 - 193
18．EtherCAT COMMUNICATION

(b) Indexer method

Index Sub Name Data Type Access PDO Mapping
0 Supported homing method UNSIGNED8
1 1st supported homing method
2 2nd supported homing method
3 3rd supported homing method
4 4th supported homing method
5 5th supported homing method
6 6th supported homing method
7 7th supported homing method
8 8th supported homing method
9 9th supported homing method
10 10th supported homing method
11 11th supported homing method
12 12th supported homing method
13 13th supported homing method
14 14th supported homing method
15 15th supported homing method
16 16th supported homing method
17 17th supported homing method
18 18th supported homing method
19 19th supported homing method
60E3h ro Impossible
20 20th supported homing method INTEGER8
21 21st supported homing method
22 22nd supported homing method
23 23rd supported homing method
24 24th supported homing method
25 25th supported homing method
26 26th supported homing method
27 27th supported homing method
28 28th supported homing method
29 29th supported homing method
30 30th supported homing method
31 31st supported homing method
32 32nd supported homing method
33 33rd supported homing method
34 34th supported homing method
35 35th supported homing method
36 36th supported homing method
37 37th supported homing method
38 38th supported homing method
39 39th supported homing method

18 - 194
18．EtherCAT COMMUNICATION

Index Sub Default Range Units EEP-ROM Parameter

0 39 27h (39)
1 37 25h (37)
2 35 23h (35)
3 -1 FFh (-1)
4 -3 FDh (-3)
5 -33 DFh (-33)
6 0 0h (0)
7 0 0h (0)
8 0 0h (0)
9 0 0h (0)
10 0 0h (0)
11 0 0h (0)
12 0 0h (0)
13 0 0h (0)
14 0 0h (0)
15 0 0h (0)
16 0 0h (0)
17 0 0h (0)
18 0 0h (0)
19 0 0h (0)
60E3h Impossible
20 0 0h (0)
21 0 0h (0)
22 0 0h (0)
23 0 0h (0)
24 0 0h (0)
25 0 0h (0)
26 0 0h (0)
27 0 0h (0)
28 0 0h (0)
29 0 0h (0)
30 0 0h (0)
31 0 0h (0)
32 0 0h (0)
33 0 0h (0)
34 0 0h (0)
35 0 0h (0)
36 0 0h (0)
37 0 0h (0)
38 0 0h (0)
39 0 0h (0)

The supported home position return type is returned.

18 - 195
18．EtherCAT COMMUNICATION

18.7.3.14 Factor Group Objects

(1) Polarity (607Eh)
Index Sub Name Data Type Access PDO Mapping
607Eh 0 Polarity UNSIGNED8 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

PA14
607Eh 0 00h Refer to the text. Possible
PC29

The rotation direction selection can be set.

Bit Description
0 reserved
1 reserved
2 reserved
3 reserved
4 reserved
0: Servo motor CCW rotation at positive torque
5
1: Servo motor CW rotation at positive torque
0: Servo motor CCW rotation at positive speed
6
1: Servo motor CW rotation at positive speed
0: Servo motor CCW rotation in positioning address increasing direction
7
1: Servo motor CW rotation in positioning address increasing direction

For the driver, only "00h", "C0h", or "E0h" can be set. Values other than 00h and C0h cannot be set.

(2) Position encoder resolution (608Fh)

Index Sub Name Data Type Access PDO Mapping
0 Position encoder resolution UNSIGNED8 ro Impossible
608Fh 1 Encoder increments
UNSIGNED32 rw Possible
2 Motor revolutions

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h inc/rev
608Fh 1 00000000h to FFFFFFFFh inc Impossible
2 1 00000001h to 00000001h rev

Encoder resolution is returned with Encoder increments (608Fh: 1). No value can be written because
Position encoder resolution (608Fh) is set automatically. Writing any value causes SDO Abort Code
(0609 0030h Value range of parameter exceeded).

18 - 196
18．EtherCAT COMMUNICATION

(3) Gear ratio (6091h)

Index Sub Name Data Type Access PDO Mapping
0 Gear ratio UNSIGNED8 ro Impossible
6091h 1 Motor revolutions
UNSIGNED32 rw Possible
2 Shaft revolutions

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
6091h 1 PA06
1 00000001h to 00FFFFFFh (16777215) rev Possible
2 PA07

Set the electronic gear. Refer to [Pr. PA06] for the settable values. In the cyclic synchronous mode ,
setting Motor revolutions (6091h: 1) or Shaft revolutions (6091h: 2) to anything other than "1" will trigger
[AL. 37].

Motor revolutions (6091h: 1)

Gear ratio (6091h) = Shaft revolutions (6091h: 2)

(4) Feed constant (6092h)

Index Sub Name Data Type Access PDO Mapping
0 Feed constant UNSIGNED8 ro Impossible
6092h 1 Feed
INTEGER32 rw Possible
2 Shaft revolutions

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
6092h 1 pos units Impossible
Refer to the text.
2 1 rev

No value can be written because Feed (6092h: 1) and Shaft revolutions (6092h: 2) are set automatically
with the control mode, [Pr. PT01] and [Pr. PT03]. Writing any value causes SDO Abort Code (0609
0030h Value range of parameter exceeded).
This object is available with drivers.
Range
Control mode [Pr. PT01] setting [Pr. PT03] setting
Feed Shaft revolutions
Cyclic synchronous Encoder resolution of
_ _ _ 0 to _ _ _ 3 1
mode the servo motor
___0 1
_ 0 _ _ (mm) ___1 Encoder resolution of 10
_ 1 _ _ (inch) ___2 the servo motor 100
Profile mode ___3 1000
_ 2 _ _ (degree) 360000
_ _ _ 0 to _ _ _ 3 Encoder resolution of 1
_ 3 _ _ (pulse)
the servo motor
___0 1
_ 0 _ _ (mm) ___1 10
Point table method Encoder resolution of
_ 1 _ _ (inch) ___2 100
(Note) the servo motor
___3 1000
_ 3 _ _ (pulse) _ _ _ 0 to _ _ _ 3 1
Indexer method (Note) _ _ _ 0 to _ _ _ 3 [Pr. PT28] setting 1

18 - 197
18．EtherCAT COMMUNICATION

Position actual value (6064h) is calculated from Gear ratio (6091h) and Feed constant (6092h), as
follows.

Position actual internal value (6063h) × Feed constant (6092h)

Position actual value (6064h) =
Position encoder resolution (608Fh) × Gear ratio (6091h)

When the unit is degree, the operation result will be limited within 0 to 359999.

(5) SI unit position (60A8h)

Index Sub Name Data Type Access PDO Mapping
60A8h 0 SI unit position UNSIGNED32 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

60A8h 0 0 Refer to the text. pos units Impossible

No value can be written because SI unit position (60A8h) is set automatically with the control mode, [Pr.
PT01] and [Pr. PT03]. Writing any value causes SDO Abort Code (0609 0030h Value range of parameter
exceeded).
This object is available with drivers
Control mode [Pr. PT01] setting [Pr. PT03] setting Range
Cyclic synchronous mode _ _ _ 0 to _ _ _ 3 00000000h (1 pulse)
_ _ _ 0 (× 1) FA010000h (0.001 mm)
_ _ _ 1 (× 10) FB010000h (0.01 mm)
_ 0 _ _ (mm)
_ _ _ 2 (× 100) FC010000h (0.1 mm)
_ _ _ 3 (× 1000) FD010000h (1 mm)
_ _ _ 0 (× 1) FCC00000h (0.0001 inch)
Profile mode
_ _ _ 1 (× 10) FDC00000h (0.001 inch)
_ 1 _ _ (inch)
_ _ _ 2 (× 100) FEC00000h (0.01 inch)
_ _ _ 3 (× 1000) FFC00000h (0.1 inch)
_ 2 _ _ (degree) FD410000h (0.001 degree)
_ _ _ 0 to _ _ _ 3
_ 3 _ _ (pulse) 00000000h (1 pulse)
_ _ _ 0 (× 1) FA010000h (0.001 mm)
_ _ _ 1 (× 10) FB010000h (0.01 mm)
_ 0 _ _ (mm)
_ _ _ 2 (× 100) FC010000h (0.1 mm)
_ _ _ 3 (× 1000) FD010000h (1 mm)
Point table method _ _ _ 0 (× 1) FCC00000h (0.0001 inch)
_ _ _ 1 (× 10) FDC00000h (0.001 inch)
_ 1 _ _ (inch)
_ _ _ 2 (× 100) FEC00000h (0.01 inch)
_ _ _ 3 (× 1000) FFC00000h (0.1 inch)
_ 3 _ _ (pulse) _ _ _ 0 to _ _ _ 3 00000000h (1 pulse)
Indexer method _ _ _ 0 to _ _ _ 3 00000000h (no unit)

18 - 198
18．EtherCAT COMMUNICATION

(6) SI unit velocity (60A9h)

Index Sub Name Data Type Access PDO Mapping
60A9h 0 SI unit velocity UNSIGNED32 rw Impossible

Index Sub Default Range Units EEP-ROM Parameter

FB010300h (0.01 mm/s)
60A9h 0 0 vel units Impossible
FEB44700h (0.01 r/min)

The SI unit velocity is returned. No value can be written because SI unit velocity (60A9h) is set
automatically with the control mode. Writing any value causes SDO Abort Code (0609 0030h Value
range of parameter exceeded).
This object is available with drivers.

18.7.3.15 Touch Probe Function Objects

(1) Touch probe function (60B8h)
Index Sub Name Data Type Access PDO Mapping
60B8h 0 Touch probe function UNSIGNED16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

60B8h 0 0 0000h to FFFFh Impossible

Set the command for the touch probe function. Refer to section 5.5 (1) (a) for details.

(2) Touch probe status (60B9h)

Index Sub Name Data Type Access PDO Mapping
60B9h 0 Touch probe status UNSIGNED16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60B9h 0 0000h to FFFFh Impossible

The status of the touch probe function is returned. Refer to section 5.5 (1) (b) for details.

(3) Touch probe pos1 pos value (60BAh)

Index Sub Name Data Type Access PDO Mapping
60BAh 0 Touch probe pos1 pos value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60BAh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the rising edge of touch probe 1 is returned.

(4) Touch probe pos1 neg value (60BBh)

Index Sub Name Data Type Access PDO Mapping
60BBh 0 Touch probe pos1 neg value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60BBh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the falling edge of touch probe 1 is returned.

18 - 199
18．EtherCAT COMMUNICATION

(5) Touch probe pos2 pos value (60BCh)

Index Sub Name Data Type Access PDO Mapping
60BCh 0 Touch probe pos2 pos value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60BCh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the rising edge of touch probe 2 is returned.

(6) Touch probe pos2 neg value (60BDh)

Index Sub Name Data Type Access PDO Mapping
60BDh 0 Touch probe pos2 neg value INTEGER32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60BDh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the falling edge of touch probe 2 is returned.

18.7.3.16 Optional application FE Objects

(1) Digital inputs (60FDh)
Index Sub Name Data Type Access PDO Mapping
60FDh 0 Digital inputs UNSIGNED32 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

60FDh 0 00000000h to 037E0007h Impossible

The on/off states of the input device connected to the driver are returned.
This object is available with drivers.

18 - 200
18．EtherCAT COMMUNICATION

Input Status LSP/LSN

Reading device reading output
Initial
Bit connector changing selection reversing Description
device
pin No. parameter parameter paramete
(Note 2) (Note 3) r (Note 4)
Negative limit switch
[Pr. PA14] = 0
0: LSN (Reverse rotation stroke end) off
0 PC76 1: LSN (Reverse rotation stroke end) on
[Pr. PA14] = 1
0: LSP (Forward rotation stroke end) off
1: LSP (Forward rotation stroke end) on
Positive limit switch
[Pr. PA14] = 0
0: LSP (Forward rotation stroke end) off
1 PC76 1: LSP (Forward rotation stroke end) on
[Pr. PA14] = 1
0: LSN (Reverse rotation stroke end) off
1: LSN (Reverse rotation stroke end) on
home switch
2 0: DOG (Proximity dog) off
1: DOG (Proximity dog) on
(reserved) The value at reading is
3 to 16
undefined.
DI1
PC76
17 CN3-2 LSP PD03 PC79 0: Off
(Note 5)
1: On
DI2
PC76
18 CN3-12 LSN PD04 PC79 0: Off
(Note 5)
1: On
DI3
PC76
19 CN3-19 DOG PD05 PC79 0: Off
(Note 5)
1: On
DI4
20 CN3-10 TPR1 PC79 0: TPR1 (Touch probe 1) off
1: TPR1 (Touch probe 1) on
DI5
21 CN3-1 TPR2 PC79 0: TPR2 (Touch probe 2) off
1: TPR2 (Touch probe 2) on
EM2/EM1
22 CN3-20 EM2 PA04 PC79 0: Off
1: On
(reserved) The value at reading is
23
undefined.
Safe torque off 1
24 CN8-4 0: STO1 off
1: STO1 on
Safe torque off 2
25 CN8-5 0: STO2 off
1: STO2 on
26 to (reserved) The value at reading is
31 undefined.

2. You can change input devices of the pin with this parameter setting. When [Pr. PD03] to [Pr. PD05] are set to "_ _ 0 0", the
ON/OFF state of each pin is returned.
3. With this parameter setting, you can specify whether the ON/OFF states of the input devices are returned or the ON/OFF
states of the pins are returned.
4. You can reverse the output with this parameter setting.
5. This parameter is available when [Pr. PC79] is set to "0" (the ON/OFF states of the input devices are returned) while LSP or
LSN is assigned to each pin.

18 - 201
18．EtherCAT COMMUNICATION

(2) Digital outputs (60FEh)

PDO
Index Sub Name Data Type Access
Mapping
0 Number of entries UNSIGNED8 ro Impossible
60FE
1 Physical outputs
h UNSIGNED32 rw Possible
2 Bit mask

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
60FE
1 0 Impossible
h 00000000h to 000E0000h
2 0

Set the ON/OFF states of the output devices connected to the driver.
This object is available with drivers.

(a) Physical outputs (60FEh: 1)

Bit Description
0 to 16 (reserved) The value at reading is undefined. Set "0" when writing.
DO1
0: DOA (General-purpose output A) off
17 1: DOA (General-purpose output A) on
When using this bit, assign DOA (General-purpose output A) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
DO2
0: DOB (General-purpose output B) off
18 1: DOB (General-purpose output B) on
When using this bit, assign DOB (General-purpose output B) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
DO3
0: DOC (General-purpose output C) off
19 1: DOC (General-purpose output C) on
When using this bit, assign DOC (General-purpose output C) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
20 to (reserved) The value at reading is undefined. Set "0" when writing.
31

(b) Bit mask (60FEh: 2)

Bit Description
0 to 16 (reserved) The value at reading is undefined. Set "0" when writing.
DO1
0: DOA (General-purpose output A) disabled
17
1: DOA (General-purpose output A) enabled
When this bit is set to "0", bit 17 of the Physical outputs is always "0".
DO2
0: DOB (General-purpose output B) disabled
18
1: DOB (General-purpose output B) enabled
When this bit is set to "0", bit 18 of the Physical outputs is always "0".
DO3
0: DOC (General-purpose output C) disabled
19
1: DOC (General-purpose output C) enabled
When this bit is set to "0", bit 19 of the Physical outputs is always "0".
20 to (reserved) The value at reading is undefined. Set "0" when writing.
31

18 - 202
18．EtherCAT COMMUNICATION

18.7.3.17 Point Table Mode Objects

(1) Target point table (2D60h)
Index Sub Name Data Type Access PDO Mapping
2D60h 0 Target point table INTEGER16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

2D60h 0 0 Refer to the text. Impossible

In the point table mode (pt), specify the point table No. to execute. In the indexer mode (idx), set the next
station No to execute. The settable values vary depending on the control mode.
This object is available with drivers.
Control mode Range
Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

(2) Point demand value (2D68h)

Index Sub Name Data Type Access PDO Mapping
2D68h 0 Point demand value INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D68h 0 0 Refer to the text. Impossible

In the point table mode (pt), the currently specified point table No. is returned. In the indexer mode (idx),
the currently specified next station No. is returned. The returned values vary depending on the control
mode.
This object is available with drivers.
Control mode Range
Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

(3) Point actual value (2D69h)

Index Sub Name Data Type Access PDO Mapping
2D69h 0 Point actual value INTEGER16 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D69h 0 0 Refer to the text. Impossible

In the point table mode (pt), the completed point table No. is returned. In the indexer mode (idx), the
completed station No. is returned. The returned values vary depending on the control mode.
This object is available with drivers.
Control mode Range
Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

18 - 203
18．EtherCAT COMMUNICATION

(4) Point table 001 (2801h) to Point table 255 (28FFh)

Index Sub Name Data Type Access PDO Mapping
0 Point table 001 to Point table 255 UNSIGNED8 ro
1 Point data
2 Speed
2801h
3 Acceleration
to Impossible
4 Deceleration INTEGER32 rw
28FFh
5 Dwell
6 Auxiliary
7 M code

Index Sub Default Range Units EEP-ROM Parameter

0 7 07h to 07h
1 0 Refer to the text. pos units
00000000h to instantaneous permissible
2 0 vel units
speed
2801h 3 0 00000000h to 00004E20h (0 to 20000) ms
to 4 0 00000000h to 00004E20h (0 to 20000) ms Possible
28FFh 5 0 00000000h to 00004E20h (0 to 20000) ms
00000000h to 00000003h,
6 0 00000008h to 0000000Bh
(0 to 3, 8 to 11)
7 0 00000000h to 00000063h (0 to 99)

Register the positioning data to the point table.

This object is available with drivers.
The settable values in Point data vary depending on the setting of [Pr. PT01].
Setting of [Pr. PT01 (_ x _ _)] Range
0 (mm) FFF0BDC1h to 000F423Fh (-999999 to 999999)
1 (inch) FFF0BDC1h to 000F423Fh (-999999 to 999999)
3 (pulse) FFF0BDC1h to 000F423Fh (-999999 to 999999)

When "1"or "3" is set in Auxiliary of the point table No. 255, bit 6 in the Point table error factor (2A43h)
turns on and an error occurs. The following shows the description of the values to be set in Auxiliary.
Setting
Point table command method Description
value
0 Automatic operation for a selected point table is performed.
Automatic continuous operation is performed to the next point table without a
1
stop.
Absolute value command
Automatic continuous operation is performed without a stop to the point table
8 method
selected at start-up.
Automatic continuous operation is performed without stopping a point table No.
9
1.
2 Automatic operation for a selected point table is performed.
Automatic continuous operation is performed to the next point table without a
3
stop.
Incremental value command
Automatic continuous operation is performed to the point table selected at the
10 method
start.
Automatic continuous operation is performed without stopping a point table No.
11
1.

18 - 204
18．EtherCAT COMMUNICATION

(5) Point table error (2A43h)

Index Sub Name Data Type Access PDO Mapping
0 Point table error UNSIGNED8
2A43h 1 Point table error No. ro Impossible
UNSIGNED32
2 Point table error factor

Index Sub Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2A43h 1 0 00000000h to 000000FFh (0 to 255) Impossible
2 0 00000000h to 000000FDh

The point table No. in which a point table error has occurred is returned with Point table error No. (2A43h:
1). The error factor of the corresponding point table in which a point table error has occurred is returned
with Point table error factor (2A43h: 2).
This object is available with drivers.
Bit Description
0: No error
0
1: Target position error
1 reserved
0: No error
2
1: Speed error
0: No error
3
1: Acceleration time constant error
0: No error
4
1: Deceleration time constant error
0: No error
5
1: Dwell time error
0: No error
6
1: Auxiliary function error
0: No error
7
1: M code error
8 to 31 reserved

(6) M code actual value (2D6Ah)

Index Sub Name Data Type Access PDO Mapping
2D6Ah 0 M code actual value UNSIGNED8 ro Possible

Index Sub Default Range Units EEP-ROM Parameter

2D6Ah 0 0 00h to 63h (0 to 99) Impossible

The completed M code of the point table is returned. In the indexer method, "0" is returned.
This object is available with drivers.

18 - 205
18．EtherCAT COMMUNICATION

18.7.3.18 Cyclic synchronous position mode Objects

(1) Torque offset (60B2h)
PDO
Index Sub Name Data Type Access
Mapping
60B2h 0 Torque offset INTEGER16 rw Possible

Index Sub Default Range Units EEP-ROM Parameter

per thousand
60B2h 0 0 8000h to 7FFFh of rated Impossible
torque

Set the torque offset used in the cyclic synchronous position mode (csp), the cyclic synchronous velocity
mode (csv) and the cyclic synchronous torque mode (cst). If this object is set with other than the cyclic
synchronous mode (csp/csv/cst), the set value will be disabled.
This object is available with drivers.

18 - 206
19．EtherNet/IP COMMUNICATION

19 EtherNet/IP COMMUNICATION ..............................................................................................................3

19.1 EtherNet/IP COMMUNICATION ...................................................................................................3
19.1.1 Summary ....................................................................................................................................3
19.1.2 Function list ...............................................................................................................................4
19.1.3 Communication specifications ..................................................................................................6
19.1.4 Establishing and disconnecting the communication ...............................................................7
19.1.4.1 Communication status .......................................................................................................7
19.1.4.2 Startup ................................................................................................................................8
19.1.4.3 Network disconnection procedure .....................................................................................9
19.1.5 Summary of object library .........................................................................................................9
19.1.5.1 Section definition of Drive Configuration Object (64h) ...................................................9
19.2 EtherNet/IP NETWORK CARD (LEC-S-N9) ................................................................................10
19.2.1 Specifications ...........................................................................................................................10
19.2.2 Parts identification ..................................................................................................................10
19.2.3 LED indication .........................................................................................................................11
19.2.3.1 LED indication definition ................................................................................................11
19.2.3.2 LED indication list ...........................................................................................................11
19.2.4 Connecting Ethernet cables ....................................................................................................12
19.3 I/O COMMUNICATION .................................................................................................................13
19.3.1 I/O communication cycle .........................................................................................................13
19.3.2 I/O communication mapping ...................................................................................................15
19.4 Explicit Message COMMUNICATION ..........................................................................................17
19.4.1 Explicit Message communication-related service ..................................................................17
19.4.2 Common service .......................................................................................................................18
19.4.2.1 Set_Attribute_Single ........................................................................................................18
19.4.2.2 Get_Attribute_Single .......................................................................................................18
19.4.2.3 Get_Attributes_All ...........................................................................................................18
19.4.2.4 Reset ..................................................................................................................................19
19.5 DRIVE PROFILE ............................................................................................................................19
19.5.1 FSA state ..................................................................................................................................19
19.5.2 Controlword/Control DI ..........................................................................................................22
19.5.2.1 Bit definition of Controlword ...........................................................................................22
19.5.2.2 Bit definition of Control DI ..............................................................................................23
19.5.3 Statusword/Status DO ............................................................................................................26
19.5.3.1 Bit definition of Statusword ............................................................................................26
19.5.3.2 Bit definition of Status DO ..............................................................................................27
19.5.4 Control mode ............................................................................................................................33
19.5.4.1 Selecting control mode (Modes of operation) ..................................................................33
19.5.4.2 Control switching .............................................................................................................33
19.5.4.3 Profile position mode (pp) ................................................................................................34
19.5.4.4 Profile velocity mode (pv) .................................................................................................38
19.5.4.5 Profile torque mode (tq) ...................................................................................................42
19.5.4.6 Homing mode (hm) ...........................................................................................................45
19.5.5 Touch probe ..............................................................................................................................72
19.5.6 Quick stop ................................................................................................................................76
19.5.7 Halt ...........................................................................................................................................77
19.5.8 Software position limit ............................................................................................................78
19.5.9 Torque limit .............................................................................................................................78
19.5.10 Polarity ...................................................................................................................................79
19.5.11 Degree function ......................................................................................................................81
19.6 MANUFACTURER FUNCTIONS .................................................................................................83
19.6.1 Object for status monitor ........................................................................................................83
19.6.2 Instruction code .......................................................................................................................85
19.6.2.1 Summary...........................................................................................................................85

19 - 1
19．EtherNet/IP COMMUNICATION

19.6.2.2 Reading instruction codes ................................................................................................85

19.6.2.3 Writing instruction code ..................................................................................................86
19.6.2.4 Variable mapping .............................................................................................................88
19.6.2.5 Respond code ....................................................................................................................89
19.6.3 Stroke end ................................................................................................................................90
19.6.4 Definition of alarm-related objects .........................................................................................91
19.6.5 Parameter object ......................................................................................................................92
19.6.5.1 Definition of parameter objects .......................................................................................92
19.6.5.2 Enabling parameters........................................................................................................93
19.6.6 One-touch tuning .....................................................................................................................94
19.6.7 Machine diagnosis function ....................................................................................................96
19.6.8 Driver life diagnosis function..................................................................................................97
19.6.9 Positioning function by operation start-up signal .................................................................97
19.6.9.1 Summary...........................................................................................................................97
19.6.9.2 Specification list ...............................................................................................................97
19.6.9.3 Settings .............................................................................................................................97
19.6.9.4 Status obtainable in the network communication .........................................................98
19.6.9.5 Operation method.............................................................................................................99
19.7 OBJECT LIBRARY .......................................................................................................................102
19.7.1 Store Parameters ...................................................................................................................102
19.7.2 Supported object library list .................................................................................................103
19.7.3 Object library .........................................................................................................................107
19.7.3.1 General Objects ..............................................................................................................108
19.7.3.2 Communication Setting Objects ....................................................................................112
19.7.3.3 Assembly Objects............................................................................................................123
19.7.3.4 Parameter Objects (Class ID: 64h) ................................................................................125
19.7.3.5 Alarm Objects (Class ID: 64h) .......................................................................................128
19.7.3.6 Monitor Objects (Class ID: 64h) ....................................................................................132
19.7.3.7 Manufacturer Specific Control Objects (Class ID: 64h) ...............................................143
19.7.3.8 PDS Control Objects (Class ID: 64h).............................................................................155
19.7.3.9 Position Control Function Objects (Class ID: 64h) ......................................................159
19.7.3.10 Profile Velocity Mode Objects (Class ID: 64h) ............................................................162
19.7.3.11 Profile Torque Mode Objects (Class ID: 64h) ..............................................................164
19.7.3.12 Profile Position Mode Objects (Class ID: 64h) ............................................................166
19.7.3.13 Homing Mode Objects (Class ID: 64h) ........................................................................171
19.7.3.14 Factor Group Objects ...................................................................................................175
19.7.3.15 Touch Probe Function Objects (Class ID: 64h) ...........................................................178
19.7.3.16 Optional application FE Objects (Class ID: 64h) ........................................................180

19 - 2
19．EtherNet/IP COMMUNICATION

19 EtherNet/IP COMMUNICATION

19.1 EtherNet/IP COMMUNICATION

19.1.1 Summary
EtherNet/IP is the abbreviation of Ethernet Industrial Protocol. It is an industrial open network in which the
TCP/IP protocol has been adopted and the CIP (Common Industrial Protocol) has been used in the
application layer as the communication protocol. EtherNet/IP is controlled by ODVA (Open DeviceNet Vendor
Association, Inc.).
The EtherNet/IP communication is available when the EtherNet/IP network card (LEC-S-N9) is connected to
the driver. The driver to which the EtherNet/IP network card is connected is a Generic device type.

(1) Various control modes supported

The driver supports the following control modes.
Control mode Symbol Description
Profile position mode This is a positioning control mode where an end position command is received to drive the servo
pp motor in the commutation with a upper side.
Use an absolute position address or relative position address for a command.
Profile velocity mode This is a control mode where a target speed command is received to drive the servo motor in the
pv
communication with a upper side.
Profile torque mode This is a control mode where a target torque command is received to drive the servo motor in the
tq
communication with a upper side.
Homing mode This is a control mode where the driver performs a home position return using the method directed
hm
by the upper side.

(2) Compliance with standards

drivers comply with the following standards. Refer to the following standards for the description not
written in this Manual.
Standards Version
THE CIP NETWORKS LIBRARY Volume 1
Edition 3.15
Common Industrial Protocol (CIPTM)
THE CIP NETWORKS LIBRARY Volume 2
Edition 1.16
EtherNet/IP Adaptation of CIP
CANopen
Version 2.0
Device Profile Drives and Motion Control

19 - 3
19．EtherNet/IP COMMUNICATION

19.1.2 Function list

The following table lists the functions available with the driver to which the EtherNet/IP network card
is connected.
Function Description Reference
The positioning operation performed by an asynchronous end position command
Profile position mode (pp)
through network is supported.
The speed control operation performed by an asynchronous speed command
Profile velocity mode (pv)
through network is supported. Section 5.4
The torque control operation performed by an asynchronous torque command
Profile torque mode (tq)
through network is supported.
Homing mode (hm) The home position return operation specified in each network is supported.
This function achieves a high response and stable control following the ideal
model. The two-degrees-of-freedom model adaptive control enables you to set a
Model adaptive control response to the command and a response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to section
7.5
High-resolution encoder of 4194304 pulses/rev is used for the encoder of the
High-resolution encoder
rotary servo motor compatible with the MELSERVO-J4 series.
Absolute position detection Setting a home position once makes home position return unnecessary at every _
system power-on. Chapter 12
You can switch gains during rotation/stop, and can use input devices to switch _
Gain switching function
gains during operation. Section 7.2
Advanced vibration suppression _
This function suppresses vibration at an arm end or residual vibration.
control II Section 7.1.5
Machine resonance suppression This filter function (notch filter) decreases the gain of the specific frequency to _
filter suppress the resonance of the mechanical system. Section 7.1.1
When a load is mounted to the servo motor shaft, resonance by shaft torsion
Shaft resonance suppression _
during driving may generate a mechanical vibration of high frequency. The shaft
filter Section 7.1.3
resonance suppression filter suppresses the vibration.
The driver detects mechanical resonance and sets filter characteristics _
Adaptive filter II
automatically to suppress mechanical vibration. Section 7.1.2
Suppresses high-frequency resonance which occurs as the servo system _
Low-pass filter
response is increased. Section 7.1.4
This function analyzes the frequency characteristic of the mechanical system by
simply connecting an Setup software (MR Configurator2TM)-installed personal
Machine analyzer function
computer and the driver.
Setup software (MR Configurator2TM) is necessary for this function.
For roll feed axis, etc. of which a response level cannot be increased because of
Robust filter [Pr. PE41]
the large load to motor inertia ratio, this function improves a disturbance response.
Slight vibration suppression
This function suppresses vibration of ±1 pulse generated at a servo motor stop. [Pr. PB24]
control
Positioning control is performed with the value obtained by multiplying the position [Pr. PA06]
Electronic gear
command from the upper side by a set electronic gear ratio. [Pr. PA07]
S-pattern
acceleration/deceleration time Speed can be increased and decreased smoothly. [Pr. PT51]
constant
Automatically adjusts the gain to optimum value if load applied to the servo motor _
Auto tuning
shaft varies. Section 6.3
Use the power regeneration converter when the regenerative option cannot _
Power regeneration converter
provide sufficient regenerative capacity. Section 11.4
Use a regenerative option when the built-in regenerative resistor of the driver does _
Regenerative option
not have sufficient regenerative capacity for a large regenerative power generated. Section 11.2
Alarm history clear This function clears alarm histories. [Pr. PC21]

19 - 4
19．EtherNet/IP COMMUNICATION

Function Description Reference

[Pr. PA11]
Torque limit Limits the servo motor torque.
[Pr. PA12]
Speed limit The servo motor speed can be limited. [Pr. PT67]
_
Status display Shows servo status on the 3-digit, 7-segment LED display
Section 4.3
Input signal selection (device The input devices including LSP (forward rotation stroke end) and LSN (reverse [Pr. PD03] to
settings) rotation stroke end) can be assigned to certain pins of the CN3 connector. [Pr. PD05]
Output signal selection (device The output devices including ALM (Malfunction) can be assigned to specified pins [Pr. PD07] to
settings) of the CN3 connector. [Pr. PD09]
_
Turns on/off the output signals forcibly independently of the servo status.
Output signal (DO) forced output Section 4.5.1
Use this function for checking output signal wiring, etc.
(1) (d)
Jog operation, positioning operation, motor-less operation, DO forced output, and
_
Test operation mode program operation
Section 4.5
Setup software (MR Configurator2TM) is necessary for this function.
[Pr. PC09]
Analog monitor output This function outputs servo status with voltage in real time.
[Pr. PC10]
Setup software (MR Using a personal computer, you can perform the parameter setting, test operation, _
Configurator2TM) monitoring, and others. Section 11.7
Section 5.5
This function latches the current position at the rising edge of the external latch _
Latch function (Touch probe)
input signal. Section 3.5
[Pr. PD37]
Gain adjustment is performed just by one click a certain button on Setup software Section 6.7
One-touch tuning (MR Configurator2TM). _
Also, one-touch tuning can be performed via a network. Section 6.2
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical _
energy charged in the capacitor in case that an instantaneous power failure occurs
Section 7.4
SEMI-F47 function during operation. Use a 3-phase for the input power supply of the driver. Using a
[Pr. PA20]
1-phase 100 V AC/200 V AC for the input power supply will not comply with
SEMI-F47 standard. [Pr. PF25]
This function makes the equipment continue operating even under the condition
that an alarm occurs. The tough drive function includes two types: the vibration
tough drive and the instantaneous power failure tough drive.
However, the drive recorder is not available when:
_
Tough drive function 1. The graph function of Setup software (MR Configurator2TM) is being used.
Section 7.3
2. The machine analyzer function is being used.
3. [Pr. PF21] is set to "-1".
4. The upper side is not connected (except the test operation mode).
5. An alarm related to the upper side is occurring.
This function continuously monitors the servo status and records the status
transition before and after an alarm for a fixed period of time. You can check the
Drive recorder function [Pr. PA23]
recorded data on the drive recorder window on Setup software (MR
Configurator2TM) by clicking the "Graph" button.
This driver complies with the STO function as functional safety of IEC/EN _
STO function
61800-5-2. You can create a safety system for the equipment easily. Chapter 13
You can check the cumulative energization time and the number of on/off times of
the inrush relay. This function gives an indication of the replacement time for parts
Driver life diagnosis function of the driver including a capacitor and a relay before they malfunction. Section 6.9
This function is available with Setup software (MR Configurator2TM) or via a
network.
This function calculates the power running energy and the regenerative power
from the data in the driver such as speed and current. Power consumption and
Power monitoring function Section 6.1
others are displayed on Setup software (MR Configurator2TM). Also, the power
monitoring function can be used via a network.

19 - 5
19．EtherNet/IP COMMUNICATION

Function Description Reference

From the data in the driver, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
Machine diagnosis function machine parts, including a ball screw and bearing. Section 6.8
This function is available with Setup software (MR Configurator2TM) or via a
network.
Lost motion compensation This function improves the response delay generated when the machine moving _
function direction is reversed. Section 7.6
This function sets constant and uniform acceleration/deceleration droop pulses to _
Super trace control
almost 0. Section 7.7
Limits travel intervals using LSP (Forward rotation stroke end) and LSN (Reverse
Limit switch
rotation stroke end).
Section 5.8
_
Limits travel intervals by address using parameters.
Software limit Section 5.3
The same function with the limit switch is enabled by setting parameters.
[Pr. PT15] to
[Pr. PT18]
You can configure various settings and monitor the driver in a web browser. Refer
Web server
to the website of Mitsubishi Electric Automation, Inc. for details.
Superimposed synchronous This function drives the servo motor by using externally input pulses as the
Section 6.10
control function master.
Positioning function by operation
This function starts positioning with an input signal. Section 6.11
start-up signal

19.1.3 Communication specifications

The following table shows the communication specifications.
Item Description Remark
THE CIP NETWORKS LIBRARY Volume 1
EtherNet/IP communication Common Industrial Protocol (CIP™)
specifications THE CIP NETWORKS LIBRARY Volume 2
EtherNet/IP Adaptation of CIP
Physical layer 10BASE-T/100BASE-TX

Communication connector RJ45, 2 ports (port 1 and port 2)

CAT5e, shielded twisted pair (4 pair) straight Double-shielded type recommended
Communication cable
cable
Line, Star, Ring, or a connection topology
Network topology
where the topologies are used together
Variable communication speed 10 Mbps/100 Mbps (half duplex/full duplex)
Transmission speed between Max. 100 m
stations
Compliant with the specifications of the
Number of nodes
standard Ethernet
Asynchronous
Explicit message communication
Sending/Receiving: 1 channel each
I/O message communication Cycle time: Select from 1 ms to 100 ms
Network Status, Card Status, LINK/Activity
LED display
(port1, port2)

19 - 6
19．EtherNet/IP COMMUNICATION

19.1.4 Establishing and disconnecting the communication

19.1.4.1 Communication status

The following shows the classification of the communication status. Two communication types are provided:
One is the I/O communication where command data and feedback data are sent and received at a constant
period. Another is the Explicit Message communication where object data is sent and received
asynchronously. Refer to chapter 3 for details of the I/O communication. Refer to chapter 4 for details of the
Explicit Message communication.
Establishing the I/O connection and switching the mode to the Run mode make the driver ready for driving
the servo motor.
The communication status can be checked with Class 01h, Instance 1h, and Attribute 5 Status. Refer to
chapter 7 for details.
Pow er on

(1)

Non-Exi stent

(2) (3)

Configuring
(8)
(4)

Established Closing
(7)
Idle

(10) (5) (6)

Run

(9)

Fig. 1.1

Table 1.1 EtherNet/IP state transition

Transition
Description
No.
(1) Power on
When Connection Manager Object receives a Forward_Open request or a Large_Forward_Open request, the state
(2)
shifts to the Configuring state.
When Connection Manager Object fails to establish a connection requested by Forward_Open or
(3)
Large_Forward_Open, the state shifts to the Non-Existent state.
When a connection requested by Forward_Open or Large_Forward_Open is established, the state shifts to the
(4) Established state. Just after the connection is established, the connection goes in the Idle state. In this state, the
servo motor cannot be driven through the communication.
When the slave receives a Run notification from the master, the state of the slave shifts from the Idle state to the Run
(5)
state. In this state, the servo motor can be driven through the communication.
When the slave receives an Idle notification from the master, the state of the slave shifts from the Run state to the
(6)
Idle state. When the state shifts from the Run state to the Idle state, a hot start is given to the driver.
(7) When the slave receives a Forward_Close request from the master, the state of the slave shifts to the Closing state.
When a connection is disconnected by a Forword_Close request, the state shifts to the Non-Existent state. When a
(8)
communication is disconnected while the connection is in the Run state, a hot start is given to the driver.
(9) When a disconnection requested by Forward_Close fails, the state shifts from the Closing state to the Establish state.
When a connection timeout occurs, the state shifts to the Non-Existent state. When a connection timeout occurs
(10)
while the connection is in the Run state, a hot start is given to the driver.

19 - 7
19．EtherNet/IP COMMUNICATION

19.1.4.2 Startup
The following describes the settings and startup of the EtherNet/IP communication. Refer to section 4.1 for
the startup procedure other than the network setting.

(1) Connection with the upper side

Set up the upper side following the manual of the upper side used.

(2) Parameter setting

Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 of for the parameter setting.

(3) IP address setting

Set an IP address using the AnybusIPconfig tool offered by HMS Industrial Networks and the axis
selection rotary switch (SW2/SW3) on the display of the driver. Change the IP address with the axis
selection rotary switch (SW2/SW3) before powering on the driver. The IP address you set can be
checked with the "AnybusIPconfig" tool or system configuration window of MR Configurator 2. You can
set an IP address as follows.
Axis selection rotary
IP address setting value
switch (SW2/SW3)
00h An IP address set by the AnybusIPconfig tool is used.
Although an IP address set by the AnybusIPconfig tool is used, the
forth octet value is replaced with a value set with the axis selection
rotary switch (SW2/SW3). The DHCP function is disabled.
01h to FEh
Set a hexadecimal value with the axis selection rotary switch
(SW2/SW3). The hexadecimal value is converted into a decimal
value and set as the fourth octet of the IP address.
FFh The DHCP function is enabled.

(4) Setting tool

The following table lists the tools used for starting up the EtherNet/IP communication and tool
manufacturers.
Tool Explanation Manufacturer
MR Configurator 2 This software is used to configure various settings of
the driver and helps maintenance works.
AnybusIPconfig This tool is used to set an IP address to the You can get this tool from the website of HMS
EtherNet/IP network card (LEC-S-N9). Industrial Networks.

19 - 8
19．EtherNet/IP COMMUNICATION

19.1.4.3 Network disconnection procedure

To disconnect the network by stopping device operation or other means, follow the procedure shown below.

(1) Stop the servo motor.

(2) Set the shutdown command for Controlword (Class 64h, Instance 6040h, Attribute 0) to establish the
servo-off status.

(3) Issue the Forward_Close service from the upper side and disconnect the I/O communication.

(4) Shut off the power of the driver and upper side.

19.1.5 Summary of object library

POINT
Refer to chapter 7 for details of the object library.

Each data set that EtherNet/IP devices have such as control parameters, command values, and feedback
values is handled as an object composed of a Class ID, object name, data type, access rule, and other
elements. The object data can be exchanged between the master and slave devices. The aggregate of these
objects is called object library.
The drivers support the following objects. Refer to the Reference column for the section where the details of
each object are described.
Class ID Object name Reference
01h Identity Object Section 7.3.1 (1)
02h Message Router Object Section 7.3.2 (1)
04h Assembly Object Section 7.3.3
06h Connection Manager Object Section 7.3.2 (2)
47h Device Level Ring(DLR) Object Section 7.3.2 (3)
48h QoS Object Section 7.3.2 (4)
F5h TCP/IP Interface Object Section 7.3.2 (5)
F6h Ethernet Link Object Section 7.3.2 (6)
64h Drive Configuration Object Section 7.3.1 (2)
Section 7.3.4 to
7.3.16

19.1.5.1 Section definition of Drive Configuration Object (64h)

The master can control the slave by sending and receiving commands/feedback data via Drive Configuration
Object. Instances of Drive Configuration Object are categorized as follows according to the CiA 402 standard.
Class ID Ins ID Description Reference
64h 1000h to 1FFFh CoE communication area Chapter 7
2000h to 25FFh Parameter area (Vendor-specific) Section 6.5, Chapter 7
2A00h to 2FFFh Servo control command/monitor area (Vendor-specific) Chapter 6, Chapter 7
6000h to 6FFFh CiA 402 Drive profile area Chapter 5, Chapter 7

19 - 9
19．EtherNet/IP COMMUNICATION

19.2 EtherNet/IP NETWORK CARD (LEC-S-N9)

The EtherNet/IP communication with an driver requires the EtherNet/IP Network card (LEC-S-N9). The
following shows the details.

19.2.1 Specifications
Item Description
Product name LEC-S-N9
Model AB6927-C
Manufacturer HMS Industrial Networks
driver connecting interface: Compact flash connector with standard 50 pins
External interface
EtherNet/IP communication port interface: RJ45 connector
52 (W) × 50 (D) × 20 (H)
Dimensions
(Except the protrusion of the EtherNet/IP communication port connector)
Mass Approx. 30 g

19.2.2 Parts identification

This section describes the EtherNet/IP Network card (LEC-S-N9) only. Refer to section 1.7 for the driver.
Detailed
(5) No. Name/Application
explanation
(3)
Card Status LED Section
(1)
(1) Indicates the card status. 2.3.2 (2)
RJ45 EtherNet/IP communication port (port 2)
(2) Connect an EtherNet/IP master upper side or a Section 2.4
driver.
Link/Activity LED (port 2)
Section
(3) Indicates the link status of each EtherNet/IP
2.3.2 (3)
communication port.
(6) RJ45 EtherNet/IP communication port (port 1)
(4) Connect an EtherNet/IP master upper side or a Section 2.4
driver.
(2) Link/Activity LED (port 1)
Section
(4) (5) Indicates the link status of each EtherNet/IP
2.3.2 (3)
communication port.
Network Status LED Section
(6)
Indicates the communication status. 2.3.2 (1)

19 - 10
19．EtherNet/IP COMMUNICATION

19.2.3 LED indication

The LEDs of the EtherNet/IP Network card (LEC-S-N9) function according to the regulations of the
EtherNet/IP standard (THE CIP NETWORKS LIBRARY Volume 2: EtherNet/IP Adaptation of CIP). Under
certain conditions, the EtherNet/IP Network card (LEC-S-N9) indicates its status by its own specifications.

19.2.3.1 LED indication definition

The following shows the LED indication definitions.
LED status Definition
Lit An LED remains lit.
Extinguished An LED remains extinguished.
Flickering 1 An LED is switching between lit and extinguished at 1 Hz cycles (every 500 ms).
Flickering 2 An LED flickers at an inconstant cycle. The cycle varies depending on the packet
amount of Ethernet.

19.2.3.2 LED indication list

(1) Network Status LED
The Network Status LED indicates the EtherNet/IP communication status. The extinguished Network
Status LED may be affected by the LED status of the Link/Activity LEDs.
LED status Description
Extinguished Indicates that the power is shut off or no IP address has been assigned.
Flickering 1 in green Indicates that an IP address has been assigned and the EtherNet/IP Network
card has not been connected to the network.
Lit in green Indicates that a network connection has been established.
Flickering 1 in red Indicates that a network connection timeout has occurred.
Lit in red Indicates that duplication of an IP address has been detected.
Indicates that a fatal error has occurred. This indication is specific to the
EtherNet/IP Network card (ABCC-M40-EIP).
Flickering 1 alternately in green and Indicates that the driver and the network card are diagnosing themselves.
red

(2) Card Status LED

The Card Status LED indicates each status of the driver and the network card and an error in the
EtherNet/IP communication.
LED status Description
Extinguished Indicates that the power is shut off.
Lit in green Indicates that the driver and the network card operate normally.
Flickering 1 in green Indicates that the settings of the driver and the network card are not completed.
Flickering 1 in red Indicates that the self-diagnoses of the driver and the network card have
detected minor malfunctions that can be solved.
Lit in red Indicates that the self-diagnoses of the driver and the network card have
detected major malfunctions that cannot be solved.
Flickering 1 alternately in green and Indicates that the driver and the network card are diagnosing themselves.
red

19 - 11
19．EtherNet/IP COMMUNICATION

(3) Link/Activity LED

The Link/Activity LEDs indicate the link status of each EtherNet/IP communication port.
LED status Description
Extinguished Indicates that the power supply is shut off or the link-unestablished state.
Lit in green Indicates that the link is established without traffic. (100 Mbit/s)
Flickering 2 in green Indicates that the link is established with traffic. (100 Mbit/s)
Lit in yellow Indicates that the link is established without traffic. (10 Mbit/s)
Flickering 2 in yellow Indicates that the link is established with traffic. (10 Mbit/s)

19.2.4 Connecting Ethernet cables

POINT
Use a twisted pair cable (double shielded) compliant with Ethernet Category 5e
(100BASE-TX) or higher as an Ethernet cable. The maximum cable length
between nodes is 100 m.

When the RJ45 EtherNet/IP communication ports (port 1 and port 2) are not used, leave these ports open.
The first axis The second axis The final axis
driver
servo amplifier driver
servo amplifier driver
servo amplifier

port 2 port 2 port 2

Ethernet cable Ethernet cable
Upper Ethernet cable
Controller
side
port 1 port 1 port 1

19 - 12
19．EtherNet/IP COMMUNICATION

19.3 I/O COMMUNICATION

The I/O communication can send and receive command data/feedback data between a master (upper side)
and slaves (driver) at a constant cycle.

19.3.1 I/O communication cycle

Specify an I/O communication cycle by using the Forward_Open or Large_Forward_Open service of Class
06h Connection Manager Object through the Explicit message communication. Refer to (1) in this section for
details.

(1) Communication cycle-related object

POINT
Set a proper value for Communication timeout time on connection establishment
according to the machine configuration. If the Communication timeout time is set
longer than necessary, it will take longer for the servo motor to stop at the
occurrence of a communication error.

Establish the Explicit Message connection and the I/O Message connection by using the Forward_Open
or Large_Forward_Open service for Class 06h - Connection Manager Object.
Use Transport Class 1 for the I/O connection and Transport Class 3 for the Explicit Messaging
connection. Refer to "THE CIP NETWORKS LIBRARY Volume 1 Common Industrial Protocol (CIPTM)"
for details of Transport Class.
For the EtherNet/IP master, set the following parameters using the Forward_Open or
Large_Forward_Open service.
If you need to frequently transfer data through the Explicit Message connection, establish the connection
using the Forward_Open or Large_Forward_Open service. If you do not need to transfer data often
through the Explicit Message communication, establishment of the connection is an option.
N Explicit
I/O
o Parameter Data type Description Messaging
connection
. connection
1 Priority/Time_tick BYTE Used to calculate request timeout
Details of setting values information.
BIT 0 to Unit of the time specified by the 0 to 15 0 to 15
Tick Time
BIT 3 Time-out_ticks parameter
Priority of non-connection type 0: Normal 0: Normal
Priority BIT 4
messages
BIT 5 to 0 0
Reserved
BIT 7
2 Time-out_ticks USINT Used to calculate request timeout 0 to 255 0 to 255
information.
3 O->T Network Connection ID UDINT Network Connection ID to be used 00000000h 00000000h
for the local link, originator to target. to to
This is the originator's CIP send FFFFFFFF FFFFFFFF
connection ID. h h
4 T->O Network Connection ID UDINT Network Connection ID to be used 00000000h 00000000h
for the local link, target to originator. to to
This is the originator's CIP receive FFFFFFFF FFFFFFFF
connection ID. h h
5 Connection Serial Number UINT A unique 16-bit value selected by 0000h to 0000h to
the Connection Manager object in FFFFh FFFFh
the connection originator

19 - 13
19．EtherNet/IP COMMUNICATION

N Explicit
I/O
o Parameter Data type Description Messaging
connection
. connection
6 Originator Vendor ID UINT Vendor ID of an originator node A value of A value of
Identity Identity
object object
instance instance
attribute 1 attribute 1
7 Originator Serial Number UDINT Serial number of an originator node A value of A value of
Identity Identity
object object
instance instance
attribute 6 attribute 6
8 Connection Timeout Multiplier USINT Used to specify the multiplier 0 to 7 0 to 7
applied to the RPI to obtain the
connection timeout value.
9 Reserved Octet 0 0
Octet 0 0
Octet 0 0
1 O->T RPI UDINT Requested packet transmission 1000 to 100000 to
0 speed, originator to target. [μs] 100000 10000000
1 O->T Network Connection WORD/ Connection size 0046h to 0040h to
1 Parameters DWORD Set a fixed size or a variable size. 4C46h/ 4040h/
(Note 1) 00000046h 00000040h
to to
2C000046 20000040h
h (Note 2)
(Note 2)
1 T->O RPI UDINT Requested packet transmission 1000 to 100000 to
2 speed, target to originator [μs] 100000 10000000
1 T->O Network Connection WORD/ Connection size 0046h to 0040h to
3 Parameters DWORD Set a fixed size or a variable size. 4C46h/ 4040h/
(Note 1) 00000046h 00000040h
to to
2C000046 20000040h
h (Note 2)
1 Transport Type/Trigger BYTE
4 Details of setting values
BIT 0 to Set a Transport Class to be used in 1 3
Transport Class
BIT 3 data communication.
Set a trigger condition of data 0: Cyclic 2:
BIT 4 to
Production Trigger transmission. 1: Change Application
BIT 6
of state object
Indicates that an end point works on 0: Client 0: Client
Direction BIT 7
the connection as a client or server. 1: Server 1: Server
1 Connection_Path_Size USINT The number of 16-bit words in the 0 to 255 0 to 255
5 Connection_Path field.
1 Connection_Path Padded Indicates the route to the Remote Set the IP Set the IP
6 EPATH Target Device. address or address or
the host the host
name of name of
the the
connection connection
destination destination
. .

Note 1. The data type of this parameter is a WORD for the Forward_Open service, and a DWORD for the Large_Forward_Open
service.
2. Multicast connections are not supported.

19 - 14
19．EtherNet/IP COMMUNICATION

(2) Network Connection Parameters format

(a) Forward_Open service
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Redundant Connection Fixed/
Reserved Priority Connection Size (in bytes)
Owner Type Variable

(b) Large_Forward_Open service

31 30 29 28 27 26 25 24-16 15-0
Redundant Connection Fixed/
Reserved Priority Reserved Connection Size (in bytes)
Owner Type Variable

19.3.2 I/O communication mapping

(1) I/O communication format (input)
The following table lists the communication data formats from the master (upper side) to slaves (driver).
Instance numbers in the table correspond to the instance numbers of Assembly object.
Map number Mapping initial setting Expected application of the initial map
1st Output data 1 Byte: Modes of operation (6060h) Profile position mode (pp)
(Instance 150) 1 Byte: Reserved Profile velocity mode (pv)
2 Byte: Controlword (6040h) Profile torque mode (tq)
4 Byte: Target position (607Ah) Homing mode (hm)
4 Byte: Target velocity (60FFh)
2 Byte: Target torque (6071h) Mapping for an application in which the modes
2 Byte: Reserved above are switched
4 Byte: Profile velocity (6081h)
4 Byte: Profile acceleration (6083h) Map size: 64 bytes
4 Byte: Profile deceleration (6084h)
4 Byte: Torque slope (6087h)
4 Byte: Instruction code
4 Byte: Writing data
2 Byte: Control DI 10 (2D0Ah)
2 Byte: User defined data 0 (Initial value: Control
DI 1 (2D01h)) (Note)
2 Byte: User defined data 1 (Initial value: Control
DI 2 (2D02h)) (Note)
2 Byte: User defined data 2 (Initial value: Control
DI 3 (2D03h)) (Note)
4 Byte: User defined data 3 (Initial value:
Velocity limit value (2D20h)) (Note)
4 Byte: User defined data 4 (Initial value: Not
assigned) (Note)
4 Byte: User defined data 5 (Initial value: Not
assigned) (Note)
4 Byte: User defined data 6 (Initial value: Not
assigned) (Note)

Note. User defined data 0 to User defined data 6 are variable objects.

19 - 15
19．EtherNet/IP COMMUNICATION

(2) I/O communication format (output)

The following table lists the communication data formats from slaves (driver) to the master (upper side).
Instance numbers in the table correspond to the instance numbers of Assembly object.
Map number Mapping initial setting Expected application of the initial map
1st Input map 1 Byte: Modes of operation display (6061h) Profile position mode (pp)
(Instance 100) 1 Byte: Reserved Profile velocity mode (pv)
2 Byte: Statusword (6041h) Profile torque mode (tq)
4 Byte: Position actual value (6064h) Homing mode (hm)
4 Byte: Velocity actual value (606Ch)
2 Byte: Torque actual value (6077h) Mapping for an application in which the modes
2 Byte: Reserved above are switched
4 Byte: Reading data
2 Byte: Respond code Map size: 64 bytes
2 Byte: Status DO 10 (2D1Ah)
2 Byte: User defined data 0 (Initial value: Status
DO 1 (2D11h)) (Note)
2 Byte: User defined data 1 (Initial value: Status
DO 2 (2D12h)) (Note)
2 Byte: User defined data 2 (Initial value: Status
DO 3 (2D13h)) (Note)
2 Byte: Reserved
4 Byte: User defined data 3 (Initial value:
Following error actual value (60F4h))
(Note)
4 Byte: User defined data 4 (Initial value: Digital
Input (60FDh)) (Note)
4 Byte: User defined data 5 (Initial value: Not
assigned) (Note)
4 Byte: User defined data 6 (Initial value: Not
assigned) (Note)
16 Byte: Reserved

Note. User defined data 0 to User defined data 6 are variable objects.

(3) Variable mapping function

The instances defined by User defined data_ can be dynamically switched to any send instance or
receive instance. Use instruction codes for switching instances. Refer to section 6.2 for details.

19 - 16
19．EtherNet/IP COMMUNICATION

19.4 Explicit Message COMMUNICATION

The Explicit Message communication transfers object data between a master (upper side) and slaves (driver)
asynchronously.
Services that can be used through the Explicit Message communication depend on their classes and
instances. Refer to chapter 7 for the services that are supported by each class and instance. Refer to "THE
CIP NETWORKS LIBRARY Volume 1 Common Industrial Protocol (CIPTM) Appendix A" for details of each
service.

19.4.1 Explicit Message communication-related service

The driver supports the following common services and object-specific services that are related to the Explicit
Message communication. Refer to chapter 7 for the object-specific services. Refer to section 4.2 for the
common services.

(1) Common service

Service Description
Set_Attribute_Single Writes a value to the specified attribute.
Get_Attribute_Single Reads the value of the specified attribute.
Get_Attributes_All Reads the values of all the attributes.
Reset Calls the Reset service of the specified class/object.

(2) Object-specific service

Service Description
Large_Forward_Open Used in the Connection Manager Object.
Forward_Open Used in the Connection Manager Object.
Forward_Close Used in the Connection Manager Object.
Get_And_Clear Used in the Ethernet Link Object.

19 - 17
19．EtherNet/IP COMMUNICATION

19.4.2 Common service

The general status codes in this section are codes _ drivers respond. The codes network cards respond are
not included. Refer to "General Status Codes" of "THE CIP NETWORKS LIBRARY Volume 1 Common
Industrial Protocol (CIPTM) Appendix A" for all the general status codes.

19.4.2.1 Set_Attribute_Single
When a Set_Attribute_Single request is sent from the master (upper side), the Set_Attribute_Single service
writes a specified value to the attribute with the Class ID, Instance ID, and Attribute ID specified at the timing
of the request.
This service returns either of the following general status codes depending on conditions.
General status
Meaning Cause
code
05h Path destination unknown A non-existent object or instance has been specified.
14h Attribute not supported A non-existent attribute has been specified.
0Eh Attribute not settable A value was written to a non-modifiable attribute.
09h Invalid attribute value A value outside the parameter range was written.
Embedded service error A value was written to a parameter outside the writing
1Eh
range set in the parameter block setting.
Service not supported A request was issued to a class and an instance that do
08h
not support the Set_Attribute_Single service.

19.4.2.2 Get_Attribute_Single
When a Get_Attribute_Single request is sent from the master (upper side), the Get_Attribute_Single service
returns the value of the attribute with the Class ID, Instance ID, and Attribute ID specified at the timing of the
request.
This service returns either of the following general status codes depending on conditions.
General status
Meaning Cause
code
05h Path destination unknown A non-existent object or instance has been specified.
14h Attribute not supported A non-existent attribute has been specified.
2Ch Attribute not gettable Reading an unreadable attribute was attempted.
Embedded service error Reading a parameter object outside the reference range
1Eh
set in the parameter block setting was attempted.
Service not supported A request was issued to a class and an instance that do
08h
not support the Get_Attribute_Single service.

19.4.2.3 Get_Attributes_All
When a Get_Attributes_All request is sent from the master (upper side), the Get_Attributes_All service
returns the values of all the attributes with the Class IDs and Instance IDs specified at the timing of the
request.
This service returns either of the following general status codes depending on conditions.
General status
Meaning Cause
code
05h Path destination unknown A non-existent object or instance has been specified.
2Ch Attribute not gettable Reading an unreadable attribute was attempted.
Embedded service error Reading a parameter object outside the reference range
1Eh
set in the parameter block setting was attempted.
Service not supported A request was issued to a class and an instance that do
08h
not support the Get_Attributes_All service.

19 - 18
19．EtherNet/IP COMMUNICATION

19.4.2.4 Reset
When a Reset request is sent from the master (upper side), the Reset service performs the reset processing
that was specified by the Class ID, Instance ID, and object-specific parameter that were specified at the
timing of the request. The processing to be performed when a Reset request is received depends on the
object. Refer to section 7.3.1 (1) for details.
This service returns either of the following general status codes depending on conditions.
General status
Meaning Cause
code
20h Invalid parameter An unsupported reset type was specified.
Service not supported A request was issued to a class and an instance that do
08h
not support the Reset service.

19.5 DRIVE PROFILE

19.5.1 FSA state

The inside state of the driver is controlled based on the FSA state, defined in the CiA 402 drive profile
standard. Figure 5.1 and Table 5.1 show the transition conditions between the FSA states. The states are
switched when the master sends a command following the table (sets Controlword) after the I/O
communication was established. When the state has transitioned from Not ready to switch on, which is right
after the power on, to Operation enabled with the predetermined procedure, the servo motor becomes ready
to operate.

19 - 19
19．EtherNet/IP COMMUNICATION

Pow er on Pow er off

(0)

(A): Ready-off, Servo-off

Not ready to
switch on
(1)
(15)
Sw itch on
disabled Fault

(2) (7)

(12) (10) Ready to (14)

switch on
(3) (6)

(B): Ready-on, Servo-off

(8) (9)
Sw itched on

(4) (5) Fault reaction

active
(16)
(C): Ready-on, Servo-on
Quick stop Operation
active enabled (13)
(11) Error occurs

Transition by slave
Transition by master
Transition by slave or master

Figure 5.1 Transition between the FSA states

Table 5.1 State transition

Transiti
Event Remark
on No.
(0) The control circuit power supply is turned on. Initialization
The state automatically transitions when the control circuit power
(1) Communication setting
supply is turned on.
The state transitions with the Shutdown command from the
(2)
master.
The state transitions with the Switch on command from the
(3) RA turns on.
master.
The state transitions with the Enable operation command from
(4) The operation becomes ready after servo-on.
the master.
The state transitions with the Disable operation command from
(5) The operation is disabled after servo-off.
the master.
The state transitions with the Shutdown command from the
(6) RA turns off.
master.
The state transitions with the Disable Voltage command or Quick
(7)
Stop command from the master.
(a) The state transitions with the Shutdown command from the
master.
(8) Operation is disabled after servo-off or RA-off.
(b) The state transitions when the main circuit power supply is
turned off.
The state transitions with the Disable Voltage command from the
(9) Operation is disabled after servo-off or RA-off.
master.
The state transitions with the Disable Voltage command or Quick
(10) RA turns off.
Stop command from the master.
The state transitions with the Quick Stop command from the
(11) Quick Stop starts.
master.
(a) The state automatically transitions after Quick Stop is
completed. (If the Quick Stop option code is 1, 2, 3, or 4)
(12) Operation is disabled after servo-off or RA-off.
(b) The state transitions with the Disable Voltage command from
the master.
(13) Alarm occurrence Processing against the alarm is executed.

19 - 20
19．EtherNet/IP COMMUNICATION

Transiti
Event Remark
on No.
After processing against the alarm has been
(14) Automatic transition completed, servo-off or RA-off is performed and
the operation is disabled.
The state transitions with the Fault Reset command from the Alarms are reset.
(15)
master. Alarms that can be reset are reset.
(16)
(Not The state transitions with the Enable Operation command from
support the master. The operation becomes ready.
ed) (If the Quick Stop option code is 5, 6, 7, or 8)
(Note)

No This is not supported by the driver.

te.

The following table lists the commands issued to the driver. Turn on the bits according to the command.
Command bit setting of Controlword
Bit 3 Bit 1
Command Bit 7 Bit 2 Bit 0 Transition No.
Enable Enable
Fault Reset Quick Stop Switch On
Operation Voltage
Shutdown 0 1 1 0 (2)/(6)/(8)
Switch On 0 0 1 1 1 (3)
(7)/(9)/(10)/(1
Disable Voltage 0 0
2)
Quick Stop 0 0 1 (7)/(10)/(11)
Disable
0 0 1 1 1 (5)
Operation
Enable
0 1 1 1 1 (4)/(16)
Operation
Fault Reset 0 → 1 (Note) (15)

Note. In faulty communication, hold the state of Bit 7 = 1 according to the communication cycle for the Fault Reset command to
prevent the command from failing to be recognized.
When the time determined by doubling the communication cycle is 10 ms or shorter: Hold the state for 10 ms.
When the time determined by doubling the communication cycle is longer than 10 ms: Hold the state for the time determined
by doubling the communication cycle.
The above time has been defined to prevent the Fault Reset command from failing to be recognized when a communication
loss occurs. A communication loss occurs frequently depending on the operating environment of the device. Adjust the time
according to the environment.

Figure 5.1 and Table 5.1 show the FSA state transition conditions. The transition from the Switch on disabled
state to the Operation enabled state requires Shutdown, Switch on, and Enable operation to be issued in this
order. However, with the driver, transition to the target state skipping the states in between is possible.
Current state Command State after transition
Switch on disabled Switch on Switched on
Switch on disabled Enable operation Operation enabled
Ready to switch on Enable operation Operation enabled

19 - 21
19．EtherNet/IP COMMUNICATION

19.5.2 Controlword/Control DI
The FSA state can be switched and control commands for the functions of the drive can be issued by
rewriting the objects of the following Controlword and Control DI from the master (upper side).
Class Acces Data
Ins ID Attr ID Name Description
ID s Type
Get/S
64h 6040h 0 Controlword UINT
et
2D01
Control DI 1
h
2D02
Control DI 2
h
2D03 Get/S Control commands to control
0 Control DI 3 UINT
h et the driver can be set.
2D07
Control DI 7
h
2D0A
Control DI 10
h

19.5.2.1 Bit definition of Controlword

Controlword can control the FSA state and issue control commands. Use Bit 0 to Bit 3 and Bit 7 for the FSA
state. The following table shows the bit definition of Controlword.
Bit Symbol Description
0 SO Switch-on
1 EV Enable voltage
2 QS Quick stop
3 EO Enable operation
4
Differs depending on Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0).
5 OMS
(Refer to section 5.4.)
6
7 FR Fault reset
0: Operation ready
8 HALT
1: Temporary stop
Differs depending on Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0).
9 OMS
(Refer to section 5.4.)
10 The value at reading is undefined. Set "0" at writing.
11
12
13
14
15

19 - 22
19．EtherNet/IP COMMUNICATION

19.5.2.2 Bit definition of Control DI

Control DI can control the FSA state and issue control commands. The following table shows the bit definition
of Control DI.

(1) Control DI 1
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
Gain switching
4 C_CDP Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
PB60] as the load to motor inertia ratio and gain values.
5 The value at reading is undefined. Set "0" at writing.
6
7
8
9
10
11
12
13
14
15

(2) Control DI 2
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
6
7
Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the
proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor, it
8 C_PC generates torque to compensate for a position mismatch. When the servo motor shaft
is to be locked mechanically after positioning completion (stop), switching on the C_PC
upon positioning completion will suppress the unnecessary torque generated to
compensate for a position mismatch.
When the shaft is to be locked for a long time, use the C_PC and torque limit at the
same time to make the torque less than the rated torque.
9 The value at reading is undefined. Set "0" at writing.
10
11
12
13
14
Operation alarm reset
15 C_ORST
Turn on C_ORST from off to reset [AL. F4 Positioning warning].

19 - 23
19．EtherNet/IP COMMUNICATION

(3) Control DI 3
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
6
7
Home position return completion (for scale measurement)
8 C_ABS2 When C_ABS2 is turned on with the scale measurement function, the absolute position
erased status of a scale measurement encoder can be canceled. S_ABSV2 turns off.
9 The value at reading is undefined. Set "0" at writing.
10
11
12
13
14
15

(4) Control DI 7
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
1
2
3
4
5
6
7
8
9
10
11
Synchronous control command (Note)
0: Synchronous control termination
1: Synchronous control start
12 C_STS Turn on C_STS with the network communication to start the synchronous control. When a
value of the synchronous encoder electronic gear was changed with the network
communication, turn on Synchronous control command (C_STS) after Analysis completed
(S_CEG) is turned on.
Synchronous encoder polarity selection (Note)
0: Rotating the synchronous encoder in the CCW direction or the positive direction
increases the command address.
13 C_POL 1: Rotating the synchronous encoder in the CW direction or the negative direction
increases the command address.
Set a synchronous encoder polarity according to the specifications of an encoder used. A
setting value when Synchronous control command (C_STS) is turned on will be applied.
Analysis command (Note)
0: Synchronous encoder electronic gear change termination
1: Synchronous encoder electronic gear change start
14 C_CEG
After changing the synchronous encoder electronic gear, turn on Analysis command
(C_CEG). After Analysis completed (S_CEG) is turned on, the change of the synchronous
encoder electronic gear will be applied and it will be used by the synchronous control.
15 The value at reading is undefined. Set "0" at writing.

Note. Refer to section 6.10 for details.

19 - 24
19．EtherNet/IP COMMUNICATION

(5) Control DI 10
Bit Symbol Description
0 The value at reading is undefined. Set "0" at writing.
Instruction code request (Note 1)
1 C_SPR
Turning on C_SPR executes the set instruction code.
Operation start-up signal activation (Note 2)
2 C_OSSA
Turning on C_OSSA enables the positioning start by the operation start-up signal.
3 The value at reading is undefined. Set "0" at writing.
4
5
6
7
8
9
10
11
12
13
14
15

Note 1. Refer to section 6.2 for details.

2. Refer to section 6.11 for details.

19 - 25
19．EtherNet/IP COMMUNICATION

19.5.3 Statusword/Status DO
The objects of the following Statusword or Status DO notify the master (upper side) of the FSA state of the _
driver and other drive status.
Class Acces Data
Ins ID Attr ID Name Description
ID s Type
64h 6041h 0 Get Statusword UINT
2D11
Status DO 1
h
2D12
Status DO 2
h
2D13
Status DO 3
h
2D15
0 Get Status DO 5 UINT The servo status is returned.
h
2D16
Status DO 6
h
2D17
Status DO 7
h
2D1A
Status DO 10
h

19.5.3.1 Bit definition of Statusword

The following table shows the bit definition of Statusword.
Bit Symbol Description
0 RTSO Ready-to-switch-on
1 SO Switch-on
2 OE Operation-enabled
3 F Fault
Voltage-enabled
4 VE 0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
Quick stop
5 QS 0: During a quick stop
1: No during a quick stop (including during the test mode)
6 SOD Switch on disabled
Warning
7 W 0: No warning has been occurred.
1: A warning has occurred.
8 The value at reading is undefined.
Remote
9 RM 0: Not following the Controlword command
1: In operation following the Controlword command
Target reached
10 TR Differs depending on Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0).
(Refer to section 5.4.)
Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position
limit have not been reached
11 ILA
1: The forward rotation stroke end, reverse rotation stroke end, or software position
limit has been reached.
(Enabled in the pp, pv, or hm mode)
12 Differs depending on Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0).
OMS
13 (Refer to section 5.4.)
14 The value at reading is undefined.
15

19 - 26
19．EtherNet/IP COMMUNICATION

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the FSA state (internal state of the _ driver). Refer to
the following table for details.
Statusword (bin) FSA state
x0xx xxx0 x0xx 0000 Not ready to switch on (Note)
x0xx xxx0 x1xx 0000 Switch on disabled
x0xx xxx0 x01x 0001 Ready to switch on
x0xx xxx0 x01x 0011 Switched on
x0xx xxx0 x01x 0111 Operation enabled
x0xx xxx0 x00x 0111 Quick stop active
x0xx xxx0 x0xx 1111 Fault reaction active
x0xx xxx0 x0xx 1000 Fault

Note. Statusword is not sent in the Not ready to switch on state.

19.5.3.2 Bit definition of Status DO

The following table shows the bit definition of Status DO.

(1) Status DO 1
Bit Symbol Description
0 The value at reading is undefined.
1
Speed reached
S_SA turns off during servo-off. When the servo motor speed reaches the following
2 S_SA range, S_SA turns on.
Preset speed ± ((Preset speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or slower, S_SA always turns on.
Electromagnetic brake interlock
3 S_MBR
When a servo-off status or alarm occurs, S_MBR turns off.
Variable gain selection
4 S_CDPS
S_CDPS will turn on during variable gain.
During fully closed loop control switching
5 S_CLD
S_CLD turns on during fully closed loop control.
6 The value at reading is undefined.
7
8
9
10
11
In-position
When the number of droop pulses is in the in-position range, S_INP turns on. The
12 S_INP in-position range can be changed with [Pr. PA10]. When the in-position range is
increased, S_INP may be always on during low-speed rotation.
The Status DO cannot be used in the velocity mode or torque mode.
Limiting torque
When the torque reaches the torque limit value during torque generation, S_TLC turns
13 S_TLC
on. When the servo is off, S_TLC will be turned off.
This Status DO cannot be used in the torque mode.
Absolute position undetermined
14 S_ABSV When the absolute position is erased, S_ABSV turns on.
The Status DO cannot be used in the velocity mode or torque mode.
Battery warning
When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has
15 S_BWNG
occurred, S_BWNG turns on. When the battery warning is not occurring, turning on the
power will turn off S_BWNG after 2.5 s to 3.5 s.

19 - 27
19．EtherNet/IP COMMUNICATION

(2) Status DO 2
Bit Symbol Description
Z-phase already passed
0 S_ZPAS 0: Z-phase unpassed after start-up
1: Z-phase passed once or more after start-up
1 The value at reading is undefined.
2
Zero speed detection
3 S_ZSP When the servo motor speed is at zero speed or slower, S_ZSP turns on. Zero speed
can be changed with [Pr. PC07].
Limiting speed
When the speed reaches the speed limit value in the torque mode, S_VLC turns on.
4 S_VLC
When the servo is off, S_TLC will be turned off.
The Status DO cannot be used in the position mode or velocity mode.
5 The value at reading is undefined.
During IPF
6 S_IPF
S_IPF turns on during an instantaneous power failure.
7
Under proportional control
8 S_PC
S_PC turns on under proportional control.
9 The value at reading is undefined.
External dynamic brake output
10 S_DB
When the dynamic brake needs to operate, S_DB turns off.
11 The value at reading is undefined.
12
13
14
Home position return completion 2 (incremental system)
When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on
unless the home position is erased.
It will be off with the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
Home position return completion 2 (absolute position detection system)
If a home position return completes once, S_ZP2 is always on. However, it will be off
with the following conditions.
15 S_ZP2 1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
4) The home position return is not performed after [AL. 25 Absolute position erased] or
[AL. E3 Absolute position counter warning] occurred.
5) The home position return is not performed after the electronic gear ([Pr. PA06] or
[Pr. PA07]) was changed.
6) The home position return is not performed after the setting of [Pr. PA03 Absolute
position detection system selection] was changed from "Disabled" to "Enabled".
7) [Pr. PA14 Rotation direction selection was changed.
8) [Pr. PA01 Operation mode] was changed.

19 - 28
19．EtherNet/IP COMMUNICATION

(3) Status DO 3
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
During STO
5 S_STO
S_STO turns on during STO.
6 The value at reading is undefined.
7
Absolute position undetermined 2 (for scale measurement)
8 S_ABSV2 When the absolute position is erased from a scale measurement encoder with the
scale measurement function, S_ABSV2 turns on.
9 The value at reading is undefined.
10
Transition to tough drive mode in process
11 S_MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power
failure tough drive will turn on S_MTTR.
12 The value at reading is undefined.
13
14
15

(4) Status DO 5
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
Travel completion
When the droop pulses are within the in-position output range set with [Pr. PA10] and the
6 S_MEND command remaining distance is "0", S_MEND will be on.
S_MEND turns on with servo-on.
S_MEND is off at servo-off status.
7 The value at reading is undefined.
8
9
10
11
12
13
14
15

19 - 29
19．EtherNet/IP COMMUNICATION

(5) Status DO 6
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
Analysis completed (Note)
0: Synchronous encoder electronic gear change not completed
14 S_CEG
1: Synchronous encoder electronic gear change completed
Indicates that the synchronous encoder electronic gear change has been completed.
Synchronous control start-up completed (Note)
0: Synchronous control command not received
15 S_SYCREV
1: Synchronous control command received
Indicates that Synchronous control command has been received properly.

Note. Refer to section 6.10 for details.

19 - 30
19．EtherNet/IP COMMUNICATION

(6) Status DO 7
Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
Synchronous control in progress (Note)
0: Synchronous control not in progress
9 S_SRUN
1: Synchronous control in progress
Indicates that the synchronous control is in progress.
Synchronous control error (Note)
0: Synchronous control properly in progress
10 S_SERR
1: Synchronous control error
Indicates that an error has occurred in the synchronous control.
Superimposed control in progress (Note)
0: Superimposed control not in progress
11 S_YRUN
1: Superimposed control in progress
Indicates that the superimposed control is in progress.
Superimposed control error (Note)
0: Superimposed control properly in progress
12 S_YERR
1: Superimposed control error
Indicates that an error has occurred in the superimposed control.
13 The value at reading is undefined.
Synchronization completed (Note)
0: Synchronous control not completed
14 S_SYC 1: Synchronous control completed
Indicates that the rotation position of the synchronous encoder has synchronized with that
of the servo motor.
Superposition completed (Note)
0: Superimposed control not completed
15 S_SYF
1: Superimposed control completed
Indicates that the superimposed control has been completed.

Note. Refer to section 6.10 for details.

19 - 31
19．EtherNet/IP COMMUNICATION

(7) Status DO 10
Bit Symbol Description
0 The value at reading is undefined.
Instruction code execution completion (Note 1)
1 S_COF
S_COF turns on when an instruction code is executed.
Operation error (Note 2)
2 S_OERR S_OERR turns on when an error occurs in the positioning operation started by the
operation start-up signal.
3 The value at reading is undefined.
4
5
6
7
8
9
10
11
12
13
14
15

Note 1. Refer to section 6.2 for details.

2. Refer to section 6.11 for details.

19 - 32
19．EtherNet/IP COMMUNICATION

19.5.4 Control mode

19.5.4.1 Selecting control mode (Modes of operation)

Specify a control mode with Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0). Modes of operation
(Class ID: 64h, Ins ID: 6060h, Attr ID: 0) can be rewritten with the I/O communication or the Explicit Message
communication.
p p t h 6060h/6061h
Pr. PA01 setting value
p v q m Default value
_ _ _ 0: Automatic selection by each
network 1 (pp)
_ _ _ 2: Profile mode

The following table shows the objects selected for control modes.
Data
Class Attr Acces
Ins ID Name Typ Default Description
ID ID s
e
64h Differs
Get/S Modes of SIN depending
6060h 0 Refer to section 7.3.8 (6).
et operation T on
[Pr. PA01].
Differs
Modes of SIN depending
6061h 0 Get Refer to section 7.3.8 (7).
operation display T on
[Pr. PA01].
Refer to
Supported drive UDI
6502h 0 Get section Refer to section 7.3.8 (8).
mode NT
7.3.8 (8).

19.5.4.2 Control switching

POINT
Changes to the OMS bit of Controlword (Class ID: 64h, Ins ID: 6040h, Attr ID: 0)
are not accepted until control switching is completed. Before inputting
commands, check that the control mode has been switched referring to Modes
of operation display (Class ID: 64h, Ins ID: 6061h, Attr ID: 0).

Because control switching has a delay, the upper side must keep sending command values corresponding to
the control mode before and after the switching. After the completion of control switching has been checked
with Modes of operation display (Class ID: 64h, Ins ID: 6061h, Attr ID: 0), update of the command value
before the switching can be stopped.
Before switching the mode from or to the position mode, check that the servo motor speed is zero speed.
Zero speed can be obtained with Bit 3 (S_ZSP) of Status DO 2 (Class ID: 64h, Ins ID: 2D12h, Attr ID: 0). If
the servo motor speed is not zero speed, the control will not be switched and Modes of operation display
(Class ID: 64h, Ins ID: 6061h, Attr ID: 0) will not change.

19 - 33
19．EtherNet/IP COMMUNICATION

19.5.4.3 Profile position mode (pp)

The following shows the functions and related objects of the profile position mode (pp).
Torque limit value (60E0h, 60E1h)
×
Motion profile type (6086h)
Control
Profile acceleration (6083h) effort
Position (60FAh) Velocity Torque
Profile deceleration (6084h) control Motor
control control
Acceleration
Quick stop deceleration (6085h) limit
function
Position
Quick stop option code (605Ah) trajectry
generator Encoder
Profile velocity (6081h)
Max profile velocity (607Fh) Velocity
limit
Max motor speed (6080h) function ×

Target position (607Ah)

Position
Software position limit (607Dh) limit
function × ×

Gear ratio (6091h)

Polarity (607Eh)

Following error actual value (60F4h) + × ×

-

Position actual value (6064h) × × Position actual internal value (6063h)

Velocity actual value (606Ch) ×

Torque actual value (6077h) ×

(1) Related object

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
Get/S DIN Command position (Pos units)
64h 607Ah 0 Target position
et T
USI Number of entries
0 Get Position range limit 2
NT
Minimum value of the position
range limit
The value is automatically set
Get/S Min position range DIN
1 according to the setting of
et limit T
"Position data unit" in [Pr. PT01].
mm/inch/pulse: -2147483648
607Bh
degree: 0
Maximum value of the position
range limit
The value is automatically set
Get/S Max position range DIN
2 according to the setting of
et limit T
"Position data unit" in [Pr. PT01].
mm/inch/pulse: 2147483647
degree: 359999
Software position USI Number of entries
0 Get 2
limit NT
Get/S DIN Minimum position address (Pos
607Dh 1 Min position limit 0
et T units)
Get/S DIN Maximum position address (Pos
2 Max position limit 0
et T units)
maximum speed
Get/S UDI
607Fh 0 Max profile velocity 2000000 Unit: Vel unit (0.01 r/min or 0.01
et NT
mm/s)
Get/S UDI Servo motor maximum speed
6080h 0 Max motor speed
et NT Unit: r/min
Speed after acceleration
Get/S UDI completed
6081h 0 Profile velocity 10000
et NT Unit: Vel unit (0.01 r/min or 0.01
mm/s)
19 - 34
19．EtherNet/IP COMMUNICATION

Data
Attr Acces Defa
Class ID Ins ID Name Typ Description
ID s ult
e
64h Acceleration at start of movement to
Get/S Profile UDI
6083h 0 0 target position
et Acceleration NT
Unit: ms
Get/S Profile UDI Deceleration at arrival at target position
6084h 0 0
et deceleration NT Unit: ms
Deceleration at deceleration to a stop
Get/S Quick stop UDI
6085h 0 100 by Quick stop
et deceleration NT
Unit: ms
Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported) (Note)
Get/S 1: Sin2 ramp (not supported) (Note)
6086h 0 Motion profile type INT 0
et 2: Jerk-free ramp (not supported)
(Note)
3: Jerk-limited ramp (not supported)
(Note)
Get/S Quick stop option Operation setting for Quick stop
605Ah 0 INT 2
et code Refer to section 5.6.
Position actual DIN
6063h 0 Get Current position (Enc inc)
internal value T
Position actual DIN
6064h 0 Get Current position (Pos units)
value T
Velocity actual DIN Current speed
606Ch 0 Get
value T Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Torque actual DIN Current torque
6077h 0 Get
value T Unit: 0.1% (rated torque of 100%)
USI Travel distance per revolution of an
0 Get Feed constant 2
NT output shaft
Travel distance
1 Feed
6092h Refer to section 7.3.14 (4).
Get/S UDI
et NT Number of servo motor shaft
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Following error DIN
60F4h 0 Get Droop pulses (Pos units)
actual value T
Position control loop output (speed
DIN
60FAh 0 Get Control effort command)
T
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Get/S Positive torque UIN 1000 Torque limit value (forward)
60E0h 0
et limit value T 0 Unit: 0.1% (rated torque of 100%)
Get/S Negative torque UIN 1000 Torque limit value (reverse)
60E1h 0
et limit value T 0 Unit: 0.1% (rated torque of 100%)
USI
0 Get Gear ratio 2 Gear ratio
NT
Number of revolutions of the servo
6091h 1 Motor revolutions 1
Get/S UDI motor axis (numerator)
et NT Number of revolutions of the drive axis
2 Shaft revolutions 1
(denominator)
Polarity selection
Bit 7: Position POL
Get/S USI
607Eh 0 Polarity 0 Bit 6: Velocity POL
et NT
Bit 5: Torque POL
Refer to section 5.10.

19 - 35
19．EtherNet/IP COMMUNICATION

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h SI unit position
The value is automatically set
Get/S UDI
60A8h 0 SI unit position 0 according to the setting of
et NT
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
Get/S UDI 0.01 r/min or 0.01 mm/s
60A9h 0 SI unit velocity 0
et NT FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

No
This is not supported by the driver.
te.

(2) Details on the OMS bit of Controlword (pp mode)

Bit Symbol Description
New positioning parameters are obtained when this bit turns on.
4 New set-point Turning on this will start the superimposed synchronous control when the
superimposed synchronous control is used.
Change set 0: Set of set-points
5
immediately 1: Single set-point
0: Absolute position command
1: Relative position command
6 abs/rel When the unit is set to degree, relative position commands are disabled. When the
relative position command is specified and positioning is started, [AL. F4.8] occurs and
positioning cannot be started.
0: Positioning is executed.
8 HALT 1: The servo motor stops according to Halt option code (Class ID: 64h, Ins ID: 605Dh,
Attr ID: 0).
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped).
Change on (black line (Refer to (5) in this section.)).
9
set-point 1: The next positioning starts after positioning is executed with Profile velocity (Class
ID: 64h, Ins ID: 6081h, Attr ID: 0) held up to the current set-point. (gray line (Refer to
(5) in this section.)).

(3) Details on the OMS bit of Statusword (pp mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached Judgment condition for Target position reached
If the error between Position actual value (Class ID: 64h, Ins ID: 6064h, Attr ID: 0) and
Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0) has stayed within Position
window (Class ID: 64h, Ins ID: 6067h, Attr ID: 0) for Position window time (Class ID:
64h, Ins ID: 6068h, Attr ID: 0) or more, Target position reached is stored.
Set-point 0: Positioning completed (wait for next command)
12
acknowledge 1: Positioning being executed (The set-point can be overwritten.)
0: No following error
1: Following error
Judgment condition for Following error
13 Following error
When the time set with Following error time out (Class ID: 64h, Ins ID: 6066h, Attr ID:
0) has elapsed with the number of droop pulses exceeding the set value of the
Following error window (Class ID: 64h, Ins ID: 6065h, Attr ID: 0), this bit becomes "1".

19 - 36
19．EtherNet/IP COMMUNICATION

(4) Single Set-point

Update of positioning parameters during a positioning operation is immediately accepted. (The current
positioning operation is cancelled and the next positioning is started.)

Actual
speed
t
New
set-point
(bit 4) t
Target
position
(set-point)
t
Profile velocity

Current target
position
processed
t
Set-point
acknow ledge
(bit 12) t
Target
reached
(bit 10) t

(5) Set of set-points

After the current positioning operation is completed, the next positioning is started. Whether positioning is
stopped at the first positioning point when at an update of the positioning parameter before completion of
the positioning can be switched. To switch the setting, use Change on set-point (Bit 9 of Controlword).

Actual
speed
t
New
set-point
(bit 4)
t
Target position
(set-point)
t
Profile
velocity
t

Current
target
position
processed
t
Set-point
acknow ledge
(bit 12)
t
Target
reached
(bit 10) t

19 - 37
19．EtherNet/IP COMMUNICATION

19.5.4.4 Profile velocity mode (pv)

The following shows the functions and related objects of the profile velocity mode (pv).
T orque li mit value (60E0h, 60E1h)
×
Moti on profi le type (6086h)

Profi le accel eration (6083h)

Vel ocity T orque
Profi le deceleration (6084h) control Motor
control
Acceleration
Qui ck stop decel erati on (6085h) l imit
function Vel ocity
Qui ck stop opti on code (605Ah) traj ectry
generator
T arget velocity (60FFh) Encoder

Max profi le vel ocity (607Fh) Vel ocity

l imit
×
Max motor speed (6080h) function

Gear ratio (6091h)

Pol ari ty (607Eh)

Vel ocity demand val ue (606Bh) ×

Position actual value (6064h) × × Position actual i nternal val ue (6063h)

Vel ocity actual value (606Ch) ×

T orque actual val ue (6077h) ×

(1) Related object

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Command speed
Get/S DIN
60FFh 0 Target velocity Unit: Vel unit (0.01 r/min or 0.01
et T
mm/s)
maximum speed
Get/S UDI
607Fh 0 Max profile velocity 2000000 Unit: Vel unit (0.01 r/min or 0.01
et NT
mm/s)
Get/S UDI Servo motor maximum speed
6080h 0 Max motor speed
et NT Unit: r/min
Acceleration at start of movement to
Get/S Profile UDI
6083h 0 0 target position
et Acceleration NT
Unit: ms
Deceleration at arrival at target
Get/S Profile UDI
6084h 0 0 position
et deceleration NT
Unit: ms
Deceleration at deceleration to a
Get/S Quick stop UDI
6085h 0 100 stop by Quick stop
et deceleration NT
Unit: ms
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
Get/S (Note)
6086h 0 Motion profile type INT 0
et 1: Sin2 ramp (not supported) (Note)
2: Jerk-free ramp (not supported)
(Note)
3: Jerk-limited ramp (not supported)
(Note)
Get/S Quick stop option Operation setting for Quick stop
605Ah 0 INT 2
et code Refer to section 5.6.
Position actual DIN
6063h 0 Get Current position (Enc inc)
internal value T
Position actual DIN
6064h 0 Get Current position (Pos units)
value T

19 - 38
19．EtherNet/IP COMMUNICATION

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Velocity demand DIN Speed command (after trajectory
606Bh 0 Get
value T generation)
Current speed
Velocity actual DIN
606Ch 0 Get Unit: Vel unit (0.01 r/min or 0.01
value T
mm/s)
Current torque
Torque actual DIN
6077h 0 Get Unit: 0.1% (rated torque of
value T
100%)
USI Travel distance per revolution of
0 Get Feed constant 2
NT an output shaft
Travel distance
1 Feed
6092h Refer to section 7.3.14 (4).
Get/S UDI
Number of servo motor shaft
et NT
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).
Torque limit value (forward)
Get/S Positive torque UIN
60E0h 0 10000 Unit: 0.1% (rated torque of
et limit value T
100%)
Torque limit value (reverse)
Get/S Negative torque UIN
60E1h 0 10000 Unit: 0.1% (rated torque of
et limit value T
100%)
USI
0 Get Gear ratio 2 Gear ratio
NT
Number of revolutions of the
6091h 1 Motor revolutions 1
Get/S UDI servo motor axis (numerator)
et NT Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
Get/S USI
607Eh 0 Polarity 0 Bit 6: Velocity POL
et NT
Bit 5: Torque POL
Refer to section 5.10.
Speed error threshold for judging
Get/S UIN
606Dh 0 Velocity window 2000 Target reached
et T
Unit: 0.01 r/min or 0.01 mm/s
Get/S Velocity window UIN Target reached judgment time
606Eh 0 0
et time T Unit: ms
Zero speed threshold for judging
Get/S UIN
606Fh 0 Velocity threshold 5000 Speed
et T
Unit: 0.01 r/min or 0.01 mm/s
Get/S Velocity threshold UIN Speed judgment time
6070h 0 10
et time T Unit: ms
SI unit position
The value is automatically set
Get/S UDI
60A8h 0 SI unit position 0 according to the setting of
et NT
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
Get/S UDI 0.01 r/min or 0.01 mm/s
60A9h 0 SI unit velocity 0
et NT FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

No
This is not supported by the driver.
te.

19 - 39
19．EtherNet/IP COMMUNICATION

(2) Details on the OMS bit of Controlword (pv mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
0: The servo motor is driven.
8 HALT 1: The servo motor is stopped according to Halt option code (Class ID: 64h, Ins ID:
605Dh, Attr ID: 0).
9 (reserved) The value at reading is undefined. Set "0" at writing.

(3) Details on the OMS bit of Statusword (pv mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target velocity not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target velocity reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 Target reached Judgment condition for Target velocity reached
If the error between Velocity actual value (Class ID: 64h, Ins ID: 606Ch, Attr ID: 0) and
Target velocity (Class ID: 64h, Ins ID: 60FFh, Attr ID: 0) has stayed within Velocity
window (Class ID: 64h, Ins ID: 606Dh, Attr ID: 0) for Velocity window time (Class ID:
64h, Ins ID: 606Eh, Attr ID: 0) or more, Target velocity reached is stored.
0: Speed is not equal 0
1: Speed is equal 0
Judgment condition for Speed is not equal 0
12 Speed If the absolute value of Velocity actual value (Class ID: 64h, Ins ID: 606Ch, Attr ID: 0)
has exceeded Velocity threshold (Class ID: 64h, Ins ID: 606Fh, Attr ID: 0) for Velocity
threshold time (Class ID: 64h, Ins ID: 6070h, Attr ID: 0) or more, Speed is not equal 0 is
stored.
0: Maximum slippage not reached
13 Max slippage error 1: Maximum slippage reached (not supported) (Note)
Max slippage is a maximum slippage of the asynchronous servo motor.

No
This is not supported by the driver.
te.

19 - 40
19．EtherNet/IP COMMUNICATION

(4) pv mode operation sequence

Velocity Actual Value Decelerates w ith Profile deceleration (6084h)

(606Ch)

Accelerates w ith Profile acceleration (6083h)

Target Velocity
(60FFh)

Velocity w indow time (606Eh)

Target reached
Statusw ord
(6041h) bit 10

Velocity threshold time (6070h)

Speed Statusw ord

(6041h) bit 12

19 - 41
19．EtherNet/IP COMMUNICATION

19.5.4.5 Profile torque mode (tq)

The following shows the functions and related objects of the profile torque mode (tq).
T arget torque (6071h)

T orque sl ope (6087h)

T orque profi le type (6088h) T rajectry T orque demand

generator (6074h)
Controlword (6040h) × Motor
T orque
Max torque (6072h)
control
and
power
stage
T orque li mi t value (60E0h, 60E1h)
Encoder
×

Gear rati o (6091h)

Pol ari ty (607Eh)

Position actual internal

Position actual value (6064h) × × val ue (6063h)

Vel oci ty actual value (606Ch) ×

T orque actual val ue (6077h) ×

(1) Related object

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Get/S UIN
6040h 0 Controlword Common control command
et T
Get/S Command torque
6071h 0 Target torque INT
et Unit: 0.1% (rated torque of 100%)
Get/S UIN Maximum torque
6072h 0 Max torque
et T Unit: 0.1% (rated torque of 100%)
Command torque (after limit)
6074h 0 Get Torque demand INT
Unit: 0.1% (rated torque of 100%)
Get/S UDI Torque variation
6087h 0 Torque slope 0
et NT Unit: 0.1%/s (rated torque of 100%)
Torque variation pattern
0000h: Linear ramp
0001h: Sin2 ramp (not supported)
Get/S UDI
6088h 0 Torque profile type 0 (Note)
et NT
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer
specific
Position actual DIN Current position (Enc inc)
6063h 0 Get
internal value T
Position actual DIN Current position (Pos units)
6064h 0 Get
value T
Current speed
Velocity actual DIN
606Ch 0 Get Unit: Vel unit (0.01 r/min or 0.01
value T
mm/s)
Torque actual DIN Current torque
6077h 0 Get
value T Unit: 0.1% (rated torque of 100%)
USI Travel distance per revolution of an
0 Get Feed constant 2
NT output shaft
Travel distance
1 Feed
6092h Refer to section 7.3.14 (4).
Get/S UDI
Number of servo motor shaft
et NT
2 Shaft revolutions revolutions
Refer to section 7.3.14 (4).

19 - 42
19．EtherNet/IP COMMUNICATION

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Torque limit value (forward)
Get/S Positive torque UIN
60E0h 0 10000 Unit: 0.1% (rated torque of
et limit value T
100%)
Torque limit value (reverse)
Get/S Negative torque UIN
60E1h 0 10000 Unit: 0.1% (rated torque of
et limit value T
100%)
USI Gear ratio
0 Get Gear ratio 2
NT
Number of revolutions of the
6091h 1 Motor revolutions 1
Get/S UDI servo motor axis (numerator)
et NT Number of revolutions of the
2 Shaft revolutions 1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
Get/S USI
607Eh 0 Polarity 0 Bit 6: Velocity POL
et NT
Bit 5: Torque POL
Refer to section 5.10.
Speed limit value
Get/S DIN
2D20h 0 Velocity limit value 5000 Unit: Vel unit (0.01 r/min or 0.01
et T
mm/s)
SI unit position
The value is automatically set
Get/S UDI
60A8h 0 SI unit position 0 according to the setting of
et NT
"Position data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
Get/S UDI 0.01 r/min or 0.01 mm/s
60A9h 0 SI unit velocity 0
et NT FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

No
This is not supported by the driver.
te.

(2) Details on the OMS bit of Controlword (tq mode)

Bit Symbol Description
4 (reserved) The value at reading is undefined. Set "0" at writing.
5 (reserved)
6 (reserved)
0: The servo motor is driven.
8 HALT 1: The servo motor is stopped according to Halt option code (Class ID: 64h, Ins ID:
605Dh, Attr ID: 0).
9 (reserved) The value at reading is undefined.

(3) Details on the OMS bit of Statusword (tq mode)

Bit Symbol Description
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target torque reached.
Target reached
1 (Halt (Bit 8) = 1): Velocity of axis is 0
10 (not supported)
(Note) Judgment condition for Target torque reached
If the error between Torque actual value (Class ID: 64h, Ins ID: 6077h, Attr ID: 0) and
Target torque (Class ID: 64h, Ins ID: 6071h, Attr ID: 0) has stayed within Torque
window for Torque window time or more, Target torque reached is stored.
12 (reserved) The value at reading is undefined.
13 (reserved)

No
This is not supported by the driver.
te.

19 - 43
19．EtherNet/IP COMMUNICATION

(4) tq mode operation sequence

Torque demand
(6074h)
t

Changed w ith Torque slope (6087h)

Changed w ith Torque slope (6087h)
Target torque
(6071h)
t

Halt
Controlw ord
(6040h) Bit 8 t

19 - 44
19．EtherNet/IP COMMUNICATION

19.5.4.6 Homing mode (hm)

The following shows the function and related objects of the homing mode (hm).

Controlword (6040h)

Homing method (6098h) Statusword (6041h)

Homing
Homing speeds (6099h)
method

Homing acceleration (609Ah)

Home offset (607Ch)

(1) Related object

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h The home position saved in
EEP-ROM is stored at power-on.
If a home position return is
executed in the homing mode
DIN
607Ch 0 Get Home offset (hm), the home position will be
T
updated.
If [Pr. PA03 Absolute position
detection system] is disabled, 0
is always stored.
Specify a home position return
type.
Get/S SIN
6098h 0 Homing Method -1 Refer to (4) in this section for
et T
supported home position return
types.
Get/S USI Number of entries of the home
0 Homing Speeds 2
et NT position return speed
Specify the travel speed until dog
detection.
Get/S Speed during UDI Unit: Vel unit (0.01 r/min or 0.01
1 10000
et search for switch NT mm/s)
Range: 0 to servo motor
6099h maximum speed
Specify the travel speed up to the
home position after dog
detection. (Note)
Get/S Speed during UDI
2 1000 Unit: Vel unit (0.01 r/min or 0.01
et search for zero NT
mm/s)
Range: 0 to servo motor
maximum speed
Acceleration/deceleration time
Get/S Homing UDI constant at home position return
609Ah 0 0
et acceleration NT
Unit: ms
Number of entries of the
Supported Homing USI
0 Get 39 supported home position return
Method NT
type
The home position return type
1st supported SIN
1 Get 37 that uses the current position as
60E3h homing method T
a home position is supported.
to
The dogless Z-phase reference
39th supported SIN
39 Get -43 home position return type
homing method T
(reverse rotation) is supported.

No In the homing mode (hm), the servo motor is brought to a sudden stop according to the deceleration time constant when the
te. stroke end is detected. Set the home position return speed carefully.

19 - 45
19．EtherNet/IP COMMUNICATION

(2) Details on the OMS bit of Controlword (hm mode)

Bit Symbol Description
Homing operation start
4 HOS 0: Do not start homing procedure
1: Start or continue homing procedure
5 (reserved) The value at reading is undefined. Set "0" at writing.
6 (reserved)
Halt
8 HALT 0: Bit 4 enable
1: Stop axis according to halt option code (Class ID: 64h, Ins ID: 605Dh, Attr ID: 0)
9 (reserved) The value at reading is undefined. Set "0" at writing.

(3) Details on the OMS bit of Statusword (hm mode)

POINT
When the mode is switched to the hm mode after home position return
completion, Statusword is "Homing procedure is completed successfully" unless
"0" is set in Bit 12. The following shows the conditions when "0" is set in Bit 12.
For incremental system
At power-on
At communication shut-off by upper side reset
At home position return start
At home position erasure
for absolute position detection system
At home position return start
At home position erasure
To check the home position return status with Statusword, note the following.
(when the communication cycle of 4 ms or less is set)
When the mode is switched to the hm mode, Modes of operation display is
changed to 6 (hm) and Statusword changes at the same time.
The status change of Statusword may take 50 ms at a maximum after Bit 4 of
Controlword (Homing operation start) is set. To obtain the status of Statusword
without any fault, wait 50 ms or more.
Before updating the position after a home position return completion, check that
both Bit 12 and Bit 10 of Statusword are changed to "1" and then wait 8 ms.
If 8 ms has not elapsed, the position information may not be updated correctly
depending on the communication cycle setting.

Bit Symbol Description

10 Target reached
12 Homing attained Refer to the following table for the definition.
13 Homing error

19 - 46
19．EtherNet/IP COMMUNICATION

The following shows the definition of Bit 10, Bit 12, and Bit 13 of Statusword in the hm mode.
Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure is in progress
0 0 1 Homing procedure is interrupted or not started
0 1 0 Homing is attained, but target is not reached
0 1 1 Homing procedure is completed successfully
1 0 0 Homing error occurred, velocity is not 0
1 0 1 Homing error occurred, velocity is 0
1 1 reserved

19 - 47
19．EtherNet/IP COMMUNICATION

(4) List of Homing method

POINT
In the following cases, make sure that the Z-phase has been passed through
once before the home position return. Z-phase unpassed will trigger [AL. 90.5
Z-phase unpassed].
When using an incremental linear encoder in the linear servo motor control
mode
When using an incremental external encoder in the fully closed loop control
mode
For the use in the DD motor control mode
To execute a home position return securely, start a home position return after
moving the servo motor to the opposite stroke end with pv from the upper side
and others. Whether the servo motor has reached the stroke end can be
checked with Digital inputs (Class ID: 64h, Ins ID: 60FDh, Attr ID: 0).
When changing the mode after the home position return completion, set 0 to the
Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0) and change the control
mode.
To specify the home position return type in the homing mode (hm), use Homing Method (Class ID: 64h,
Ins ID: 6098h, Attr ID: 0). The _ driver supports Homing method in the following table.
Method Home position return Rotation
Description
No. type direction
Forward Deceleration starts at the front end of the proximity dog. After the
-1 Dog type
rotation rear end is passed, the position specified by the first Z-phase signal,
(Rear end detection or the position of the first Z-phase signal shifted by the specified
Reverse
-33 Z-phase reference) home position shift distance is used as the home position.
rotation
Data set type home The current position is set as the home position.
-3
position return
Forward A workpiece is pressed against a mechanical stopper, and the
-4 Stopper type
rotation position where it is stopped is set as the home position.
(Stopper position
Reverse
-36 reference)
rotation
Forward At the front end of the proximity dog, deceleration starts. After the
-2 Count type
rotation front end is passed, the position specified by the first Z-phase signal
(Front end detection after the set distance or the position of the Z-phase signal shifted by
Reverse
-34 Z-phase reference) the set home position shift distance is set as a home position.
rotation
Forward Deceleration starts from the front end of the proximity dog. After the
-6 Dog type
rotation rear end is passed, the position is shifted by the travel distance after
(Rear end detection proximity dog and the home position shift distance. The position
Reverse
-38 rear end reference) after the shifts is set as the home position.
rotation
Forward Deceleration starts from the front end of the proximity dog. The
-7 Count type
rotation position is shifted by the travel distance after proximity dog and the
(Front end detection home position shift distance. The position after the shifts is set as
Reverse
-39 front end reference) the home position.
rotation
Forward A position, which is specified by the first Z-phase signal after the
-8
rotation front end of the proximity dog is detected, is set as the home
Dog cradle type
Reverse position.
-40
rotation
Forward After the front end of the proximity dog is detected, the position is
-9 shifted away from the proximity dog in the reverse direction. Then,
Dog type last Z-phase rotation
the position specified by the first Z-phase signal or the position of
reference Reverse
-41 the first Z-phase signal shifted by the home position shift distance is
rotation used as the home position.
Forward Starting from the front end of the proximity dog, the position is
-10
Dog type front end rotation shifted by the travel distance after proximity dog and the home
reference Reverse position shift distance. The position after the shifts is set as the
-42 home position.
rotation

19 - 48
19．EtherNet/IP COMMUNICATION

Method Home position return Rotation

Description
No. type direction
Forward The position specified by the first Z-phase signal, or the position of the
-11
Dogless Z-phase rotation first Z-phase signal shifted by the home position shift distance is used
reference Reverse as the home position.
-43
rotation
Homing on positive Same as the dog type last Z-phase reference home position return.
Forward
3 home switch and index Note that if the stroke end is detected during home position return,
rotation
pulse [AL. 90 Home position return incomplete warning] occurs.
Homing on positive Same as the dog cradle type home position return.
Forward
4 home switch and index Note that if the stroke end is detected during home position return,
rotation
pulse [AL. 90 Home position return incomplete warning] occurs.
Homing on negative Same as the dog type last Z-phase reference home position return.
Reverse
5 home switch and index Note that if the stroke end is detected during home position return,
rotation
pulse [AL. 90 Home position return incomplete warning] occurs.
Homing on negative Same as the dog cradle type home position return.
Reverse
6 home switch and index Note that if the stroke end is detected during home position return,
rotation
pulse [AL. 90 Home position return incomplete warning] occurs.
Homing on home Forward Same as the dog type last Z-phase reference home position return.
7
switch and index pulse rotation
Homing on home Forward Same as the dog cradle type home position return.
8
switch and index pulse rotation
Homing on home Reverse Same as the dog type last Z-phase reference home position return.
11
switch and index pulse rotation
Homing on home Reverse Same as the dog cradle type home position return.
12
switch and index pulse rotation
Same as the dog type front end reference home position return.
Homing without index Forward
19 Note that if the stroke end is detected during home position return,
pulse rotation
[AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home position
return, the stop position is not on the Z-phase. Starting from the front
end of the dog, the position is shifted by the travel distance after
Homing without index Forward
20 proximity dog and the home position shift distance. The position after
pulse rotation
the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Same as the dog type front end reference home position return.
Homing without index Reverse
21 Note that if the stroke end is detected during home position return,
pulse rotation
[AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home position
return, the stop position is not on the Z-phase. Starting from the front
end of the dog, the position is shifted by the travel distance after
Homing without index Reverse
22 proximity dog and the home position shift distance. The position after
pulse rotation
the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Homing without index Forward Same as the dog type front end reference home position return.
23
pulse rotation
Although this type is the same as the dog cradle type home position
return, the stop position is not on the Z-phase. Starting from the front
Homing without index Forward
24 end of the dog, the position is shifted by the travel distance after
pulse rotation
proximity dog and the home position shift distance. The position after
the shifts is set as the home position.
Homing without index Reverse Same as the dog type front end reference home position return.
27
pulse rotation
Although this type is the same as the dog cradle type home position
return, the stop position is not on the Z-phase. Starting from the front
Homing without index Reverse
28 end of the dog, the position is shifted by the travel distance after
pulse rotation
proximity dog and the home position shift distance. The position after
the shifts is set as the home position.
Although this type is the same as the dogless Z-phase reference
Reverse
33 Homing on index pulse home position return, the creep speed is applied as the movement
rotation
start speed.
Although this type is the same as the dogless Z-phase reference
Forward
34 Homing on index pulse home position return, the creep speed is applied as the movement
rotation
start speed.

19 - 49
19．EtherNet/IP COMMUNICATION

Method Home position return Rotation

Description
No. type direction
Homing on current The current position is set as the home position. This type can be
35
position executed not in the Operation enabled state.
Homing on current The current position is set as the home position. This type can be
37
position executed not in the Operation enabled state.

(5) CiA 402-type homing method

(a) Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.

1) Method 3 and 4: Homing on positive home switch and index pulse

These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.

Index Pulse

Home Sw itch

2) Method 5 and 6: Homing on negative home switch and index pulse

These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 differ from
Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the
reversed direction.

19 - 50
19．EtherNet/IP COMMUNICATION

3) Method 7, 8, 11, 12: Homing on home switch and index pulse

These types include the operation at stroke end detection in addition to the operation of Method 3
to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has
the operation of the dog type last Z-phase reference home position return. Method 8 has the
operation of the dog cradle type home position return at a forward rotation start. Method 11 and 12
differ from Method 7 and Method 8 only in the starting direction: the starting direction of Method 11
and 12 is the reversed direction.

Index Pulse

Home Sw itch

Positive Limit Sw itch

4) Method 17 to 30: Homing without index pulse

Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home
position not on the Z-phase but on the dog. Method 17 to 30 have the operation of Method 1 to
Method 14; however, these types set the home position not on the Z-phase but on the dog. The
following figure shows the operation of the home position return type of Method 19 and Method
20. Method 19 and Method 20 have the operation of Method 3 and Method 4; however, these
types set the home position not on the Z-phase but on the dog Method 19 has the operation of the
dog type front end reference home position return. Method 20 has the operation of the dog cradle
type home position return; however, the stop position is not on the Z-phase but on the dog.

19

19

20

20

Home Sw itch

19 - 51
19．EtherNet/IP COMMUNICATION

5) Method 33 and 34: Homing on index pulse

These home position return types set the Z-phase detected first as a home position. The
operation is the same as that of the dogless Z-phase reference home position return except that
the creep speed is applied at the start.

33

34

Index Pulse

6) Method 35 and 37: Homing on current position

These home position return types set the current position as a home position. The operation is the
same as that of the data set type home position return; however, these types can be executed
even during servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

19 - 52
19．EtherNet/IP COMMUNICATION

(b) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing
method.

1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 53
19．EtherNet/IP COMMUNICATION

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing
method 6 is opposite to that of Homing method 4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 54
19．EtherNet/IP COMMUNICATION

3) Method 7 and Method 11 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 7. The operation direction of Homing
method 11 is opposite to that of Homing method 7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 55
19．EtherNet/IP COMMUNICATION

4) Method 8 and Method 12 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 8. The operation direction of Homing
method 12 is opposite to that of Homing method 8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 56
19．EtherNet/IP COMMUNICATION

5) Method 19 and Method 21 (Homing without index pulse)

The following figure shows the operation of Homing method 19. The operation direction of Homing
method 21 is opposite to that of Homing method 19.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 57
19．EtherNet/IP COMMUNICATION

6) Method 20 and Method 22 (Homing without index pulse)

The following figure shows the operation of Homing method 20. The operation direction of Homing
method 22 is opposite to that of Homing method 20.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shift distance
+
Travel distance after proximity dog

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 58
19．EtherNet/IP COMMUNICATION

7) Method 23 and Method 27 (Homing without index pulse)

The following figure shows the operation of Homing method 23. The operation direction of Homing
method 27 is opposite to that of Homing method 23.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 59
19．EtherNet/IP COMMUNICATION

8) Method 24 and Method 28 (Homing without index pulse)

The following figure shows the operation of Homing method 24. The operation direction of Homing
method 28 is opposite to that of Homing method 24.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shift distance
+
Travel distance after proximity dog

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 60
19．EtherNet/IP COMMUNICATION

9) Method 33 and Method 34 (Homing on index pulse)

The following figure shows the operation of Homing method 34. The operation direction of Homing
method 33 is opposite to that of Homing method 34.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Deceleration time

constant constant
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return Creep speed
position data
ON Home position shift distance
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

19 - 61
19．EtherNet/IP COMMUNICATION

(6) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home return.

(a) Method -1 and -33 (Dog type home position return)

The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter td
rotation
Home position return
position data
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 62
19．EtherNet/IP COMMUNICATION

(b) Method -2 and -34 (Count type home position return)

POINT
For the count type home position return, after the front end of the proximity dog is
detected, the position is shifted by the distance set in the travel distance after
proximity dog. Then, the first Z-phase is set as the home position. Therefore,
when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the
dog type home position return cannot be used because the length of the
proximity dog cannot be reserved or other cases.

The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return
Travel distance after position data
proximity dog (Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

19 - 63
19．EtherNet/IP COMMUNICATION

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.

When the movement is returned at the stroke end

(c) Method -3 (Data set type home position return)

The following figure shows the operation of Homing method -3. This type cannot be executed during
servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

19 - 64
19．EtherNet/IP COMMUNICATION

(d) Method -4 and -36 (stopper type home position return)

POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.

The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 is opposite to that of Homing method -4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
Forw ard constant Home position return speed Home position return
rotation position data
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Stopper
Controlw ord bit 4 ON
Homing operation start 5 ms or longer
OFF
ON [Pr. PT10 Stopper type home position return stopper time]
TLC (Limiting torque) (Note 2)
OFF

Torque limit value T orque li mi t val ue (Note 1) [Pr. PT11] Torque limit value (Note 1)

Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (60E0h) is applied. When Method -36 is set, the
torque limit value of Negative torque limit value (60E1h) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 65
19．EtherNet/IP COMMUNICATION

(e) Method -6 and -38 (dog type rear end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the rear end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.

The following figure shows the operation of Homing method -6. The operation direction of Homing
method -38 is opposite to that of Homing method -6.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
(Note) Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end
19 - 66
19．EtherNet/IP COMMUNICATION

(f) Method -7 and -39 (count type front end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.

The following figure shows the operation of Homing method -7. The operation direction of Homing
method -39 is opposite to that of Homing method -7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 67
19．EtherNet/IP COMMUNICATION

(g) Method -8 and -40 (dog cradle type home position return)
The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 68
19．EtherNet/IP COMMUNICATION

(h) Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90]
te. occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 69
19．EtherNet/IP COMMUNICATION

(i) Method -10 and -42 (dog type front end reference home position return)
The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

(Note) Proximity dog

ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

19 - 70
19．EtherNet/IP COMMUNICATION

(j) Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
Home position return speed constant
constant

Home position return

Forw ard position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance

ON
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

19 - 71
19．EtherNet/IP COMMUNICATION

19.5.5 Touch probe

The touch probe function that executes current position latch by sensor input can be used.
With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and
TPR2 (touch probe 2) or the position feedback of when the encoder zero point was passed through can be
stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe function
(Class ID: 64h, Ins ID: 60B8h, Attr ID: 0).
The following shows the touch probe detection resolution. Enabling the high precision touch probe will disable
the encoder output pulses.
Touch probe1 Touch probe2
Input terminal TPR1 TPR2
[Pr. PD37] = _ _ _ 0 (Selection of high-precision touch
Encoder 55 μs 55 μs
probe is disabled)
resolutio
[Pr. PD37] = _ _ _ 1 (Selection of high-precision touch Rising: 2 μs
n 55 μs
probe is enabled) Falling: 55 μs

(1) Related object

Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Settings such as
Get/S Touch probe UIN enabling/disabling of the touch
60B8h 0
et function T probe function and trigger
conditions
Touch probe UIN Status information of the touch
60B9h 0 Get 0
status T probe function
Shows the rising edge position of
Touch probe pos1 DIN
60BAh 0 Get 0 TPR1 (touch probe 1). (Pos
pos value T
units)
Shows the falling edge position
Touch probe pos1 DIN
60BBh 0 Get 0 of TPR1 (touch probe 1). (Pos
neg value T
units)
Shows the rising edge position of
Touch probe pos2 DIN
60BCh 0 Get 0 TPR2 (touch probe 2). (Pos
pos value T
units)
Shows the falling edge position
Touch probe pos2 DIN
60BDh 0 Get 0 of TPR2 (touch probe 2). (Pos
neg value T
units)

19 - 72
19．EtherNet/IP COMMUNICATION

(a) Details of Touch probe function (Class ID: 64h, Ins ID: 60B8h, Attr ID: 0)
Bit Definition
0: Touch probe 1 disabled
0
1: Touch probe 1 enabled
0: Single trigger mode
1
1: Continuous trigger mode
0: Set input of touch probe 1 as a trigger
2
1: Set 0 point of the encoder as a trigger
3 (reserved) The value at reading is undefined. Set "0" when writing.
0: Stop sampling at the rising edge of touch probe 1
1: Start sampling at the rising edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback
latched at rising edge of touch probe 1 is stored in Touch probe pos1 pos value
4
(60BAh).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos1 pos
value (60BAh).
0: Stop sampling at the falling edge of touch probe 1
1: Start sampling at the falling edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback
latched at falling edge of touch probe 1 is stored in Touch probe pos1 neg value
5
(60BBh).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos1 neg
value (60BBh).
6 (reserved) The value at reading is undefined. Set "0" when writing.
7
0: Touch probe 2 disabled
8
1: Touch probe 2 enabled
0: Single trigger mode
9
1: Continuous trigger mode
0: Set input of touch probe 2 as a trigger
10
1: Set 0 point of the encoder as a trigger
11 (reserved) The value at reading is undefined. Set "0" when writing.
0: Stop sampling at the rising edge of touch probe 2
1: Start sampling at the rising edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback
latched at rising edge of touch probe 2 is stored in Touch probe pos2 pos value
12
(60BCh).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos2 pos
value (60BCh).
0: Stop sampling at the falling edge of touch probe 2
1: Start sampling at the falling edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback
latched at falling edge of touch probe 2 is stored in Touch probe pos2 neg value
13
(60BDh).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of
when the encoder zero point was passed through is stored in Touch probe pos2 neg
value (60BDh).
14 (reserved) The value at reading is undefined. Set "0" when writing.
15

19 - 73
19．EtherNet/IP COMMUNICATION

(b) Details of Touch probe status (Class ID: 64h, Ins ID: 60B9h, Attr ID: 0)
Bit Definition
0: Touch probe 1 disabled
0
1: Touch probe 1 enabled
0: The rising edge position of touch probe 1 has not been stored.
1: The rising edge position of touch probe 1 has been stored.
1 When the position feedback is stored in Touch probe pos1 pos value (60BAh), this bit
becomes "1".
When "0" is set in the bit 4 of Touch probe function (60B8h), this bit becomes "0".
0: The falling edge position of touch probe 1 has not been stored.
1: The falling edge position of touch probe 1 has been stored.
2 When the position feedback is stored in Touch probe pos1 neg value (60BBh), this bit
becomes "1".
When "0" is set in the bit 5 of Touch probe function (60B8h), this bit becomes "0".
3 (reserved) The value at reading is undefined. Set "0" when writing.
4
5
6
7
0: Touch probe 2 disabled
8
1: Touch probe 2 enabled
0: The rising edge position of touch probe 2 has not been stored.
1: The rising edge position of touch probe 2 has been stored.
9 When the position feedback is stored in Touch probe pos2 pos value (60BCh), this bit
becomes "1".
When "0" is set in the bit 12 of Touch probe function (60B8h), this bit becomes "0".
0: The falling edge position of touch probe 2 has not been stored.
1: The falling edge position of touch probe 2 has been stored.
10 When the position feedback is stored in Touch probe pos2 neg value (60BDh), this bit
becomes "1".
When "0" is set in the bit 13 of Touch probe function (60B8h), this bit becomes "0".
11 (reserved) The value at reading is undefined. Set "0" when writing.
12
13
14
15

19 - 74
19．EtherNet/IP COMMUNICATION

(2) Timing chart

Touch probe function 60B8h Bit 0 1
Enable Touch Probe 1
13
60B8h Bit 1
Trigger first event

60B8h Bit 4 1
Enable Sampling at positive edge
7 9
60B8h Bit 5
Enable Sampling at negative edge

2 14
Touch probe status 60B9h Bit 0
Touch Probe 1 is enabled
8
4 12
60B9h Bit 1 14
Touch Probe 1 positive edge stored

6
60B9h Bit 2 14
Touch Probe 1 negative edge stored
(Note)
3 (Note) 5 11
Touch Probe Signal (Note) 0.5 ms or longer

0.5 ms or
longer
4a 8a 10 12a
60BAh
Touch Probe position 1 positive value 0000 yyyy uuuu
6a 14a
60BBh
Touch Probe position 1 negative value 0000 xxxx

No Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.
te.

Transiti
Object Description
on No.
1 60B8h Bit 0, 4, 5 = 1 Enables Touch Probe1. The rising edge and falling edge are enabled.
2 → 60B9h Bit 0 = 1 Turns on the Touch Probe1 enable status.
3 Turns on Touch Probe Signal (TPR1).
4 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 positive edge stored status.
4a → 60BAh Sets the latched position feedback for Touch probe position1 positive value.
5 Turns off Touch Probe Signal (TPR1).
6 → 60B9h Bit 2 = 1 Turns on the Touch Probe1 negative edge stored status.
6a → 60BBh Sets the latched position feedback for Touch probe position1 negative value.
7 60B8h Bit 4 = 0 Turns off Sample positive edge. Rising edge detection is disabled.
8 → 60B9h Bit 1 = 0 Turns off Touch Probe1 positive edge stored status.
8a → 60BAh Touch probe position1 positive value does not change.
9 60B8h Bit 4 = 1 Turns on Sample positive edge. Rising edge detection is enabled.
10 → 60BAh Touch probe position1 positive value does not change.
11 Turns on Touch Probe Signal (TPR1).
12 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 negative edge stored status.
12a → 60BAh Sets the latched position feedback for Touch probe position1 negative value.
13 60B8h Bit 0 = 0 Disables Touch Probe1.
14 → 60B9h Bit 0, 1, 2 = 0 Clears all the status Bit.
14a → 60BAh, 60BBh Touch probe position1 positive/negative value does not change.

19 - 75
19．EtherNet/IP COMMUNICATION

(3) High-precision touch probe

TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch
function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely
startup of TPR2 (touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set [Pr.
PD37] to "_ _ _ 1". While the high-precision touch probe is being used, the encoder pulse output function
cannot be used. The precision of falling edge is 55 μs in this case as well.

19.5.6 Quick stop

Decelerate the servo motor to a stop with the Quick stop command of Controlword (Class ID: 64h, Ins ID:
6040h, Attr ID: 0). The following table shows the related objects.
Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Deceleration at deceleration to a
Get/S Quick stop UDI
6085h 0 100 stop by Quick stop
et deceleration NT
Unit: ms
Get/S Quick stop option
605Ah 0 INT 2 Refer to table 5.2 for details.
et code

The operation method of deceleration to a stop can be specified with Quick stop option code (Class ID: 64h,
Ins ID: 605Ah, Attr ID: 0). The following table shows the supported methods and the operations.

Table 5.2 Quick stop option code

Setting value Description
tq: The state shifts to the Switch on disabled state and the servo motor is stopped with the dynamic brake.
1 pp/pv: The servo motor decelerates to a stop with Profile deceleration (Class ID: 64h, Ins ID: 6084h, Attr ID: 0) and
(Not supported) the state immediately shifts to the Switch On Disabled state.
(Note) hm: The servo motor decelerates to a stop with Homing acceleration (Class ID: 64h, Ins ID: 609Ah, Attr ID: 0) and
the state shifts to the Switch On Disabled state.
In the profile mode (pp/pv), and homing mode (hm), the servo motor decelerates to a stop with Quick stop
deceleration (Class ID: 64h, Ins ID: 6085h, Attr ID: 0) and the state shifts to the Switch On Disabled state.
2
In the profile torque mode (tq), the state immediately shifts to the Switch On Disabled state and the servo motor
stops with the dynamic brake.
3 The current is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled
(Not supported) state.
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. Then, the state shifts to the Switch On Disabled
(Not supported) state.
(Note)
5 The servo motor decelerates to a stop. The state does not change from the Quick Stop Active state (servo-on).
(Not supported)
(Note)
6 The servo motor decelerates to a stop with Quick stop deceleration (Class ID: 64h, Ins ID: 6085h, Attr ID: 0). The
(Not supported) state does not change from the Quick Stop Active state (servo-on).
(Note)
7 The current is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop
(Not supported) Active state (servo-on).
(Note)
8 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Quick Stop
(Not supported) Active state (servo-on).
(Note)

No
This is not supported by the driver.
te.

19 - 76
19．EtherNet/IP COMMUNICATION

19.5.7 Halt
When Halt Bit (Bit 8 of Controlword) is set to 1, the servo motor decelerates to a stop with the deceleration
time constant of Homing acceleration (Class ID: 64h, Ins ID: 609Ah, Attr ID: 0) or Profile deceleration (Class
ID: 64h, Ins ID: 6084h, Attr ID: 0) according to the setting of Halt option code (Class ID: 64h, Ins ID: 605Dh,
Attr ID: 0). The halt function can be used in the profile mode (pp/pv/tq) and homing mode (hm). When Halt Bit
is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to the operable
state. The following table shows the related object.
Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
Setting for executing the Halt
Get/S
64h 605Dh 0 Halt option code INT 1 function
et
Refer to table 5.3 for details.

The following table shows descriptions of Halt option code (Class ID: 64h, Ins ID: 605Dh, Attr ID: 0).
However, in the profile torque mode (tq), Torque demand value (Class ID: 64h, Ins ID: 6074h, Attr ID: 0) is
set to 0 regardless of Halt option code (Class ID: 64h, Ins ID: 605Dh, Attr ID: 0). The amount of torque
change at this time can be set using Torque slope (Class ID: 64h, Ins ID: 6087h, Attr ID: 0).

Table 5.3 Halt option code

Setting
Description
value
For Profile deceleration (Class ID: 64h, Ins ID: 6084h, Attr ID: 0) and the homing mode (hm), the servo motor
1 decelerates to a stop according to Homing acceleration (Class ID: 64h, Ins ID: 609Ah, Attr ID: 0) and the state
does not change from the Operation Enabled state (servo-on).
2 The servo motor decelerates to a stop with Quick stop deceleration (Class ID: 64h, Ins ID: 6085h, Attr ID: 0). The
(Not state does not change from the Operation Enabled state (servo-on).
supported)
(Note)
3 The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not Enabled (servo-on).
supported)
(Note)
4 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation
(Not Enabled (servo-on).
supported)
(Note)

No
This is not supported by the driver.
te.

19 - 77
19．EtherNet/IP COMMUNICATION

19.5.8 Software position limit

Specify the upper and lower limits of the command position and current position. If a command position
exceeding the limit position is specified, the command position is clamped at the limit position. Specify a
relative position from the machine home point (position address = 0) as the limit position.
This function is enabled when the home position is not erased in the profile position mode (pp). While the
clamp processing is being performed with the command position exceeding the limit value, [AL. 98 Software
limit warning] occurs and not cleared. When the position command of the direction opposite to reached
Software position limit (Class ID: 64h, Ins ID: 607Dh, Attr ID: 0) is given, the operation can be restarted.
Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h Software position USI
0 Get 2 Number of entries
limit NT
Specify a relative position from
the machine home point (position
address = 0) as the minimum
value of the command position
Get/S Min position limit DIN
1 0 and current position. When the
et (Note) T
value falls below the minimum
value, it is clamped and
processed as the minimum
607Dh
value.
Specify a relative position from
the machine home point (position
address = 0) as the maximum
value of the command position
Get/S Max position limit DIN
2 0 and current position. When the
et (Note) T
value exceeds the maximum
value, it is clamped and
processed as the maximum
value.

No When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software
te. position limit (607Dh) is disabled.

19.5.9 Torque limit

Generated torque can be limited with the values of Positive torque limit value (60E0h) and Negative torque
limit value (60E1h). When "0" is set, torque () is not generated. The following table lists the related objects.
Data
Attr Acces
Class ID Ins ID Name Typ Default Description
ID s
e
64h [Pr. PA11 Forward rotation
torque limit/positive direction
limit]
Get/S Positive torque UIN Torque limit value in CCW power
60E0h 0 10000
et limit value T running/CW regeneration
Unit: 0.1% (rated torque of
100%)
Range: 0 to 10000
[Pr. PA12 Reverse rotation
torque limit/negative direction
limit]
Get/S Negative torque UIN Torque limit value in CW power
60E1h 0 10000
et limit value T running/CCW regeneration
Unit: 0.1% (rated torque of
100%)
Range: 0 to 10000

19 - 78
19．EtherNet/IP COMMUNICATION

19.5.10 Polarity
The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set with Polarity (Class ID: 64h, Ins ID: 607Eh, Attr ID: 0). For the Polarity (Class ID: 64h, Ins ID: 607Eh,
Attr ID: 0) setting to position commands and speed commands, use [Pr. PA14]. For the Polarity (Class ID:
64h, Ins ID: 607Eh, Attr ID: 0) setting to torque commands, use [Pr. PA14] and "POL reflection selection at
torque mode" of [Pr. PC29]. A change in the setting of Polarity (Class ID: 64h, Ins ID: 607Eh, Attr ID: 0) is not
applied without enabling the change. Refer to section 6.5.2 for the procedure of enabling parameters.

(1) Object definition

Bit Description
0 (reserved) The value at reading is undefined. Set "0" at writing.
1
2
3
4
Torque POL
5
The polarity is reversed when this bit is turned on.
Velocity POL
6
The polarity is reversed when this bit is turned on.
Position POL
7
The polarity is reversed when this bit is turned on.

19 - 79
19．EtherNet/IP COMMUNICATION

(2) Target object

The following shows objects whose polarity is reversed according to the setting of Polarity (Class ID: 64h,
Ins ID: 607Eh, Attr ID: 0).
Object name (Class ID, Ins ID, Attr ID) Remark
Target position (64h, 607Ah, 0)
Target velocity (64h, 60FFh, 0)
Target torque (64h, 6071h, 0)
Position actual value (64h, 6064h, 0)
Velocity demand value (64h, 606Bh, 0) Whether to reverse the polarity using Polarity (607Eh) can be switched with
"Internal command speed POL reflection selection" of [Pr. PC76].
[Pr. PC76] = _ 0 _ _ (Automatic setting): Automatically set depending on the
type of the network in use.
[Pr. PC76] = _ 1 _ _ (POL setting enabled): The polarity is reversed using
Polarity.
[Pr. PC76] = _ 2 _ _ (POL setting disabled): The polarity is not reversed
using Polarity.
Velocity actual value (64h, 606Ch, 0)
Torque demand (64h, 6074h, 0)
Torque actual value (64h, 6077h, 0)
Positive torque limit value (64h, 60E0h, 0) The corresponding parameters are changed according to "POL reflection
selection at torque mode" in [Pr. PA14] and [Pr. PC29] as follows.
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA11
Forward rotation torque limit/positive direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA11
Forward rotation torque limit/positive direction limit].
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA11 Forward
rotation torque limit/positive direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
Negative torque limit value (64h, 60E1h, 0) The corresponding parameters are changed according to "POL reflection
selection at torque mode" in [Pr. PA14] and [Pr. PC29] as follows.
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _ (Disabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA12
Reverse rotation torque limit/negative direction limit].
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _ (Enabled): Written to [Pr. PA11 Forward
rotation torque limit/positive direction limit].
Digital inputs (64h, 60FDh, 0) The corresponding status is changed according to the setting of [Pr. PA14]
as follows.
[Pr. PA14] = 0: The status of LSN (reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSP (forward rotation stroke end)
is applied to Positive limit switch (bit 1).
[Pr. PA14] = 1: The status of LSP (forward rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSN (reverse rotation stroke end)
is applied to Positive limit switch (bit 1).

19 - 80
19．EtherNet/IP COMMUNICATION

19.5.11 Degree function

(1) Summary
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with card
coordinates (axis of rotation). The following shows the differences when "degree" is selected.
Item (Class ID, Ins ID, Attr ID) Description
Target position (64h, 607Ah, 0) The range will be -360.000° to 360.000°.
Position actual value (64h, 6064h, 0) The range will be 0° to 359.999°.
Software position limit (64h, 607Dh, 0) The range will be 0° to 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.
Position range limit (64h, 607Bh, 0) The range will be 0° to 359.999°.
Touch probe pos1 pos value (64h, 60BAh, 0) The range will be 0° to 359.999°.
Touch probe pos1 neg value (64h, 60BBh, 0) The range will be 0° to 359.999°.
Touch probe pos2 pos value (64h, 60BCh, 0) The range will be 0° to 359.999°.
Touch probe pos2 neg value (64h, 60BDh, 0) The range will be 0° to 359.999°.
Home offset (64h, 607Ch, 0) The range will be 0° to 359.999°.

(2) Setting of the operation pattern

Positioning operation patterns can be changed with Positioning option code (Class ID: 64h, Ins ID:
60F2h, Attr ID: 0) or [Pr. PT03]. Change the setting while the servo motor is stopped (Target reached is
on). If the setting is changed while the servo motor is rotating (Target reached is off), the setting value is
not applied immediately. The new value is applied at a positioning start (Bit 4 of Controlword is turned on)
after Target reached is once turned on. The following table shows the bit of Positioning option code
(Class ID: 64h, Ins ID: 60F2h, Attr ID: 0) and the setting of [Pr. PT03].
Bit 7 Bit 6 [Pr. PT03] Rotation direction definition for the axis of rotation
The servo motor rotates to the target position in a direction specified with a sign of the
0 0 _0__
position data.
The servo motor rotates in the address decreasing direction regardless of the sign of the
0 1 _2__
position data.
The servo motor rotates in the address increasing direction regardless of the sign of the
1 0 _3__
position data.
The servo motor rotates from the current position to the target position in the shorter
1 1 _1__ direction. If the distances from the current position to the target position are the same for
CCW and CW, the servo motor rotates in the CCW direction.

19 - 81
19．EtherNet/IP COMMUNICATION

(3) Sequence
The following shows the operation patterns corresponding to the settings of Positioning option code
(Class ID: 64h, Ins ID: 60F2h, Attr ID: 0).

(a) When POL is disabled ([Pr. PA14] = 0)

360 = 0 360 = 0 360 = 0 360 = 0
50 50 50 50
330 330 330 330

150 210 150 210 150 210 150 210

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

(b) When POL is enabled ([Pr. PA14] = 1)

360 = 0 360 = 0 360 = 0 360 = 0
330 330 330 330
50 50 50 50

210 150 210 150 210 150 210 150

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

19 - 82
19．EtherNet/IP COMMUNICATION

19.6 MANUFACTURER FUNCTIONS

19.6.1 Object for status monitor

The monitor data as the manufacturer functions can be checked with the objects in the following table.
Class Ins Attr Acc Data Defa
Name Description
ID ID ID ess Type ult
64h Cumulative feedback pulses
2B0 Get/ Monitor 1 DIN
0 (Unit: pulse)
1h Set Cumulative feedback pulses T
Cleared by writing "00001EA5h".
2B0 Monitor 2 DIN Servo motor speed
0 Get
2h Servo motor speed T (Unit: r/min)
2B0 Monitor 3 DIN Droop pulses
0 Get
3h Droop pulse T (Unit: pulse)
Cumulative command pulses
2B0 Monitor 4 DIN
0 Get (Unit: pulse)
4h Cumulative command pulses T
Cleared by writing "00001EA5h".
2B0 Monitor 5 DIN Command pulse frequency
0 Get
5h Command pulse frequency T (Unit: kpulse/s)
2B0 Monitor 8 UIN Regenerative load ratio
0 Get
8h Regenerative load ratio T (Unit: %)
2B0 Monitor 9 UIN Effective load ratio
0 Get
9h Effective load ratio T (Unit: %)
2B0 Monitor 10 UIN Peak load ratio
0 Get
Ah Peak load ratio T (Unit: %)
2B0 Monitor 11 Instantaneous torque
0 Get INT
Bh Instantaneous torque (Unit: %)
2B0 Monitor 12 DIN Position within one-revolution
0 Get
Ch Within one-revolution position T (Unit: pulse)
2B0 Monitor 13 DIN ABS counter
0 Get
Dh ABS counter T (Unit: rev)
2B0 Monitor 14 UIN Load to motor inertia ratio
0 Get
Eh Load to motor inertia ratio T (Unit: 0.01 times)
2B0 Monitor 15 UIN Bus voltage
0 Get
Fh Bus voltage T (Unit: V)
Monitor 16 Load-side encoder cumulative
2B1 DIN
0 Get Load side encoder cumulative feedback pulses
0h T
feedback pulses (Unit: pulse)
Monitor 17
2B1 DIN Load-side encoder droop pulses
0 Get Load side encoder droop
1h T (Unit: pulse)
pulses
Monitor 18
2B1 DIN Load-side encoder information 1
0 Get Load side encoder information
2h T (Unit: pulse)
1
Monitor 19
2B1 DIN Load-side encoder information 2
0 Get Load side encoder information
3h T (Unit: rev)
2
Monitor 23 Temperature of servo motor
2B1
0 Get Temperature of motor INT thermistor
7h
thermistor (Unit: °C)
Monitor 24 Servo motor-side cumulative
2B1 DIN
0 Get Motor side cumulative F/B feedback pulses (before gear)
8h T
pulses (Before Gear) (Unit: pulse)
2B1 Monitor 25 DIN Electrical angle
0 Get
9h Electrical angle T (Unit: pulse)
Monitor 35 Servo motor-side/load-side position
2B2 DIN
0 Get Motor/load side position deviation
3h T
deviation (Unit: pulse)
Monitor 36 Servo motor-side/load-side speed
2B2 DIN
0 Get Motor/load side speed deviation
4h T
deviation (Unit: r/min)

19 - 83
19．EtherNet/IP COMMUNICATION

Data
Class Ins Attr Acc Defa
Name Typ Description
ID ID ID ess ult
e
64h Monitor 37
2B2 Internal temperature of encoder
0 Get Internal temperature of INT
5h (Unit: °C)
encoder
2B2 Monitor 38 Settling time
0 Get INT
6h Settling time (Unit: ms)
Monitor 39
2B2 Oscillation detection frequency
0 Get Oscillation detection INT
7h (Unit: Hz)
frequency
Monitor 40
2B2 UDI Number of tough drive operations
0 Get Number of tough drive
8h NT (Unit: time)
operations
2B2 Monitor 45 Unit power consumption
0 Get INT
Dh Unit power consumption (Unit: W)
2B2 Monitor 46 DIN Unit total power consumption
0 Get
Eh Unit total power consumption T (Unit: Wh)

19 - 84
19．EtherNet/IP COMMUNICATION

19.6.2 Instruction code

19.6.2.1 Summary
If you set the code corresponding to an item to be read/written from/to the Instruction code object through the
cyclic communication, the master can change or read parameter values and object values of a driver. The
following table lists the instruction code objects.
Name Data Type Access Description
Instruction code UDINT Get/Set Instruction code
Writing data DINT Get/Set Writing data
Respond code UINT Get Respond code
Reading data DINT Get Reading data

19.6.2.2 Reading instruction codes

(1) Timing chart
Instruction code

Instruction code execution ON

demand
(Control DI 10, bit 1) OFF
Instruction code execution ON
completion
(Status DO 10, bit 1) OFF

Reading data

Respond code
Data reading period

Set the reading instruction code (refer to (2) in this section) in Instruction code and turn on Instruction
code execution demand (Control DI 10, bit 1). Turning on Instruction code execution demand (Control DI
10, bit 1) sets the data corresponding to the set reading code in Reading data. Data is all hexadecimal. At
this time, Instruction code execution completion (Status DO 10, bit 1) also turns on. Read the reading
data to be set in Reading data while Instruction code execution demand (Control DI 10, bit 1) is on. The
data set in Reading data is held until Instruction code execution demand (Control DI 10, bit 1) turns on
with the next reading instruction code set.
If an instruction code out of the specifications is set in Instruction code, an error code (_ _ 1 _) is set in
Respond code. At this time, "00000000" is stored in Reading data. Refer to section 6.2.5 for details of the
respond code.
Turn off Instruction code execution demand (Control DI 10, bit 1) after the data reading is completed.
Until Instruction code execution completion turns on after Instruction code execution demand is turned
on, do not change the instruction code. Turn off Instruction code execution demand after the data reading
is completed.

19 - 85
19．EtherNet/IP COMMUNICATION

(2) Instruction code

Reading data content (Driver → Master station)
Code No. Item/function
Lower 16 bits Upper 16 bits
10XXXXYYh Reading an object library The read value of the requested object The upper 16 bits of the value is
Reads the value of an object library library is stored. (Note) stored. (Note)
that can be read when the object
library is set as follows: Ins ID is set
to XXXX and Attr ID is set to YY.
An error code is returned if an
object library that cannot be read is
specified.

Note. If the size of an object to be read is smaller than 32 bits, 0 is stored in the remaining areas.

19.6.2.3 Writing instruction code

(1) Timing chart
Instruction code

Writing data

Instruction code ON
execution demand
(Control DI 10, bit 1) OFF
Instruction code ON
execution completion
(Status DO 10, bit 1) OFF

Respond code

Set a writing instruction code (refer to (2) in this section) in Instruction code, set the data to be written
(data to be executed) in Writing data in hexadecimal, and turn on Instruction code execution demand
(Control DI 10, bit 1).
Turning on Instruction code execution demand (Control DI 10, bit 1) writes the data set with Writing data
to the item corresponding to the writing instruction code. After the writing is completed, Instruction code
execution completion (Status DO 10, bit 1) turns on.
If an instruction code out of the specifications is set in Instruction code, an error code (_ _ 1 _) is set in
Respond code.
Turn off Instruction code execution demand (Control DI 10, bit 1) after Instruction code execution
completion (Status DO 10, bit 1) has turned on.
Until Instruction code execution completion turns on after Instruction code execution demand is turned
on, do not change the values set in Instruction code and Writing data. Turn off Instruction code execution
demand while Instruction code execution completion is on.

19 - 86
19．EtherNet/IP COMMUNICATION

(2) Instruction code

Writing data content (Master station → Driver)
Code No. Item/function
Lower 16 bits Upper 16 bits
A0XXXXYYh Writing an object library Set the write value for the object Set the upper 16 bits. (Note)
Writes the value of an object library library. (Note)
that can be written when the object
library is set as follows: Ins ID is set
to XXXX and Attr ID is set to YY.
An error code is returned if an
object library that cannot be read is
specified.
B0XX0000h Variable mapping instruction code WritingData format WritingData format
Changes the reference object of
User defined data defined in the 0 0
variable mapping for the 1st Output
data (Instance 150). Attribute ID Instance ID
The characters XX in the instruction
code indicate the object to be Fixed to 0
changed. Refer to section 6.2.4 (2)
for details.
B1XX0000h Variable mapping instruction code WritingData format WritingData format
Changes the reference object of
User defined data defined in the 0 0
variable mapping for the 1st Input
map (Instance 100). Attribute ID Instance ID
The characters XX in the instruction
code indicate the object to be Fixed to 0
changed. Refer to section 6.2.4 (2)
for details.

Note. If the size of an object to be written is smaller than 32 bits, nothing is written to the remaining areas.

19 - 87
19．EtherNet/IP COMMUNICATION

19.6.2.4 Variable mapping

(1) Timing chart of when variable mapping is used

Set the writing instruction code corresponding to an object to be changed in Instruction code. At this time,
set Ins ID and Attr ID of the object in Writing data in hexadecimal. After that, turn on Instruction code
execution demand (Control DI 10, bit 1).
When Instruction code execution demand (Control DI 10, bit 1) is turned on, the mapping position for
which the object corresponding to the writing instruction code has been defined is handled as the object
set in Writing data. After the writing is completed, Instruction code execution completion (Status DO 10,
bit 1) turns on.
The following figure shows the reflection timing in the mapping with the variable mapping.
Instruction code

Writing data

Instruction code ON
execution demand
(Control DI 10, bit 1) OFF
Instruction code ON
execution completion
(Status DO 10, bit 1) OFF

Reading data

RxPDO Old object No reflection target New object

TxPDO Old object New object

In consideration of the timing above, for data sent by the upper side, the upper side sets new object data
in User defined data when the upper side receives the on state of Instruction code execution completion
from the driver. After the setting is completed, turn off Instruction code execution demand. When the
upper side receives the off state of Instruction code execution completion from the driver, the new object
data is applied to User defined data.
User defined data retains the old object data until the upper side receives the off state of Instruction code
execution completion. When the upper side receives the off state, the new object data is set in User
defined data.

19 - 88
19．EtherNet/IP COMMUNICATION

(2) Variable mapping instruction code

The following table lists the instruction codes and the corresponding instance names in an I/O
communication mapping file.
Send Instruction
No. Size Default Definition in the mapping file
direction code
1 Output B0000000h 2 bytes Control DI 1 (2D01h) User defined data 0 (2 bytes)
2 Output B0010000h 2 bytes Control DI 2 (2D02h) User defined data 1 (2 bytes)
3 Output B0020000h 2 bytes Control DI 3 (2D03h) User defined data 2 (2 bytes)
4 Output B0030000h 4 bytes Velocity limit value (2D20h) User defined data 3 (4 bytes)
5 Output B0040000h 4 bytes User defined data 4 (4 bytes)
6 Output B0050000h 4 bytes User defined data 5 (4 bytes)
7 Output B0060000h 4 bytes User defined data 6 (4 bytes)
8 Input B1000000h 2 bytes Status DO 1 (2D11h) User defined data 0 (2 bytes)
9 Input B1010000h 2 bytes Status DO 2 (2D12h) User defined data 1 (2 bytes)
10 Input B1020000h 2 bytes Status DO 3 (2D13h) User defined data 2 (2 bytes)
11 Input B1030000h 4 bytes Following error actual value (60F4h) User defined data 3 (4 bytes)
12 Input B1040000h 4 bytes Digital inputs (60FDh) User defined data 4 (4 bytes)
13 Input B1050000h 4 bytes User defined data 5 (4 bytes)
14 Input B1060000h 4 bytes User defined data 6 (4 bytes)

(3) Error conditions

The following table lists the conditions for normal completion and errors. The code numbers correspond
to the respond codes in section 6.2.5.
Error name Cause Code No.
Finished normally An instance in User defined data has been successfully 0: Normal result
switched.
Instruction code error The instruction code corresponds to High but does not 1: Code error
correspond to Low.
Non-existent mapping The specified mapping definition does not exist in the default 1: Code error
definition mapping file definitions.
User defined data error The specified instance does not exist. 3: Writing data out of range
Send/receive error The send directions of the instruction code and User defined 3: Writing data out of range
data are different.
Data size error The data size of User defined data has exceeded the data 3: Writing data out of range
size allowed by the instruction code.
Assignment error of User User defined data 0 to 6 have been assigned. 3: Writing data out of range
defined data 0 to 6

19.6.2.5 Respond code

When an instruction code set in Instruction code is outside the setting range, an error code is set in Respond
code. When the set instruction code is within the setting range, "_ _ 0 _" is set. The value in _ at reading is
undefined.

Error of the reading instruction code and w riting instruction code

Code No. Error detail Details
0 Normal result The instruction has been completed normally.
1 Code error An incorrect code No. is specified.
2
3 Writing data out of range A value out of the range is set.

19 - 89
19．EtherNet/IP COMMUNICATION

19.6.3 Stroke end

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is
performed by either of the following stop methods.

Operation status
Remark
During rotation at constant speed During deceleration to a stop
Travels for the droop pulse
No S-pattern acceleration/ No S-pattern acceleration/
deceleration deceleration portion and stops the servo
With S-pattern acceleration/ With S-pattern acceleration/
deceleration deceleration motor.
Part of droop Part of A difference will be
Servo motor speed pulses Servo motor speed droop generated between the
pulses
command position and the
0 r/min 0 r/min
(0 mm/s) (0 mm/s) current position.
Perform a home position
LSP ON LSP ON return again.
or OFF or OFF
LSN LSN

Perform a return as follows when the stroke end is detected.

Mode Return method
Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (607Ah).
Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (60FFh).

19 - 90
19．EtherNet/IP COMMUNICATION

19.6.4 Definition of alarm-related objects

Whether an alarm occurs or not in the slave (driver) can be detected on the master (upper side) with Bit 3
and Bit 7 of Statusword in the I/O communication. The alarm history of the latest alarm and 15 alarms that
have occurred can be referred to by acquiring the following related object values in the Explicit Message
communication.
Data
Class Acces
Ins ID Attr ID Name Typ Description
ID s
e
64h USI
0 Get Alarm history newest
NT
UDI
2A00h 1 Get Alarm No. Refer to section 7.3.5 (1).
NT
UDI
2 Get Alarm time (Hour)
NT
USI
0 Get Alarm history 1
NT
UDI
2A01h 1 Get Alarm No.
NT
UDI
2 Get Alarm time (Hour)
NT
: : : : : Refer to section 7.3.5 (2).
USI
0 Get Alarm history 15
NT
2A0F UDI
1 Get Alarm No.
h NT
UDI
2 Get Alarm time (Hour)
NT
UIN
2A40h 0 Set Clear alarm history Refer to section 7.3.5 (3).
T
UDI
2A41h 0 Get Current alarm Refer to section 7.3.5 (4).
NT
UIN
2A44h 0 Get Parameter error number Refer to section 7.3.5 (5).
T
USI
0 Get Parameter error list
NT
UIN
1 Get (No. 1)
2A45h T Refer to section 7.3.5 (6).
: : : :
UIN
16 Get (No. 16)
T

19 - 91
19．EtherNet/IP COMMUNICATION

19.6.5 Parameter object

19.6.5.1 Definition of parameter objects

The parameter of the driver can be changed on the master (upper side) by writing values to the following
objects in the Explicit Message communication. However, once the power supply is shut off, the changed
setting is not held at the next startup. To hold the changed setting even after the power supply is shut-off,
save the parameter setting value to EEP-ROM using Store Parameters (Class ID: 64h, Ins ID: 1010h).
To change the setting of the parameters where the changes are reflected by cycling the power (parameters
whose symbols are preceded by **), change the value of the corresponding object and execute Store
Parameters (Class ID: 64h, Ins ID: 1010h) before cycling the power. Refer to chapter 5 of for "**" of the
parameter symbol. The following table lists the related objects.
Class Acces Data
Ins ID Attr ID Name Description
ID s Type
64h Get/S
2001h 0 PA01 DINT
et
: : : : : [Pr. PA_ _] group
Get/S
2020h 0 PA32 DINT
et
Get/S
2081h 0 PB01 DINT
et
: : : : : [Pr. PB_ _] group
20C0 Get/S
0 PB64 DINT
h et
Get/S
2101h 0 PC01 DINT
et
: : : : : [Pr. PC_ _] group
Get/S
2150h 0 PC80 DINT
et
Get/S
2181h 0 PD01 DINT
et
: : : : : [Pr. PD_ _] group
Get/S
21B0h 0 PD48 DINT
et
Get/S
2201h 0 PE01 DINT
et
: : : : : [Pr. PE_ _] group
Get/S
2240h 0 PE64 DINT
et
Get/S
2281h 0 PF01 DINT
et
: : : : : [Pr. PF_ _] group
22C0 Get/S
0 PF48 DINT
h et
Get/S
2401h 0 PL01 DINT
et
: : : : : [Pr. PL_ _] group
Get/S
2430h 0 PL48 DINT
et
Get/S
2481h 0 PT01 DINT
et
: : : : : [Pr. PT_ _] group
24D0 Get/S
0 PT80 DINT
h et
Get/S
2581h 0 PN01 DINT
et
: : : : : [Pr. PN_ _] group
Get/S
25A0h 0 PN32 DINT
et

19 - 92
19．EtherNet/IP COMMUNICATION

19.6.5.2 Enabling parameters

The parameters whose symbols are preceded by "*" are enabled by the following operations. Refer to chapter
5 in for the parameters with "*". Refer to chapter 5 for "*" of the parameter symbol.

(1) Network disconnection

A parameter is enabled when a network disconnection switches the driver state to the state in which it
waits for the upper side to be connected. Refer to section 1.4.3 for the procedure of network
disconnection.

(2) State transition

A parameter is enabled when the I/O connection shifts from the Run mode to another mode.

(3) Enabling a parameter with a parameter enabling object

A parameter is enabled by writing "1EA5h" in User parameter configuration (Class ID: 64h, Ins ID:
2D34h, Attr ID: 0). This operation can be performed only when the I/O connection is not in the Run mode.
The parameter enabling processing requires a maximum of about 100 ms. The following table shows the
read values of User parameter configuration (Class ID: 64h, Ins ID: 2D34h, Attr ID: 0). By checking the
read value, the completion of the parameter enabling processing can be checked.
Value Description
0 Parameter enabling processing is being executed.
Parameter enabling processing is not being executed. (The processing is
1
completed.)

19 - 93
19．EtherNet/IP COMMUNICATION

19.6.6 One-touch tuning

Refer to section 6.2 of for one-touch tuning. Using One-touch tuning mode (Class ID: 64h, Ins ID: 2D50h, Attr
ID: 0) allows one-touch tuning from a upper side.

(1) Related object

Data
Class ID Ins ID Attr ID Access Name Default Description
Type
64h One-touch tuning command
Setting a value of "1" to "3" starts one-touch
tuning. After one-touch tuning is completed,
the setting value automatically changes to
One-touch tuning "0".
2D50h 0 Get/Set USINT 0
mode
0: During one-touch tuning stop
1: Basic mode
2: High mode
3: Low mode
One-touch tuning status
Regardless of whether one-touch tuning is
One-touch tuning
2D51h 0 Get SINT 0 properly completed or not, the setting value
status
changes to 100% at the completion.
Unit: %
One-touch tuning stop command
Writing "1EA5h" stops one-touch tuning.
One-touch tuning
2D52h 0 Set UINT 0 Writing a value other than "1EA5h" sets
Stop
General status code 09h Invalid attribute
value.
The parameter changed in one-touch tuning
can be returned to the value before the
change.
One-touch tuning 0000h: Restores the initial value.
2D53h 0 Set UINT 0
Clear 0001h: Restores the value before one-touch
tuning.
The setting value of the restored parameter is
stored to the EEP-ROM.
One-touch tuning error code
0000h: Finished normally
C000h: Tuning canceled
C001h: Overshoot exceeded
One-touch tuning C002h: Servo-off during tuning
2D54h 0 Get UINT 0
Error Code C003h: Control mode error
C004h: Time-out
C005h: Load to motor inertia ratio
misestimated
C00Fh: One-touch tuning disabled

19 - 94
19．EtherNet/IP COMMUNICATION

(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.

Start

Refer to chapter 4 to start the system.

Startup of the system

Rotate the servo motor with a upper side. (One-touch tuning cannot be performed if the servo
Operation
motor is not operating.)

One-touch tuning execution Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to
perform in One-touch tuning mode (Class ID: 64h, Ins ID: 2D50h, Attr ID: 0) during servo motor
driving to perform one-touch tuning.

Gains and filters will be adjusted automatically. During one-touch tuning, the progress can be
One-touch tuning in progress
checked with One-touch tuning status (Class ID: 64h, Ins ID: 2D51h, Attr ID: 0).

Check whether one-touch tuning is completed normally with One-touch tuning Error Code
One-touch tuning completion
(Class ID: 64h, Ins ID: 2D54h, Attr ID: 0). When one-touch tuning is completed normally, the
parameters will be set automatically. Refer to section 6.2 for the parameters that are set
automatically.
After a tuning error is returned, take the appropriate action according to section 6.2.2 (4)

Check the tuning result.

Tuning result check
If the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value using One-touch tuning Clear (Class ID: 64h, Ins ID:
2D53h, Attr ID: 0).
End

19 - 95
19．EtherNet/IP COMMUNICATION

19.6.7 Machine diagnosis function

This function estimates the friction and vibrational component of the drive system in the equipment based on
the data in the driver, and recognizes an error in the machine parts, including a ball screw and bearing. The
information of the machine diagnosis function can be obtained with the following objects.
2C20h
Bit 0 to Bit 3
Friction estimation status at forw ard rotation During estimation Estimation completed

Bit 4 to Bit 7
Friction estimation status at reverse rotation During estimation Estimation completed

Bit 8 to Bit 11
Vibration estimation status During estimation Estimation completed

2C21h/2C22h Undefined value Estimated value

2C23h/2C24h Undefined value Estimated value

2C25h to 2C28h Undefined value Estimated value

Data
Class ID Ins ID Attr ID Access Name Default Description
Type
64h Machine diagnostic Machine diagnostic status
2C20h 0 Get UINT
status Refer to section 7.3.7 (4).
Static friction torque at forward rotation
Static friction torque
2C21h 0 Get INT Static friction torque at forward rotation is
at forward rotation
returned in increments of 0.1%.
Dynamic friction torque at forward rotation (at
Dynamic friction
rated speed)
torque at forward
2C22h 0 Get INT Dynamic friction torque at forward rotation at
rotation
the rated speed is returned in increments of
(at rated speed)
0.1%.
Static friction torque at reverse rotation
Static friction torque
2C23h 0 Get INT Static friction torque at reverse rotation is
at reverse rotation
returned in increments of 0.1%.
Dynamic friction torque at reverse rotation (at
Dynamic friction
rated speed)
torque at reverse
2C24h 0 Get INT Dynamic friction torque at reverse rotation at
rotation
rated speed is returned in increments of
(at rated speed)
0.1%.
Vibration frequency at stop/servo-lock
Oscillation frequency
2C25h 0 Get INT Vibration frequency during stop/servo-lock is
during motor stop
displayed in increments of 1 Hz.
Vibration level at stop/servo-lock
Vibration level during
2C26h 0 Get INT Vibration level during stop/servo-lock is
motor stop
displayed in increments of 0.1%.
Oscillation frequency Vibration frequency during operation
2C27h 0 Get during motor INT Vibration frequency during operation is
operating displayed in increments of 1 Hz.
Vibration level during operation
Vibration level during
2C28h 0 Get INT Vibration level during operation is displayed
motor operating
in increments of 0.1%.

19 - 96
19．EtherNet/IP COMMUNICATION

19.6.8 Driver life diagnosis function

You can check the cumulative energization time and the number of on/off times of the inrush relay based on
the data in the driver. This function gives an indication of the replacement time for parts of the driver including
a capacitor and a relay before they malfunction. The information of the driver life diagnosis function can be
obtained with the following objects.
Data
Class ID Ins ID Attr ID Access Name Default Description
Type
64h Power ON cumulative The cumulative energization time of the driver
2C18h 0 Get UDINT
time is returned.
Number of inrush The number of on/off times of the inrush relay
2C19h 0 Get UDINT
relay on/off times of the driver is returned.

19.6.9 Positioning function by operation start-up signal

POINT
The positioning function by the operation start-up signal can be used in the
profile position mode.

19.6.9.1 Summary
The positioning function by the operation start-up signal performs positioning operations using external input
signals. Turning on Operation start-up signal activation (C_OSSA) in the profile position mode (pp) starts
positioning operations using external input signals.
Because positioning operations start using external input signals of the driver, an operation can be started
without delay at the start due to a communication delay.

19.6.9.2 Specification list

Item Description
Supported control mode Profile position mode
Standard control mode, fully closed loop control mode, linear servo motor control mode, DD
Supported operation mode
motor control mode
Operation pattern Single (A positioning operation is performed at the rising edge of an external input signal.)
Command generation pattern A command pattern is calculated from the acceleration time and deceleration time.
Supported communication EtherNet/IP

19.6.9.3 Settings
(1) List of items set with parameters of the driver
Setting item Setting parameter Setting
Set [Pr. PD38] to "_ _ 2 E" and assign ST (operation start-up) to an
Operation start-up
PD38 external input signal. If Operation start-up signal activation (C_OSSA) is
signal assignment
turned on without ST assigned, Operation error (S_OERR) turns on.
S-pattern
Set the time of the arc part for S-pattern acceleration/deceleration.
acceleration/decelera PT51
Setting "0" will make it linear acceleration/deceleration.
tion time constant
Set the maximum value of the target speed for the positioning operation.
Maximum profile
PT66 This parameter can be set by inputting a value in Max profile velocity
speed
(Class ID: 64h, Ins ID: 607Fh, Attr ID: 0).
Set the target speed for the positioning operation. This parameter can be
Profile speed
PT65 set by inputting a value in Profile velocity (Class ID: 64h, Ins ID: 6081h,
command
Attr ID: 0).
Set the acceleration time taken for the servo motor that has stopped to
Acceleration time reach the rated speed in the positioning operation. This parameter can
PT49
constant be set by inputting a value in Profile acceleration (Class ID: 64h, Ins ID:
6083h, Attr ID: 0).
Set the deceleration time taken for the servo motor that is operating at
Deceleration time the rated speed to stop in the positioning operation. This parameter can
PT50
constant be set by inputting a value in Profile deceleration (Class ID: 64h, Ins ID:
6084h, Attr ID: 0).

19 - 97
19．EtherNet/IP COMMUNICATION

(2) List of items set in the network communication

Object
Setting item (Class ID, Ins ID, Bit Setting
Attr ID)
Modes of operation Set "1" in Modes of operation to change the control mode to
Control mode
(64h, 6060h, 0) the profile position mode.
Controlword Bit 5 Set the positioning mode. The positioning mode is
Positioning mode
(64h, 6040h, 0) Bit 9 determined by a combination of values of bit 5 and bit 9 of
setting
Controlword. Refer to section 5.4.3 for details.
Target position Set a target position. The command used for the target
(64h, 607Ah, 0) position can be changed between the absolute position
command and relative position command using bit 6 of
Controlword.
When the unit is set to degree, relative position commands
are disabled. When the relative position command is
Target position specified and positioning is started, [AL. F4.8] occurs and
positioning cannot be started.
If positioning is attempted with a set target position outside
the following setting range, [AL. F4.4] occurs and the
positioning cannot be started.
pulse: -999999 to 999999
degree: -360000 to 360000
Profile velocity Set a target speed. This value is clamped at the speed set
Target speed (64h, 6081h, 0) with Max profile velocity (64h, 607Fh, 0) or the instantaneous
permissible speed of the servo motor used.
Profile acceleration Set the acceleration time taken for the servo motor that has
Acceleration time (64h, 6083h, 0) stopped to reach the rated speed. If positioning is attempted
constant with a time longer than 20000 ms set, [AL. F4.6] occurs and
the positioning cannot be started.
Profile deceleration Set the deceleration time for the servo motor to stop from the
Deceleration time (64h, 6084h, 0) rated speed. If positioning is attempted with a time longer
constant than 20000 ms set, [AL. F4.7] occurs and the positioning
cannot be started.
Control DI 10 Bit 2 Turn on Operation start-up signal activation (C_OSSA). If
Operation start-up
(64h, 2D0Ah, 0) Operation start-up signal activation (C_OSSA) is turned on
signal activation
without ST (operation start-up) assigned to an external input
(C_OSSA)
signal, Operation error (S_OERR) turns on.

19.6.9.4 Status obtainable in the network communication

The following table shows the specific status that can be obtained in the network communication during
positioning operation by an operation start-up signal. The status that can be obtained in the profile position
mode can be obtained. Refer to section 5.3 for details.
Status Description
Indicates that an error has occurred in a positioning
operation started by the operation start-up signal.
Operation error (S_OERR) The status can be obtained with bit 2 of Status DO 10.
Off: Normal
On: Error

19 - 98
19．EtherNet/IP COMMUNICATION

19.6.9.5 Operation method

(1) Procedure

Start

Operation start-up signal assignment Set [Pr. PD38] to "_ _ 2 E" and select ST (operation start-up).
After setting the parameter, cycle the power or reset the network
communication to enable the setting.

Switching to the profile position mode Set 1 in Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0) to
change the control mode to the profile position mode.

Positioning parameter setting Set the parameters. (Refer to section 6.11.3.)

Set a value within the permissible range in each parameter. If a value
outside the range is set, [AL. F4 Positioning warning] occurs and
positioning cannot be started.
Operation start-up signal activation Turn on bit 2 of Control DI 10 to enable the operation start-up signal.

Turning on the operation start-up signal

Turn on ST (operation start-up) to start positioning.

End

19 - 99
19．EtherNet/IP COMMUNICATION

(2) Timing chart

The following shows a timing chart of the positioning function by the operation start-up signal. The
positioning operation can be started by enabling the operation start-up signal and turning on ST
(operation start-up).
Note that the positioning operation by the operation start-up signal cannot be started even though the
operation start-up signal is enabled during positioning operation with the network communication. The
positioning operation with the network communication cannot be started even though the operation
start-up signal is disabled and the start-up signal is input with the network communication during
positioning operation by the operation start-up signal.
Switching of the network communication and the operation start-up signal can be executed only when a
positioning is completed. Completion of a positioning can be checked with Target reached (Statusword
bit 10).

(a) Positioning by operation start-up signal

Servo motor speed

0 r/min

Operation start-up
signal activation ON
(C_OSSA) OFF

ST ON
(Operation start-up) OFF

Target reached ON
(Statusw ord, bit 10) OFF

Set-point acknowledge ON
(Statusw ord, bit 12) OFF

19 - 100
19．EtherNet/IP COMMUNICATION

(b) Switching of positioning by the network communication and positioning by the operation start-up
signal

Servo motor speed The operation The operation

is not started. is not started.

0 r/min

New set-point ON
(Controlw ord, bit 4) OFF

Operation start-up ON
signal activation
(C_OSSA) OFF

ST ON
(Operation start-up) OFF

Target reached ON
(Statusw ord, bit 10) OFF

Set-point acknowledge ON
(Statusw ord, bit 12) OFF

The command is not received. The command is not received.

19 - 101
19．EtherNet/IP COMMUNICATION

19.7 OBJECT LIBRARY

19.7.1 Store Parameters

POINT
Before shutting off the power after executing Store Parameters, always check
that parameters are not being saved (bit 0 is on).

Writing "65766173h" (= reverse order of the ASCII code of "save") to the corresponding sub object of Store
Parameters (Class ID: 64h, Ins ID: 1010h) stores objects in the EEP-ROM of the driver.
The value saved in the EEP-ROM is set to the object at the next power-on. Servo parameters can also be
modified through the object library. However, the new setting is not automatically written to the EEP-ROM. To
write the new setting, use Store Parameters (Class ID: 64h, Ins ID: 1010h).
Executing Store Parameters (Class ID: 64h, Ins ID: 1010h) takes about a maximum of 25 s because all
parameters are written at the same time. Be careful not to shut off the power during writing.
Data
Class ID Ins ID Attr ID Access Name Description
Type
0 Get Store Parameters USINT Number of entries
Saves all parameters.
Writing "save" (= 65766173h) saves all
1 Get/Set Save all parameters UDINT
the objects which can be stored in the
EEP-ROM.
2 Saves communication parameters.
64h 1010h (Not Writing "save" (= 65766173h) saves the
Get/Set Save communication parameters UDINT
supported) communication objects (except Class ID
(Note) 64h) in the EEP-ROM.
Saves application parameters.
3
Writing "save" (= 65766173h) saves the
(Not
Get/Set Save application parameters UDINT Class ID 64h objects which can be
supported)
stored in the EEP-ROM.
(Note)

Note. This is not supported by the driver.

The following values are read from this object. When a parameter is being saved, "0" is read. When no
parameter is being saved, "1" is read.
Bit Description
0: The parameter cannot be saved with the command. (A parameter is being saved.)
0
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.

19 - 102
19．EtherNet/IP COMMUNICATION

19.7.2 Supported object library list

Group Name Class ID Instance ID
General Objects Identity Object 01h
Store parameters 64h 1010h
Communication Setting Objects Message Router Object 02h
Connection Manager Object 06h
Device Level Ring(DLR) Object 47h
QoS Object 48h
TCP/IP Interface Object F5h
Ethernet Link Object F6h
Assembly Objects Assembly Object 04h
Parameter Objects PA_ _ 64h 2001h to 2020h
PB_ _ 2081h to 20C0h
PC_ _ 2101h to 2150h
PD_ _ 2181h to 21B0h
PE_ _ 2201h to 2240h
PF_ _ 2281h to 22C0h
PL_ _ 2401h to 2430h
PT_ _ 2481h to 24D0h
PN_ _ 2581h to 25A0h
Alarm Objects Alarm history newest 64h 2A00h
Alarm history _ 2A01h to 2A0Fh
Clear alarm history 2A40h
Current alarm 2A41h
Parameter error number 2A44h
Parameter error list 2A45h
Monitor Objects Cumulative feedback pulses 64h 2B01h
Servo motor speed 2B02h
Droop pulses 2B03h
Cumulative command pulses 2B04h
Command pulse frequency 2B05h
Regenerative load ratio 2B08h
Effective load ratio 2B09h
Peak load ratio 2B0Ah
Instantaneous torque 2B0Bh
Within one-revolution position 2B0Ch
ABS counter 2B0Dh
Load to motor inertia ratio 2B0Eh
Bus voltage 2B0Fh
Load-side cumulative feedback pulses 2B10h
Load-side droop pulses 2B11h
Load-side encoder information 1 Z-phase counter 2B12h
Load-side encoder information 2 2B13h
Temperature of motor thermistor 2B17h
Motor-side cumu. feedback pulses (before gear) 2B18h
Electrical angle 2B19h
Motor-side/load-side position deviation 2B23h
Motor-side/load-side speed deviation 2B24h
Internal temperature of encoder 2B25h
Settling time 2B26h
Oscillation detection frequency 2B27h
Number of tough drive operations 2B28h
Unit power consumption 2B2Dh
Unit total power consumption 2B2Eh
Alarm Monitor 1 Cumulative feedback pulses 2B81h

19 - 103
19．EtherNet/IP COMMUNICATION

Group Name Class ID Instance ID

Monitor Objects Alarm Monitor 2 Servo motor speed 64h 2B82h
Alarm Monitor 3 Droop pulses 2B83h
Alarm Monitor 4 Cumulative command pulses 2B84h
Alarm Monitor 5 Command pulse frequency 2B85h
Alarm Monitor 8 Regenerative load ratio 2B88h
Alarm Monitor 9 Effective load ratio 2B89h
Alarm Monitor 10 Peak load ratio 2B8Ah
Alarm Monitor 11 Instantaneous torque 2B8Bh
Alarm Monitor 12 Within one-revolution position 2B8Ch
Alarm Monitor 13 ABS counter 2B8Dh
Alarm Monitor 14 Load to motor inertia ratio 2B8Eh
Alarm Monitor 15 Bus voltage 2B8Fh
Alarm Monitor 16 Load-side cumulative feedback 2B90h
pulses
Alarm Monitor 17 Load-side droop pulses 2B91h
Alarm Monitor 18 Load-side encoder information 1 2B92h
Z-phase counter
Alarm Monitor 19 Load-side encoder information 2 2B93h
Alarm Monitor 23 Temperature of motor thermistor 2B97h
Alarm Monitor 24 Motor-side cumu. feedback 2B98h
pulses (before gear)
Alarm Monitor 25 Electrical angle 2B99h
Alarm Monitor 35 Motor-side/load-side position 2BA3h
deviation
Alarm Monitor 36 Motor-side/load-side speed 2BA4h
deviation
Alarm Monitor 37 Internal temperature of encoder 2BA5h
Alarm Monitor 38 Settling time 2BA6h
Alarm Monitor 39 Oscillation detection frequency 2BA7h
Alarm Monitor 40 Number of tough drive operations 2BA8h
Alarm Monitor 45 Unit power consumption 2BADh
Alarm Monitor 46 Unit total power consumption 2BAEh
Manufacturer Specific Control Objects External Output pin display 64h 2C11h
Power ON cumulative time 2C18h
Number of inrush relay on/off times 2C19h
Machine diagnostic status 2C20h
Static friction torque at forward rotation 2C21h
Dynamic friction torque at forward rotation (at rated
2C22h
speed)
Static friction torque at reverse rotation 2C23h
Dynamic friction torque at reverse rotation (at rated
2C24h
speed)
Oscillation frequency during motor stop 2C25h
Vibration level during motor stop 2C26h
Oscillation frequency during motor operating 2C27h
Vibration level during motor operating 2C28h
Control DI 1 2D01h
Control DI 2 2D02h
Control DI 3 2D03h
Control DI 7 2D07h
Control DI 10 2D0Ah
Status DO 1 2D11h
Status DO 2 2D12h
Status DO 3 2D13h
Status DO 5 2D15h
Status DO 6 2D16h
Status DO 7 2D17h

19 - 104
19．EtherNet/IP COMMUNICATION

Group Name Class ID Instance ID

Manufacturer Specific Control Objects Status DO 10 64h 2D1Ah
Velocity limit value 2D20h
Motor rated speed 2D28h
Manufacturer Device Name 2 2D30h
Manufacturer Hardware Version 2 2D31h
Manufacturer Software Version 2 2D32h
Serial Number 2 2D33h
User parameter configuration 2D34h
Encoder status 2D35h
Scale cycle counter 2D36h
Scale ABS counter 2D37h
Scale measurement encoder resolution 2D38h
Scale measurement encoder reception status 2D3Ch
One-touch tuning mode 2D50h
One-touch tuning status 2D51h
One-touch tuning Stop 2D52h
One-touch tuning Clear 2D53h
One-touch tuning Error Code 2D54h
PDS Control Objects Error code 64h 603Fh
Controlword 6040h
Statusword 6041h
Quick stop option code 605Ah
Halt option code 605Dh
Modes of operation 6060h
Modes of operation display 6061h
Supported drive modes 6502h
Position Control Function Objects Position actual internal value 64h 6063h
Position actual value 6064h
Following error window 6065h
Following error time out 6066h
Position window 6067h
Position window time 6068h
Positioning option code 60F2h
Following error actual value 60F4h
Control effort 60FAh
Profile Velocity Mode Objects Velocity demand value 64h 606Bh
Velocity actual value 606Ch
Velocity window 606Dh
Velocity window time 606Eh
Velocity threshold 606Fh
Velocity threshold time 6070h
Target velocity 60FFh
Profile Torque Mode Objects Target torque 64h 6071h
Max torque 6072h
Torque demand value 6074h
Torque actual value 6077h
Torque slope 6087h
Torque profile type 6088h
Positive torque limit value 60E0h
Negative torque limit value 60E1h
Profile Position Mode Objects Target position 64h 607Ah
Position range limit 607Bh
Software position limit 607Dh
Max profile velocity 607Fh
Max motor speed 6080h
Profile velocity 6081h

19 - 105
19．EtherNet/IP COMMUNICATION

Group Name Class ID Instance ID

Profile Position Mode Objects Profile acceleration 64h 6083h
Profile deceleration 6084h
Quick stop deceleration 6085h
Motion profile type 6086h
External encoder gear ratio 2DF0h
External encoder acceleration 2DF1h
External encoder deceleration 2DF2h
Homing Mode Objects Home offset 64h 607Ch
Homing method 6098h
Homing speeds 6099h
Homing acceleration 609Ah
Supported homing method 60E3h
Factor Group Objects Polarity 64h 607Eh
Position encoder resolution 608Fh
Gear ratio 6091h
Feed constant 6092h
SI unit position 60A8h
SI unit velocity 60A9h
Touch Probe Function Objects Touch probe function 64h 60B8h
Touch probe status 60B9h
Touch probe pos1 pos value 60BAh
Touch probe pos1 neg value 60BBh
Touch probe pos2 pos value 60BCh
Touch probe pos2 neg value 60BDh
Optional application FE Objects Digital inputs 64h 60FDh
Digital outputs 60FEh

19 - 106
19．EtherNet/IP COMMUNICATION

19.7.3 Object library

This section describes the details of the object library for each group.
The following is shown in the "Access" column.
"Get": Only reading is available.
"Set": Only writing is available.
"Get/Set": Reading and writing are available.
The following is shown in the "EEP-ROM" column.
"Impossible": The data is not saved to the EEP-ROM. The value of the data written from the upper side
returns to the value of "Default" when the power is shut off.
"Possible": The data can be saved to the EEP-ROM with Store Parameters (Class ID: 64h, Ins ID: 1010h).
The data is saved in the parameter corresponding to the object. For the corresponding
parameters, refer to "Parameter".

19 - 107
19．EtherNet/IP COMMUNICATION

19.7.3.1 General Objects

(1) Identity Object (Class ID: 01h)
Ins ID Attr ID Access Name Data Type
1 Get Revision UINT
0 2 Get Max Instance UINT
3 Get Number of Instances UINT
1 Get Vendor ID UINT
2 Get Device Type UINT
3 Get Product Code UINT
Structure including the
Revision
following
4 Get
Major Revision USINT
Minor Revision USINT
5 Get Status WORD
6 Get Serial Number UDINT
7 Get Product Name SHORT_STRING
1
Structure including the
following
11 Set Active Language USINT
USINT
USINT
Structure array
including the following
12 Get Supported Language List USINT
USINT
USINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

1 0001 0001h to 0001h
0 2 1 0001h to 0001h
3 1 0001h to 0001h
1 A1h (161) 00A1h to 00A1h
2 002Bh (Generic) 002Bh to 002Bh
3 0012h 0012h to 0012h
Impossible
4 _ _ _ _h 0000h to FFFFh
1 5 0000h to 0F75h
6 _ _ _ _ _ _ _ _h 00000000h to FFFFFFFFh
7 HMS -○TM
11 eng (English)
12 eng (English)

19 - 108
19．EtherNet/IP COMMUNICATION

General-purpose information, such as device identification information including Vendor ID and device
status, is returned. The description of each Attribute is as follows.
Ins ID Attr ID Description
1 Revision of this object
0 2 Maximum Instance number
3 Number of Instances
1 Identification number of each vendor
2 Device type of the product
3 Product code assigned by each vendor
Revision of the item indicated by Identity Object
4 Major revision number (lower 8 bits)
Minor revision number (upper 8 bits)
Summary of the device status
5
Refer to the following table for details.
6 Serial number of the device (The serial number of the EtherNet/IP network card is returned.)
7 Product name

1 Language currently used in the device

The language to be used and supported language are stored as follows.
For eng (English): language1: 65h (e), language2: 6Eh (n), language3: 67h (g)
11
language1 field of the STRINGI data type
language2 field of the STRINGI data type
language3 field of the STRINGI data type
List of languages supported by the STRINGI data type character string in the device
The language to be used and supported language are stored as follows.
For eng (English): language1: 65h (e), language2: 6Eh (n), language3: 67h (g)
12
language1 field of the STRINGI data type
language2 field of the STRINGI data type
language3 field of the STRINGI data type

The following table describes Attribute5 (Status) of Class 01h Instance 1.

bit Name
0 Card Owned
1 Reserved
2 Configured
3 Reserved
4 to 7 Extended Device Status
0000b: Unknown
0010b: Faulted I/O Connection
0011b: No I/O connection establish
0100b: Non volatile configuration bad
0101b: Major fault
0110b: Connection in Run mode
0111b: Connection in Idle mode
8 Minor Recoverable Fault (Note)
9 Minor Unrecoverable Fault (Note)
10 Major Recoverable Fault (Note)
11 Major Unrecoverable Fault (Note)
12 to 15 Reserved

Note. If an alarm occurs, Major Recoverable Fault is returned. If a warning occurs, the status does
not change.

19 - 109
19．EtherNet/IP COMMUNICATION

This instance supports the following services.

(a) When Ins ID is 0

Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
05h Reset Calls the Reset service of the specified class/object.
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(c) Reset

POINT
If the value of the reset type is set to "0" in the Reset service, parameter settings,
etc. are still written to the EEP-ROM. Note that the number of write times to
the EEP-ROM is limited to 100,000. If the total number of write times exceeds
100,000, the driver may malfunction when the EEP-ROM reaches the end of its
useful life.

The following table lists the reset types that can be used with the Reset service.
Value Reset type
Emulate as closely as possible cycling power on the item the Identity Object represents. This value is the default if this
0 parameter is omitted. The network card, driver and MR-D30 functional safety unit do not restore the default values of each
parameter.
Return as closely as possible to the factory default configuration, then emulate cycling power as closely as possible. The
1 network card restores the default values of communication setting, such as an IP address. The parameters of the driver
and MR-D30 functional safety unit are reset to the factory setting.

The following set values of the driver can be rewritten with the factory setting.
Basic setting parameters ([Pr. PA_ _ ])
Gain/filter setting parameters ([Pr. PB_ _ ])
Extension setting parameters ([Pr. PC_ _ ]) (except [Pr. PC11] and [Pr. PC12])
I/O setting parameters ([Pr. PD_ _ ])
Extension setting 2 parameters ([Pr. PE_ _ ])
Extension setting 3 parameters ([Pr. PF_ _ ])
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
Positioning control parameters ([Pr. PT_ _])
Network setting parameters ([Pr. PN_ _])

19 - 110
19．EtherNet/IP COMMUNICATION

(2) Store parameters (Instance ID: 1010h) (Class ID 64h: Drive Configuration Object)
Ins ID Attr ID Access Name Data Type
0 Get Store parameters USINT
1 Save all parameters
2
(Not
sup-port Save communication parameters
1010h ed)
(Note) Get/Set UDINT
3
(Not
sup-port Save application parameters
ed)
(Note)

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 3 03h
1
2
(Not
sup-port
1010h ed) Impossible
(Note) 00000001h Refer to the following table.
3
(Not
sup-port
ed)
(Note)

Note. This is not supported by the driver.

Writing "65766173h" (= reverse order of ASCII code of "save") to the corresponding sub object saves an
object value in EEP-ROM. The relationship between Attribute ID and the saved object is shown below.
Attr ID Saved object
1 All objects

Whether saving a parameter has been completed can be checked by reading this object. The read
values are as follows.
bit Description
0 0: The parameter cannot be saved with the command. (A parameter is being saved.)
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.
2 to 31 Unused

This instance supports the following services.

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 111
19．EtherNet/IP COMMUNICATION

19.7.3.2 Communication Setting Objects

(1) Message Router object (Class ID: 02h)
This object distributes messages to object classes or object instances in a driver. No attribute or service
can be used with this object.

(2) Connection Manager Object (Class ID: 06h)

Ins ID Attr ID Access Name Data Type
1 Open Requests
2 Open Format Rejects
3 Open Resource Rejects
4 Open Other Rejects
1 Set UINT
5 Close Requests
6 Close Format Rejects
7 Close Other Rejects
8 Connection Timeouts

Ins ID Attr ID Default Range Units EEP-ROM Parameter

1 0
2 0
3 0
4 0
1 0000h to FFFFh number of times Impossible
5 0
6 0
7 0
8 0

This object is used to establish an I/O connection or a dedicated connection when Explicit Message is
frequently used. The description of each Attribute is as follows.
Ins ID Attr ID Description
1 Number of Forward_Open service requests received
2 Number of Forward_Open service requests that have been rejected due to the incorrect format
3 Number of Forward_Open service requests that have been rejected due to insufficient resource
Number of Forward_Open service requests that have been rejected due to a reason other than the incorrect
4
format or insufficient resource
1 5 Number of Forward_Close service requests received
6 Number of Forward_Close service requests that have been rejected due to the incorrect format
Number of Forward_Close service requests that have been rejected due to a reason other than the incorrect
7
format
Total number of connection time-outs that have occurred in the connection controlled by this Connection
8
Manager

This instance supports the following services.

Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.
4Eh Forward_Close Closes the connection.
Forward_Open Opens a connection with data size of up to input 509
54h
bytes and output 505 bytes.
5Bh Large_Forward_Open Opens a connection with data size of up to 1448 bytes.

19 - 112
19．EtherNet/IP COMMUNICATION

(3) Device Level Ring(DLR) Object (Class ID: 47h)

Ins ID Attr ID Access Name Data Type
0 1 Revision UINT
1 Network Topology
USINT
2 Network Status
Get Active Supervisor Address Following structure
1
10 Supervisor IP Address UDINT
Supervisor MAC Address USINT array
12 Capability Flags DWORD

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 1 0003h 0003h to 0003h
0: Linear
1 00h to 01h
1: Ring
2 0 00h to 1Fh
10 Impossible
1
82h
(Beacon-based
12 Ring Node, 00000000h to 000000E3h
Flush_Table
frame capable)

This object provides an interface of the DLR protocol setting or status information. The description of
each Attribute is as follows.
Ins ID Attr ID Description
0 1 Revision of this object
1 Current network topology
2 Current network status
Either or both of the IP address (IPv4) or/and MAC address of an active ring supervisor
1 10 IP address (IPv4) of an active ring supervisor
MAC address of an active ring supervisor
Description of the DLR function of a device
12
Refer to the following table for details.

Network Status
Network Status value Description
0 Indicates a normal communication in the Ring or Linear network topology mode.
1 Ring Fault (only when the Ring network topology mode is used)
Indicates that an unexpected loop has been detected in the network (only when the
2
Linear network topology mode is used).
Partial Network Fault (only when the Ring network topology mode is used and the
3
node is a Ring supervisor)
4 Rapid Fault/Restore Cycle

Capability Flags
bit Called Definition
0 Announce-based Ring Node Set when the ring node of the device is based on the Announce frame.
1 Beacon-based Ring Node Set when the ring node of the device is based on the Beacon frame.
2 to 4 Reserved Reserved
5 Supervisor Capable Set when the device can provide a supervisor function.
6 Redundant Gateway Capable Set when the device can provide a redundant gateway function.
7 Flush_Table frame Capable Set when Flush Tables flames can be supported.
8 to 31 Reserved Reserved

19 - 113
19．EtherNet/IP COMMUNICATION

This instance supports the following services.

(a) When Ins ID is 0
Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(4) QoS Object (Class ID: 48h)

Ins ID Attr ID Access Name Data Type
0 1 Get Revision UINT
1 802.1Q Tag Enable
4 DSCP Urgent
5 DSCP Scheduled
1 Set USINT
6 DSCP High
7 DSCP Low
8 DSCP Explicit

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 1 0001h
1 0
4 55
5 47 00h to FFh Impossible
1
6 43
7 31
8 27

This object sets priority on communication basis to prevent a communication delay or stop due to a
heavy band. The description of each Attribute is as follows.
Ins ID Attr ID Description
0 1 Revision of this object
1 Enable or disable 802.1Q frame transmission on CIP and IEEE1588.
4 DSCP value for urgent messages of the CIP transport class 0/1
5 DSCP value for scheduled messages of the CIP transport class 0/1
1 6 DSCP value for high-priority messages of the CIP transport class 0/1
7 DSCP value for low-priority messages of the CIP transport class 0/1
DSCP value for CIP explicit messages (transport class 2/3 and UCMM) and all other EtherNet/IP encapsulation
8
messages

This instance supports the following services.

(a) When Ins ID is 0
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 114
19．EtherNet/IP COMMUNICATION

(5) TCP/IP Interface Object (Class ID: F5h)

Ins ID Attr ID Access Name Data Type
1 Revision
2 Max Instance
0 3 Number of Instance UINT
6 Get Maximum ID Number Class Attributes
7 Maximum ID Number Instance Attributes
1 Status
2 Configuration Capability DWORD
3 Get/Set Configuration Control
Following structure
4 Get Port Object UINT
Padded EPATH
Following structure

5 Interface Configuration UDINT

STRING
1 Get/Set
6 Host Name STRING
8 TTL Value USINT
Mcast Config Following structure
Alloc Control
USINT
9 Reserved
Num Mcast UINT
Mcast Start Addr UDINT
10 SelectAcd Bool
Last ConflictDetected Following structure
AcdActivity USINT
11 Set
RemoteMAC
USINT array
ArpPdu
12 EIP QuickConnect Bool

19 - 115
19．EtherNet/IP COMMUNICATION

Ins ID Attr ID Default Range Units EEP-ROM Parameter

1 0003h 0003h to 0003h
2 1 0001h to 0001h
0 3 1 0001h to 0001h
6 7 0007h to 0007h
7 12 000Ch to 000Ch
1 0000h to 00D8h
2 0000h to 00F4h
3 0000h to 0005h

4 0002h
20 F6 24 03h
5 Impossible
6
8 1 01h to FFh
1

9 0

10 00h to FFh
11
0: Disabled
12 00h to 01h
1: Enabled

19 - 116
19．EtherNet/IP COMMUNICATION

The network card provides a mechanism that sets a TCP/IP network interface (such as an IP address
and network mask) of the device. The description of each Attribute is as follows.
Ins ID Attr ID Description
1 Revision of this object
2 Maximum Instance number
0 3 Number of Instances
6 Last attribute ID of the class attribute
7 Last attribute ID of the instance attribute
1 Interface status
2 Interface capability flag
3 Interface control flag

4 Size of Path
Path to Instance #3 of Ethernet Link Object

IP address
Subnet mask
5 Default gateway
Primary DNS
Secondary DNS
Default domain
1
6 Host name of the Anybus card
8 TTL value for EtherNet/IP multicast packets
IP multicast address configuration
Multicast address allocation control word
9
Number of IP multicast addresses to allocate for EtherNet/IP
Starting multicast address from which to begin allocation
10 Enable the use of ACD
Last collision information
ACD status at the last collision
11
MAC address of the remote node from an ARP PDU at collision detection
Copy of the ARP PDU at collision detection
12 Enable or disable QuickConnect

Status
bit Name Definition
Indicates the attribute status of Interface Configuration.
0: No Interface Configuration attribute has been set.
1: The Interface Configuration attribute includes an effective setting acquired from
0 to 3 Interface Configuration Status BOOTP, DHCP, or a non-volatile memory device.
2: The Interface Configuration attribute includes an effective setting acquired from a
hardware setting.
3 to 15: Reserved
Undetermined setting changes in the TTL Value and Mcast Config attributes are returned.
4 Mcast Pending If the TTL Value or Mcast Config attribute has been set, this bit is cleared at the start of
the next device.
5 Reserved Reserved (Always 0)
Indicates that the ACD has detected a duplication of an IP address. When the ACD has
6 AcdStatus
been supported and enabled, this bit turns to 1 at a detection of IP address duplication.
Indicates that the ACD has detected a collision of an IP address or has failed in
7 AcdFault
protection. When this collision has disabled the current interface setting, this bit turns to 1.
8 to 31 Reserved Reserved (Always 0)

19 - 117
19．EtherNet/IP COMMUNICATION

Configuration Capability
bit Name Definition
0 BOOTP Client (Note) 1 shall indicate the device is capable of obtaining its network configuration via BOOTP.
1 DNS Client (Note) 1 shall indicate the device is capable of resolving host names by querying a DNS server.
2 DHCP Client 1 shall indicate the device is capable of obtaining its network configuration via DHCP.
1 shall indicate the device is capable of sending its host name in the DHCP request as
3 DHCP-DNS Update (Note)
documented in Internet draft (draft-ietf-dhcdhcp-dns-12.txt).
4 Configuration Settable 1 shall indicate the Interface Configuration attribute is settable.
When this bit is 1, the IP address setting can be obtained from the hardware setting.
5 Hardware Configurable
(pushwheel switch, thumbwheel switch)
Interface Configuration When this bit is 1, it indicates that resetting the device is required to apply the Interface
6
Change Requires Reset Configuration attribute setting.
7 AcdCapable When this bit is 1, it indicates that the device can use the ACD.
8 to 31 Reserved Reserved (Always 0)

Note. This is not supported by the driver.

Configuration Control
bit Name Definition
Determines how to obtain an IP address.
0: The device obtains an IP address from a value saved in the non-volatile memory.
0 to 3 Configuration Method 1: The device obtains an interface setting via BOOTP. (Not supported)
2: The device obtains an interface setting via DHCP.
3 to 15: Reserved
1 shall indicate the device is capable of resolving names by querying a DNS server. (Not
4 DNS Enable
supported)
5 to 31 Reserved Reserved (Always 0)

This instance supports the following services.

(a) When Ins ID is 0
Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 118
19．EtherNet/IP COMMUNICATION

(6) Ethernet Link Object (Class ID: F6h)

Ins ID Attr ID Access Name Data Type
1 Revision
2 Max Instance
0 3 Number of Instance UINT
6 Maximum ID Number Class Attributes
7 Maximum ID Number Instance Attributes
1 Interface Speed UDINT
2 Interface Flags DWORD
3 Physical Address USINT array
Interface Counters Following structure
In Octets
In Ucast Packets
In NUcast Packets
In Discards
In Errors
4
In Unknown Protos UDINT
Out Octets
Get Out Ucast Packets
Out NUcast Packets
Out Discards
Out Errors
Media Counters Following structure
Alignment Errors
1 FCS Errors
Single Collisions
Multiple Collisions
SQE Test Errors
5 Deferred Transmission
UDINT
Late collisions
Excessive Collisions
MAC Transmit Errors
Carrier Sense Errors
Frame Too Long
MAC Receive Errors
Interface Control Following structure
6 Get/Set Control Bits WORD
Forced Interface Speed UINT
7 Interface Type
8 Interface State USINT
Get
9 Admin State
10 Interface Label SHORT_STRING

19 - 119
19．EtherNet/IP COMMUNICATION

Ins ID Attr ID Default Range Units EEP-ROM Parameter

1 0003h 0003h to 0003h
2 3 0003h to 0003h
0 3 3 0003h to 0003h
6 7 0007h to 0007h
7 10 000Ah to 000Ah
1 00000000h to 00000064h Mbps
2 00000000h to 0000007Fh
3 Impossible
4
5
1
6
7 01h to 02h
8 00h to 03h
9 00h to 02h
10

19 - 120
19．EtherNet/IP COMMUNICATION

This object holds a link-specific counter and the status information of the IEEE802.3 communication
interface. The description of each Attribute is as follows.
Ins ID Attr ID Description
1 Revision of this object
2 Maximum Instance number
0 3 Number of Instances
6 Last attribute ID of the class attribute
7 Last attribute ID of the instance attribute
1 Interface speed currently in use (10 Mbps or 100 Mbps)
2 Interface status flags (Refer to the following for details.)
3 MAC address

Octets received on the interface

Unicast packets received on the interface
Non-unicast packets received on the interface
Inbound packets received on the interface but discarded
Inbound packets that contain errors (does not include In Discards)
4
Inbound packets with unknown protocol
Octets sent on the interface
Unicast packets sent on the interface
Non-unicast packets sent on the interface
Outbound packets discarded
Outbound packets that contain errors
Media-specific counters
Frames received that are not an integral number of octets in length
1
Frames received that do not pass the FCS check
Successfully transmitted frames which experienced exactly one collision
Successfully transmitted frames which experienced more than one collision
Number of times SQE test error message is generated
5
Frames for which first transmission attempt is delayed because the medium is busy
Number of times a collision is detected later than 512 bit-times into the transmission of a packet
Frames for which transmission fails due to an internal MAC sublayer transmission error
Times that the carrier sense condition was lost or never asserted when attempting to transmit a frame
Frames received that exceed the maximum permitted frame size
Frames for which reception on an interface fails due to an internal MAC sublayer receive error
Configuration for physical interface
6 Interface Control Bits
Speed at which the interface shall be forced to operate
7 Type of interface: twisted pair, fiber, internal, etc
8 Current state of the interface: Operational, disabled, and etc
9 Administrative state: enable, disable
10 Human readable identification

19 - 121
19．EtherNet/IP COMMUNICATION

Interface Flags
bit Name Definition
Indicates whether or not the IEEE802.3 communication interface is connected to an active
0 Link Status
network. 0 indicates an inactive link; 1 indicates an active link.
Indicates the duplex mode currently in use. 0 indicates the interface is running half duplex;
1 Half/Full Duplex
1 indicates full duplex. Note that if the Link Status flag is 0, this bit is indeterminate.
0: Auto-negotiation in progress.
1: Auto-negotiation and speed detection using default values for speed and duplex failed.
2: Auto negotiation failed but detected speed using default values for duplex.
2 to 4 Negotiation Status
3: Successfully negotiated speed and duplex.
4: Auto-negotiation not attempted. Use the values of Forced Duplex Mode and Forced
Interface Speed.
0 indicates the interface can activate changes to link parameters (auto negotiation, duplex
Manual Setting Requires
5 mode, and interface speed) automatically. 1 indicates the device requires a Reset service
Speed
be issued to its Identity Object in order for the changes to take effect.
0 indicates the interface detects no local hardware fault; 1 indicates a local hardware fault
6 Local Hardware Fault
is detected.
7 to 31 Reserved Reserved (Always 0)

This instance supports the following services.

(a) When Ins ID is 0
Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
01h Get_Attributes_All Reads the values of all the attributes.
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.
Get_And_Clear Only the Interface Counters and Media Counters
attributes are supported. This service reads the value of
the specified attribute and clears to 0. All the processing
4Ch
of this service is executed by the network card. For error
information, refer to the specifications of the network
card.

19 - 122
19．EtherNet/IP COMMUNICATION

19.7.3.3 Assembly Objects

(1) Assembly Object (Class ID: 04h)
Ins ID Attr ID Access Name Data Type
1 Get Revision
0 UINT
2 Get Max Instance
3 Set Data
3
4 Get Size UINT
3 Set Data
4
4 Get Size UINT
3 Set Data
5
4 Get Size UINT
3 Set Data
6
4 Get Size UINT
3 Set Data
7
4 Get Size UINT
100 to 3 Set Data BYTE array
106 4 Get Size UINT
150 to 3 Set Data BYTE array
156 4 Get Size UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

1 0002h 0002h to 0002h
0
2 0000h to 009Ch
3 No data
3
4 0 0000h to 0000h
3 No data
4
4 0 0000h to 0000h
3
5
4 0000h to FFFFh
3 No data
6 Impossible
4 0 0000h to 0000h
3 No data
7
4 0 0000h to 0000h
Refer to section
3
100 to 3.2.
106 Refer to section
4 0000h to 0040h
3.2.
Refer to section
3
150 to 3.2.
156 Refer to section
4 0000h to 0040h
3.2.

19 - 123
19．EtherNet/IP COMMUNICATION

This object defines a format of data transferred between the master and a slave through the I/O
communication.
The driver periodically transfers commands and feedbacks using the format defined in Instance 100 to
102 and 150 to 152. For communication formats, refer to section 3.2. The description of each Attribute is
as follows.
Ins ID Attr ID Description
1 Revision of this object
0
2 Maximum Instance number
3
3
4 Number of bytes of attribute 3
3
4
4 Number of bytes of attribute 3
3
5
4 Number of bytes of attribute 3
3
6
4 Number of bytes of attribute 3
3
7
4 Number of bytes of attribute 3
100 to 3
106 4 Number of bytes of attribute 3
150 to 3
156 4 Number of bytes of attribute 3

This instance supports the following services.

(a) When Ins ID is 0
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(b) When Ins ID is not 0

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 124
19．EtherNet/IP COMMUNICATION

19.7.3.4 Parameter Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Parameter Objects PA (2001h to 2020h)

Ins ID Attr ID Access Name Data Type
2001h PA01

0 Get/Set DINT

2020h PA32

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2001h PA01

0 Possible

2020h PA32

The values of the basic setting parameters ([Pr. PA_ _ ]) can be obtained and set.

(2) Parameter Objects PB (2081h to 20C0h)

Ins ID Attr ID Access Name Data Type
2081h PB01

0 Get/Set DINT

20C0h PB64

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2081h PB01

0 Possible

20C0h PB64

The values of the gain/filter setting parameters ([Pr. PB_ _ ]) can be obtained and set.

19 - 125
19．EtherNet/IP COMMUNICATION

(3) Parameter Objects PC (2101h to 2150h)

Ins ID Attr ID Access Name Data Type
2101h PC01

0 Get/Set DINT

2150h PC80

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2101h PC01

0 Possible

2150h PC80

The values of the extension setting parameters ([Pr. PC_ _ ]) can be obtained and set.

(4) Parameter Objects PD (2181h to 21B0h)

Ins ID Attr ID Access Name Data Type
2181h PD01

0 Get/Set DINT

21B0h PD48

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2181h PD01

0 Possible

21B0h PD48

The values of the I/O setting parameters ([Pr. PD_ _ ]) can be obtained and set.

(5) Parameter Objects PE (2201h to 2240h)

Ins ID Attr ID Access Name Data Type
2201h PE01

0 Get/Set DINT

2240h PE64

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2201h PE01

0 Possible

2240h PE64

The values of the extension setting 2 parameters ([Pr. PE_ _ ]) can be obtained and set.

19 - 126
19．EtherNet/IP COMMUNICATION

(6) Parameter Objects PF (2281h to 22C0h)

Ins ID Attr ID Access Name Data Type
2281h PF01

0 Get/Set DINT

22C0h PF64

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2281h PF01

0 Possible

22C0h PF64

The values of the extension setting 3 parameters ([Pr. PF_ _ ]) can be obtained and set.

(7) Parameter Objects PL (2401h to 2430h)

Ins ID Attr ID Access Name Data Type
2401h PL01

0 Get/Set DINT

2430h PL48

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2401h PL01

0 Possible

2430h PL48

The values of the linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) can be obtained and set.

(8) Parameter Objects PT (2481h to 24D0h)

Ins ID Attr ID Access Name Data Type
2481h PT01

0 Get/Set DINT

24D0h PT80

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2481h PT01

0 Possible

24D0h PT80

The values of the positioning control parameters ([Pr. PT_ _ ]) can be obtained and set.

19 - 127
19．EtherNet/IP COMMUNICATION

(9) Parameter Objects PN (2581h to 25A0h)

Ins ID Attr ID Access Name Data Type
2581h PN01

0 Get/Set DINT

25A0h PN32

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2581h PN01

0 Possible

25A0h PN32

The values of the network setting parameters ([Pr. PN_ _ ]) can be obtained and set.

19.7.3.5 Alarm Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 128
19．EtherNet/IP COMMUNICATION

(1) Alarm history newest (2A00h)

Ins ID Attr ID Access Name Data Type
0 Alarm history newest USINT
2A00h 1 Get Alarm No.
UDINT
2 Alarm time (Hour)

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2A00h 1 0 00000000h to FFFFFFFFh Possible
2 0 00000000h to FFFFFFFFh hour

The latest alarm information of the alarm history is returned. The description of each Attribute ID is as
follows.
Attr ID Name Description
0 Alarm history newest The number of entries is returned.
The number of the alarm that has occurred is returned. The description is as follows.
When no history exists, 0 is returned.
1 Alarm No. Bit 0 to Bit 15: Alarm detail No.
Bit 16 to Bit 31: Alarm No.
If [AL. 16.3] occurs, 00160003h is returned.
Alarm occurrence time is returned. When no history exists, 0 is returned.
2 Alarm time (Hour)
Unit: [hour]

(2) Alarm history 1 (2A01h) to Alarm history 15 (2A0Fh)

Ins ID Attr ID Access Name Data Type
2A01h 0 Alarm history 1 to Alarm history 15 USINT
to 1 Get Alarm No.
2A0Fh UDINT
2 Alarm time (Hour)

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2A01h 0 2 02h to 02h
to 1 0 00000000h to FFFFFFFFh Possible
2A0Fh 2 0 00000000h to FFFFFFFFh hour

The second (2A01h) to 16th (2A0Fh) latest alarm information of the alarm history is returned. The
description of each Attribute ID is the same as that of (1) in this section.

(3) Clear alarm history (2A40h)

Ins ID Attr ID Access Name Data Type
2A40h 0 Set Clear alarm history UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2A40h 0 Refer to the text. Impossible

Writing "1EA5h" clears the alarm history.

19 - 129
19．EtherNet/IP COMMUNICATION

(4) Current alarm (2A41h)

Ins ID Attr ID Access Name Data Type
2A41h 0 Get Current alarm UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2A41h 0 00000000h to FFFFFFFFh Impossible

The number of the current alarm is returned. When no alarm has occurred, "00000000h" is returned. The
description of the values is as follows. If [AL. 16.3] occurs, "00160003h" is returned.
Bit Description
0 to 15 Alarm detail No.
16 to 31 Alarm No.

(5) Parameter error number (2A44h)

Ins ID Attr ID Access Name Data Type
2A44h 0 Get Parameter error number UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2A44h 0 0000h to 01F4h (500) Impossible

When [AL. 37 Parameter error] has occurred, the number of the parameters which cause the error is
returned. Refer to Parameter error list (Class ID: 64h, Ins ID: 2A45h) for the number of each parameter
which causes the error.

19 - 130
19．EtherNet/IP COMMUNICATION

(6) Parameter error list (2A45h)

Ins ID Attr ID Access Name Data Type
0 Parameter error list USINT
1 No. 1

2A45h Get
UINT

16 No. 16

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 10h to 10h (16)
1

2A45h Impossible
0000h to FFFFh

16

When [AL. 37 Parameter error] has occurred, the number of the parameter which causes the error is
returned. The descriptions of 2A45h: 1 to 2A45h: 16 are as follows. If [Pr. PC01] is an error factor, 0201h
is returned. If more than 17 parameter errors have occurred, the 17th and later parameter errors are
returned after the parameters are corrected and the power is cycled.
Bit Description
0 to 7 Parameter number
Parameter group number
00: [Pr. PA _ _ ]
01: [Pr. PB _ _ ]
02: [Pr. PC _ _ ]
03: [Pr. PD _ _ ]
04: [Pr. PE _ _ ]
05: [Pr. PF _ _ ]
8 to 15 06: Parameter for manufacturer setting
07: Parameter for manufacturer setting
08: Parameter for manufacturer setting
09: Parameter for manufacturer setting
0A: Parameter for manufacturer setting
0B: [Pr. PL _ _ ]
0C: [Pr. PT _ _ ]
0E: [Pr. PN _ _ ]

19 - 131
19．EtherNet/IP COMMUNICATION

19.7.3.6 Monitor Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Cumulative feedback pulses (2B01h)

Ins ID Attr ID Access Name Data Type
2B01h 0 Get/Set Cumulative feedback pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B01h 0 80000000h to FFFFFFFFh pulse Impossible

The cumulative feedback pulses are returned. Writing "00001EA5h" clears the cumulative feedback
pulses.

(2) Servo motor speed (2B02h)

Ins ID Attr ID Access Name Data Type
2B02h 0 Get Servo motor speed DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B02h 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

The servo motor speed is returned.

Unit: [r/min]

(3) Droop pulses (2B03h)

Ins ID Attr ID Access Name Data Type
2B03h 0 Get Droop pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B03h 0 80000000h to 7FFFFFFFh pulse Impossible

The droop pulses (encoder unit) are returned.

19 - 132
19．EtherNet/IP COMMUNICATION

(4) Cumulative command pulses (2B04h)

Ins ID Attr ID Access Name Data Type
2B04h 0 Get Cumulative command pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B04h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative command pulses are returned.

(5) Command pulse frequency (2B05h)

Ins ID Attr ID Access Name Data Type
2B05h 0 Get Command pulse frequency DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B05h 0 80000000h to 7FFFFFFFh kpulse/s Impossible

The command pulse frequency is returned.

(6) Regenerative load ratio (2B08h)

Ins ID Attr ID Access Name Data Type
2B08h 0 Get Regenerative load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B08h 0 0000h to FFFFh % Impossible

The regenerative load ratio is returned.

(7) Effective load ratio (2B09h)

Ins ID Attr ID Access Name Data Type
2B09h 0 Get Effective load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B09h 0 0000h to FFFFh % Impossible

The effective load ratio is returned.

(8) Peak load ratio (2B0Ah)

Ins ID Attr ID Access Name Data Type
2B0Ah 0 Get Peak load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Ah 0 0000h to FFFFh % Impossible

The peak load ratio is returned.

19 - 133
19．EtherNet/IP COMMUNICATION

(9) Instantaneous torque (2B0Bh)

Ins ID Attr ID Access Name Data Type
2B0Bh 0 Get Instantaneous torque INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Bh 0 8000h to 7FFFh % Impossible

The instantaneous torque is returned.

(10) Within one-revolution position (2B0Ch)

Ins ID Attr ID Access Name Data Type
2B0Ch 0 Get Within one-revolution position DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Ch 0 80000000h to 7FFFFFFFh pulse Impossible

The position within one-revolution is returned.

(11) ABS counter (2B0Dh)

Ins ID Attr ID Access Name Data Type
2B0Dh 0 Get ABS counter DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Dh 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter is returned.

(12) Load to motor inertia ratio (2B0Eh)

Ins ID Attr ID Access Name Data Type
2B0Eh 0 Get Load to motor inertia ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Eh 0 0000h to FFFFh 0.01 times Impossible

The load to motor inertia ratio is returned.

(13) Bus voltage (2B0Fh)

Ins ID Attr ID Access Name Data Type
2B0Fh 0 Get Bus voltage UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B0Fh 0 0000h to FFFFh V Impossible

The bus voltage is returned.

19 - 134
19．EtherNet/IP COMMUNICATION

(14) Load-side cumulative feedback pulses (2B10h)

Ins ID Attr ID Access Name Data Type
2B10h 0 Get Load-side cumulative feedback pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B10h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side cumulative feedback pulses (load-side encoder unit) are returned.

(15) Load-side droop pulses (2B11h)

Ins ID Attr ID Access Name Data Type
2B11h 0 Get Load-side droop pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B11h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side droop pulses are returned.

(16) Load-side encoder information 1 Z-phase counter (2B12h)

Ins ID Attr ID Access Name Data Type
2B12h 0 Get Load-side encoder information 1 Z-phase counter DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B12h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side encoder information 1 is returned.

(17) Load-side encoder information 2 (2B13h)

Ins ID Attr ID Access Name Data Type
2B13h 0 Get Load-side encoder information 2 DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B13h 0 80000000h to 7FFFFFFFh rev Impossible

The load-side encoder information 2 is returned.

(18) Temperature of motor thermistor (2B17h)

Ins ID Attr ID Access Name Data Type
2B17h 0 Get Temperature of motor thermistor INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B17h 0 8000h to 7FFFh °C Impossible

The temperature of servo motor thermistor is returned.

19 - 135
19．EtherNet/IP COMMUNICATION

(19) Motor-side cumu. feedback pulses (before gear) (2B18h)

Ins ID Attr ID Access Name Data Type
2B18h 0 Get Motor-side cumu. feedback pulses (before gear) DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B18h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses are returned.

(20) Electrical angle (2B19h)

Ins ID Attr ID Access Name Data Type
2B19h 0 Get Electrical angle DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B19h 0 80000000h to 7FFFFFFFh pulse Impossible

The electrical angle is returned.

(21) Motor-side/load-side position deviation (2B23h)

Ins ID Attr ID Access Name Data Type
2B23h 0 Get Motor-side/load-side position deviation DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B23h 0 80000000h to 7FFFFFFFh pulse Impossible

The servo motor-side/load-side position deviation is returned.

(22) Motor-side/load-side speed deviation (2B24h)

Ins ID Attr ID Access Name Data Type
2B24h 0 Get Motor-side/load-side speed deviation DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B24h 0 80000000h to 7FFFFFFFh r/min Impossible

The servo motor-side/load-side speed deviation is returned.

(23) Internal temperature of encoder (2B25h)

Ins ID Attr ID Access Name Data Type
2B25h 0 Get Internal temperature of encoder INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B25h 0 8000h to 7FFFh °C Impossible

The internal temperature of encoder is returned.

19 - 136
19．EtherNet/IP COMMUNICATION

(24) Settling time (2B26h)

Ins ID Attr ID Access Name Data Type
2B26h 0 Get Settling time INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B26h 0 8000h to 7FFFh ms Impossible

The settling time is returned.

(25) Oscillation detection frequency (2B27h)

Ins ID Attr ID Access Name Data Type
2B27h 0 Get Oscillation detection frequency INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B27h 0 8000h to 7FFFh Hz Impossible

The oscillation detection frequency is returned.

(26) Number of tough drive operations (2B28h)

Ins ID Attr ID Access Name Data Type
2B28h 0 Get Number of tough drive operations UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B28h 0 0000h to FFFFh number of times Impossible

The number of tough drive operations is returned.

(27) Unit power consumption (2B2Dh)

Ins ID Attr ID Access Name Data Type
2B2Dh 0 Get Unit power consumption INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B2Dh 0 8000h to 7FFFh W Impossible

The unit power consumption is returned.

(28) Unit total power consumption (2B2Eh)

Ins ID Attr ID Access Name Data Type
2B2Eh 0 Get Unit total power consumption DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B2Eh 0 80000000h to 7FFFFFFFh Wh Impossible

The unit total power consumption is returned.

19 - 137
19．EtherNet/IP COMMUNICATION

(29) Alarm Monitor 1 Cumulative feedback pulses (2B81h)

Ins ID Attr ID Access Name Data Type
2B81h 0 Get Alarm Monitor 1 Cumulative feedback pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B81h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses at alarm occurrence are returned.

(30) Alarm Monitor 2 Servo motor speed (2B82h)

Ins ID Attr ID Access Name Data Type
2B82h 0 Get Alarm Monitor 2 Servo motor speed DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B82h 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

The servo motor speed at alarm occurrence is returned.

Unit: [r/min]

(31) Alarm Monitor 3 Droop pulses (2B83h)

Ins ID Attr ID Access Name Data Type
2B83h 0 Get Alarm Monitor 3 Droop pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B83h 0 80000000h to 7FFFFFFFh pulse Impossible

The droop pulses at alarm occurrence are returned.

(32) Alarm Monitor 4 Cumulative command pulses (2B84h)

Ins ID Attr ID Access Name Data Type
2B84h 0 Get Alarm Monitor 4 Cumulative command pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B84h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative command pulses (encoder unit) at alarm occurrence are returned.

(33) Alarm Monitor 5 Command pulse frequency (2B85h)

Ins ID Attr ID Access Name Data Type
2B85h 0 Get Alarm Monitor 5 Command pulse frequency DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B85h 0 80000000h to 7FFFFFFFh kpulse/s Impossible

The command pulse frequency at alarm occurrence is returned.

19 - 138
19．EtherNet/IP COMMUNICATION

(34) Alarm Monitor 8 Regenerative load ratio (2B88h)

Ins ID Attr ID Access Name Data Type
2B88h 0 Get Alarm Monitor 8 Regenerative load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B88h 0 0000h to FFFFh % Impossible

The regenerative load ratio at alarm occurrence is returned.

(35) Alarm Monitor 9 Effective load ratio (2B89h)

Ins ID Attr ID Access Name Data Type
2B89h 0 Get Alarm Monitor 9 Effective load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B89h 0 0000h to FFFFh % Impossible

The effective load ratio at alarm occurrence is returned.

(36) Alarm Monitor 10 Peak load ratio (2B8Ah)

Ins ID Attr ID Access Name Data Type
2B8Ah 0 Get Alarm Monitor 10 Peak load ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Ah 0 0000h to FFFFh % Impossible

The peak load ratio at alarm occurrence is returned.

(37) Alarm Monitor 11 Instantaneous torque (2B8Bh)

Ins ID Attr ID Access Name Data Type
2B8Bh 0 Get Alarm Monitor 11 Instantaneous torque INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Bh 0 8000h to 7FFFh % Impossible

The instantaneous torque at alarm occurrence is returned.

(38) Alarm Monitor 12 Within one-revolution position (2B8Ch)

Ins ID Attr ID Access Name Data Type
2B8Ch 0 Get Alarm Monitor 12 Within one-revolution position DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Ch 0 80000000h to 7FFFFFFFh pulse Impossible

The position within one-revolution at alarm occurrence is returned.

19 - 139
19．EtherNet/IP COMMUNICATION

(39) Alarm Monitor 13 ABS counter (2B8Dh)

Ins ID Attr ID Access Name Data Type
2B8Dh 0 Get Alarm Monitor 13 ABS counter DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Dh 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter at alarm occurrence is returned.

(40) Alarm Monitor 14 Load to motor inertia ratio (2B8Eh)

Ins ID Attr ID Access Name Data Type
2B8Eh 0 Get Alarm Monitor 14 Load to motor inertia ratio UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Eh 0 0000h to FFFFh 0.1 times Impossible

The load to motor inertia ratio at alarm occurrence is returned.

(41) Alarm Monitor 15 Bus voltage (2B8Fh)

Ins ID Attr ID Access Name Data Type
2B8Fh 0 Get Alarm Monitor 15 Bus voltage DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B8Fh 0 80000000h to 7FFFFFFFh V Impossible

The bus voltage at alarm occurrence is returned.

(42) Alarm Monitor 16 Load-side cumulative feedback pulses (2B90h)

Ins ID Attr ID Access Name Data Type
2B90h 0 Get Alarm Monitor 16 Load-side cumulative feedback pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B90h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side cumulative feedback pulses at alarm occurrence are returned.

(43) Alarm Monitor 17 Load-side droop pulses (2B91h)

Ins ID Attr ID Access Name Data Type
2B91h 0 Get Alarm Monitor 17 Load-side droop pulses DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B91h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side droop pulses (load-side encoder unit) at alarm occurrence are returned.

19 - 140
19．EtherNet/IP COMMUNICATION

(44) Alarm Monitor 18 Load-side encoder information 1 Z-phase counter (2B92h)

Ins ID Attr ID Access Name Data Type
2B92h 0 Get Alarm Monitor 18 Load-side encoder information 1 Z-phase counter DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B92h 0 80000000h to 7FFFFFFFh pulse Impossible

The load-side encoder information 1 at alarm occurrence is returned.

(45) Alarm Monitor 19 Load-side encoder information 2 (2B93h)

Ins ID Attr ID Access Name Data Type
2B93h 0 Get Alarm Monitor 19 Load-side encoder information 2 DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B93h 0 80000000h to 7FFFFFFFh rev Impossible

The load-side encoder information 2 at alarm occurrence is returned.

(46) Alarm Monitor 23 Temperature of motor thermistor (2B97h)

Ins ID Attr ID Access Name Data Type
2B97h 0 Get Alarm Monitor 23 Temperature of motor thermistor DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B97h 0 80000000h to 7FFFFFFFh °C Impossible

The temperature of servo motor thermistor at alarm occurrence is returned.

(47) Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) (2B98h)
Ins ID Attr ID Access Name Data Type
2B98h 0 Get Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B98h 0 80000000h to 7FFFFFFFh pulse Impossible

The cumulative feedback pulses (servo motor-side unit) at alarm occurrence are returned.

(48) Alarm Monitor 25 Electrical angle (2B99h)

Ins ID Attr ID Access Name Data Type
2B99h 0 Get Alarm Monitor 25 Electrical angle DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2B99h 0 80000000h to 7FFFFFFFh pulse Impossible

The electrical angle at alarm occurrence is returned.

19 - 141
19．EtherNet/IP COMMUNICATION

(49) Alarm Monitor 35 Motor-side/load-side position deviation (2BA3h)

Ins ID Attr ID Access Name Data Type
2BA3h 0 Get Alarm Monitor 35 Motor-side/load-side position deviation DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA3h 0 80000000h to 7FFFFFFFh pulse Impossible

The motor-side/load-side position deviation at alarm occurrence is returned.

(50) Alarm Monitor 36 Motor-side/load-side speed deviation (2BA4h)

Ins ID Attr ID Access Name Data Type
2BA4h 0 Get Alarm Monitor 36 Motor-side/load-side speed deviation DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA4h 0 80000000h to 7FFFFFFFh r/min Impossible

The servo motor-side/load-side speed deviation at alarm occurrence is returned.

(51) Alarm Monitor 37 Internal temperature of encoder (2BA5h)

Ins ID Attr ID Access Name Data Type
2BA5h 0 Get Alarm Monitor 37 Internal temperature of encoder DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA5h 0 80000000h to 7FFFFFFFh °C Impossible

The internal temperature of encoder at alarm occurrence is returned.

(52) Alarm Monitor 38 Settling time (2BA6h)

Ins ID Attr ID Access Name Data Type
2BA6h 0 Get Alarm Monitor 38 Settling time DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA6h 0 80000000h to 7FFFFFFFh ms Impossible

The settling time at alarm occurrence is returned.

(53) Alarm Monitor 39 Oscillation detection frequency (2BA7h)

Ins ID Attr ID Access Name Data Type
2BA7h 0 Get Alarm Monitor 39 Oscillation detection frequency DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA7h 0 80000000h to 7FFFFFFFh Hz Impossible

The oscillation detection frequency at alarm occurrence is returned.

19 - 142
19．EtherNet/IP COMMUNICATION

(54) Alarm Monitor 40 Number of tough drive operations (2BA8h)

Ins ID Attr ID Access Name Data Type
2BA8h 0 Get Alarm Monitor 40 Number of tough drive operations DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BA8h 0 80000000h to 7FFFFFFFh number of times Impossible

The number of tough drive operations at alarm occurrence is returned.

(55) Alarm Monitor 45 Unit power consumption (2BADh)

Ins ID Attr ID Access Name Data Type
2BADh 0 Get Alarm Monitor 45 Unit power consumption DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BADh 0 80000000h to 7FFFFFFFh W Impossible

The unit power consumption at alarm occurrence is returned.

(56) Alarm Monitor 46 Unit total power consumption (2BAEh)

Ins ID Attr ID Access Name Data Type
2BAEh 0 Get Alarm Monitor 46 Unit total power consumption DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2BAEh 0 80000000h to 7FFFFFFFh Wh Impossible

The unit total power consumption at alarm occurrence is returned.

19.7.3.7 Manufacturer Specific Control Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

19 - 143
19．EtherNet/IP COMMUNICATION

(1) External Output pin display (2C11h)

Ins ID Attr ID Access Name Data Type
0 Number of entries USINT
2C11h Get
1 External Output pin display1 UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2C11h Impossible
1 0 00000000h to 0000000Fh

The ON/OFF state of external output pins output from the driver can be read.
This object is available with drivers.

The following shows the detail of External Output pin display1. When the output of the target pin is on, "1"
is returned. When the output of the target pin is off, "0" is returned. The values in the areas marked with
diagonal lines at reading is undefined.
Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin
0 13 8 16 24
1 15 9 17 25
2 9 10 18 26
3 8 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

(2) Power ON cumulative time (2C18h)

Ins ID Attr ID Access Name Data Type
2C18h 0 Get Power ON cumulative time UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C18h 0 00000000h to FFFFFFFFh hour Impossible

The cumulative energization time of the driver is returned.

(3) Number of inrush relay on/off times (2C19h)

Ins ID Attr ID Access Name Data Type
2C19h 0 Get Number of inrush relay on/off times UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C19h 0 00000000h to FFFFFFFFh number of times Impossible

The number of on/off times of the inrush relay of the driver is returned.

19 - 144
19．EtherNet/IP COMMUNICATION

(4) Machine diagnostic status (2C20h)

Ins ID Attr ID Access Name Data Type
2C20h 0 Get Machine diagnostic status UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C20h 0 Refer to the text. Impossible

The machine diagnostic status is returned. The description is as follows.

Bit Description
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
0 to 3
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
4 to 7
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is
returned.
When an estimation is completed even though a warning has once occurred, the
status changes to Estimation is completed.
Vibration estimation status
8 to 11 0: During estimation
1: Estimation is completed.
12 to 15 (reserved) The value at reading is undefined.

(5) Static friction torque at forward rotation (2C21h)

Ins ID Attr ID Access Name Data Type
2C21h 0 Get Static friction torque at forward rotation INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C21h 0 8000h to 7FFFh 0.1% Impossible

Static friction torque at forward rotation is returned in increments of 0.1%.

19 - 145
19．EtherNet/IP COMMUNICATION

(6) Dynamic friction torque at forward rotation (at rated speed) (2C22h)
Ins ID Attr ID Access Name Data Type
2C22h 0 Get Dynamic friction torque at forward rotation (at rated speed) INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C22h 0 8000h to 7FFFh 0.1% Impossible

Dynamic friction torque at forward rotation at the rated speed is returned in increments of 0.1%.

(7) Static friction torque at reverse rotation (2C23h)

Ins ID Attr ID Access Name Data Type
2C23h 0 Get Static friction torque at reverse rotation INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C23h 0 8000h to 7FFFh 0.1% Impossible

Static friction torque at reverse rotation is returned in increments of 0.1%.

(8) Dynamic friction torque at reverse rotation (at rated speed) (2C24h)
Ins ID Attr ID Access Name Data Type
2C24h 0 Get Dynamic friction torque at reverse rotation (at rated speed) INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C24h 0 8000h to 7FFFh 0.1% Impossible

Dynamic friction torque at reverse rotation at rated speed is returned in increments of 0.1%.

(9) Oscillation frequency during motor stop (2C25h)

Ins ID Attr ID Access Name Data Type
2C25h 0 Get Oscillation frequency during motor stop INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C25h 0 8000h to 7FFFh Hz Impossible

Vibration frequency during stop/servo-lock is returned in increments of 1 Hz.

(10) Vibration level during motor stop (2C26h)

Ins ID Attr ID Access Name Data Type
2C26h 0 Get Vibration level during motor stop INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C26h 0 8000h to 7FFFh 0.1% Impossible

Vibration level during stop/servo-lock is returned in increments of 0.1%.

19 - 146
19．EtherNet/IP COMMUNICATION

(11) Oscillation frequency during motor operating (2C27h)

Ins ID Attr ID Access Name Data Type
2C27h 0 Get Oscillation frequency during motor operating INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C27h 0 8000h to 7FFFh Hz Impossible

Vibration frequency during operation is returned in increments of 1 Hz.

(12) Vibration level during motor operating (2C28h)

Ins ID Attr ID Access Name Data Type
2C28h 0 Get Vibration level during motor operating INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2C28h 0 8000h to 7FFFh 0.1% Impossible

Vibration level during operation is returned in increments of 0.1%.

(13) Control DI 1 (2D01h)

Ins ID Attr ID Access Name Data Type
2D01h 0 Get/Set Control DI 1 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D01h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (1) for details.

(14) Control DI 2 (2D02h)

Ins ID Attr ID Access Name Data Type
2D02h 0 Get/Set Control DI 2 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D02h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (2) for details.

(15) Control DI 3 (2D03h)

Ins ID Attr ID Access Name Data Type
2D03h 0 Get/Set Control DI 3 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D03h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (3) for details.

19 - 147
19．EtherNet/IP COMMUNICATION

(16) Control DI 7 (2D07h)

Ins ID Attr ID Access Name Data Type
2D07h 0 Get/Set Control DI 7 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D07h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (4) for details.

(17) Control DI 10 (2D0Ah)

Ins ID Attr ID Access Name Data Type
2D0Ah 0 Get/Set Control DI 10 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D0Ah 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.2 (5) for details.

(18) Status DO 1 (2D11h)

Ins ID Attr ID Access Name Data Type
2D11h 0 Get Status DO 1 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D11h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (1) for details.

(19) Status DO 2 (2D12h)

Ins ID Attr ID Access Name Data Type
2D12h 0 Get Status DO 2 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D12h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (2) for details.

(20) Status DO 3 (2D13h)

Ins ID Attr ID Access Name Data Type
2D13h 0 Get Status DO 3 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D13h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (3) for details.

19 - 148
19．EtherNet/IP COMMUNICATION

(21) Status DO 5 (2D15h)

Ins ID Attr ID Access Name Data Type
2D15h 0 Get Status DO 5 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D15h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (4) for details.

(22) Status DO 6 (2D16h)

Ins ID Attr ID Access Name Data Type
2D16h 0 Get Status DO 6 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D16h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (5) for details.

(23) Status DO 7 (2D17h)

Ins ID Attr ID Access Name Data Type
2D17h 0 Get Status DO 7 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D17h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (6) for details.

(24) Status DO 10 (2D1Ah)

Ins ID Attr ID Access Name Data Type
2D1Ah 0 Get Status DO 10 UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D1Ah 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.2 (7) for details.

(25) Velocity limit value (2D20h)

Ins ID Attr ID Access Name Data Type
2D20h 0 Get/Set Velocity limit value UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

00000000h to instantaneous permissible
2D20h 0 50000 vel units Possible PT67
speed

Set the speed limit value for the profile torque mode (tq).
Unit: [0.01 r/min]

19 - 149
19．EtherNet/IP COMMUNICATION

(26) Motor rated speed (2D28h)

Ins ID Attr ID Access Name Data Type
2D28h 0 Get Motor rated speed UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D28h 0 00000000h to FFFFFFFFh r/min Impossible

The servo motor rated speed is returned.

Unit: [r/min]

(27) Manufacturer Device Name 2 (2D30h)

Ins ID Attr ID Access Name Data Type
2D30h 0 to _ Get Manufacturer Device Name 2 STRING

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D30h 0 to _ Impossible

The model name of the driver is returned.

The number of character strings is set to Attribute ID 0 and ASCII code is registered to Attribute ID 1 or
later.

(28) Manufacturer Hardware Version 2 (2D31h)

Ins ID Attr ID Access Name Data Type
2D31h 0 to _ Get Manufacturer Hardware Version 2 STRING

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D31h 0 to _ Impossible

The hardware version of the driver is returned.

The number of character strings is set to Attribute ID 0 and ASCII code is registered to Attribute ID 1 or
later.

(29) Manufacturer Software Version 2 (2D32h)

Ins ID Attr ID Access Name Data Type
2D32h 0 to _ Get Manufacturer Software Version 2 STRING

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D32h 0 to _ Impossible

The software version of the driver is returned.

The number of character strings is set to Attribute ID 0 and ASCII code is registered to Attribute ID 1 or
later.

19 - 150
19．EtherNet/IP COMMUNICATION

(30) Serial Number 2 (2D33h)

Ins ID Attr ID Access Name Data Type
2D33h 0 to _ Get Serial Number 2 STRING

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D33h 0 to _ Impossible

The serial number of the driver is returned.

The number of character strings is set to Attribute ID 0 and ASCII code is registered to Attribute ID 1 or
later.

(31) User parameter configuration (2D34h)

Ins ID Attr ID Access Name Data Type
2D34h 0 Get/Set User parameter configuration UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D34h 0 1 Refer to the text. Impossible

The parameters whose symbols are preceded by * are not automatically enabled. Writing "1EA5h" to
this object enables the parameters. This operation can be performed only when I/O connection is not in
the Run mode.

The read values of this object are as follows. The completion of the parameter enables processing can
be checked.
Value Description
0 Parameter enabling processing is being executed.
1 Parameter enabling processing is not being executed. (The processing is completed.)

19 - 151
19．EtherNet/IP COMMUNICATION

(32) Encoder status (2D35h)

Ins ID Attr ID Access Name Data Type
0 Encoder status USINT
2D35h 1 Get Encoder status1
UDINT
2 Encoder status2

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h
2D35h 1 00000000h to 00000001h Impossible
2 00000000h to 00000007h

The status of the encoder is returned. The description of each Attribute ID is as follows.
Attr ID Name Description
0 Encoder status Number of entries
The status of the encoder is returned. For a fully closed loop system, the external encoder
status is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
1 Encoder status1 returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1 to Bit 31: Reserved
The status of the scale measurement encoder is returned.
Bit 0: Whether the driver is used in an absolute position detection system or not is
returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1: Whether the scale measurement function is enabled or disabled is returned.
2 Encoder status2 0 = Disabled
1 = Enabled
Bit 2: Whether the connected scale measurement encoder is the absolute position type or
not is returned.
0 = Incremental type
1 = Absolute position type
Bit 3 to Bit 31: Reserved

(33) Scale cycle counter (2D36h)

Ins ID Attr ID Access Name Data Type
2D36h 0 Get Scale cycle counter UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D36h 0 00000000h to FFFFFFFFh pulse Impossible

The position within one-revolution of the scale measurement encoder is returned. Returned values differ
depending on the scale measurement encoder type.
Scale measurement encoder Description
Rotary encoder Cycle counter
Linear encoder ABS counter
Absolute position type
Linear encoder Scale coasting counter
Incremental type
Linear encoder Scale coasting counter
A/B/Z-phase differential
output type
Incremental type

19 - 152
19．EtherNet/IP COMMUNICATION

(34) Scale ABS counter (2D37h)

Ins ID Attr ID Access Name Data Type
2D37h 0 Get Scale ABS counter DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D37h 0 80000000h to 7FFFFFFFh rev Impossible

The ABS counter of the scale measurement encoder is returned. Returned values differ depending on
the scale measurement encoder type.
Scale measurement encoder Description
Rotary encoder Multi-revolution ABS counter
Linear encoder Fixed to 0
Absolute position type
Linear encoder Fixed to 0
Incremental type
Linear encoder Fixed to 0
A/B/Z-phase differential
output type
Incremental type

(35) Scale measurement encoder resolution (2D38h)

Ins ID Attr ID Access Name Data Type
2D38h 0 Get Scale measurement encoder resolution UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D38h 0 00000000h to FFFFFFFFh inc / rev Impossible

The resolution of the scale measurement encoder is returned.

(36) Scale measurement encoder reception status (2D3Ch)

Ins ID Attr ID Access Name Data Type
2D3Ch 0 Get Scale measurement encoder reception status (Note) UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D3Ch 0 00000000h to FFFFFFFFh Impossible

The alarm data of the scale measurement encoder is returned. The value "0" indicates that no error
occurs. A value other than "0" indicates that an error occurs.

19 - 153
19．EtherNet/IP COMMUNICATION

(37) One-touch tuning mode (2D50h)

Ins ID Attr ID Access Name Data Type
2D50h 0 Get/Set One-touch tuning mode USINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D50h 0 00h to 03h Impossible

Setting a value of "1" to "3" starts one-touch tuning. After one-touch tuning is completed, the setting
value automatically changes to "0". The description of the setting values is as follows.
Setting
Description
value
0 During one-touch tuning stop
1 Basic mode
2 High mode
3 Low mode

(38) One-touch tuning status (2D51h)

Ins ID Attr ID Access Name Data Type
2D51h 0 Get One-touch tuning status SINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D51h 0 00h to 64h % Impossible

The one-touch tuning progress is returned.

(39) One-touch tuning Stop (2D52h)

Ins ID Attr ID Access Name Data Type
2D52h 0 Set One-touch tuning Stop UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D52h 0 0000h/1EA5h Impossible

Writing "1EA5h" can stop one-touch tuning. Writing a value other than "1EA5h" sets a general-purpose
code 09h Invalid attribute value.

(40) One-touch tuning Clear (2D53h)

Ins ID Attr ID Access Name Data Type
2D53h 0 Set One-touch tuning Clear UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D53h 0 0000h to 0001h Impossible

The parameter changed in one-touch tuning can be returned to the value before the change. The
description of the setting values is as follows.
Setting
Description
value
0000h Restores the initial value.
0001h Restores the value before one-touch tuning.

19 - 154
19．EtherNet/IP COMMUNICATION

(41) One-touch tuning Error Code (2D54h)

Ins ID Attr ID Access Name Data Type
2D54h 0 Get One-touch tuning Error Code UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2D54h 0 0000h to C00Fh Impossible

An error code of the one-touch tuning is returned. The description of the error codes is as follows.
Error code Description
0000h Finished normally
C000h Tuning canceled
C001h Overshoot exceeded
C002h Servo-off during tuning
C003h Control mode error
C004h Time-out
C005h Load to motor inertia ratio
misestimated
C00Fh One-touch tuning disabled

19.7.3.8 PDS Control Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Error code (603Fh)

Ins ID Attr ID Access Name Data Type
603Fh 0 Get Error code UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

603Fh 0 0 0000h to FFFFh Impossible

The number of the latest error that occurred after the power on is returned.

19 - 155
19．EtherNet/IP COMMUNICATION

(2) Controlword (6040h)

Ins ID Attr ID Access Name Data Type
6040h 0 Get/Set Controlword UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6040h 0 0 Refer to the text. Impossible

Set control commands to control the driver. Refer to section 5.2.1 for details.

(3) Statusword (6041h)

Ins ID Attr ID Access Name Data Type
6041h 0 Get Statusword UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6041h 0 Refer to the text. Impossible

The servo status is returned. Refer to section 5.3.1 for details.

(4) Quick stop option code (605Ah)

Ins ID Attr ID Access Name Data Type
605Ah 0 Get/Set Quick stop option code INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

605Ah 0 2 0002h to 0002h Possible PT68

Set how to decelerate the servo motor to a stop at QuickStop reception. The description of the setting
values is as follows.
Setting
Description
value
1
In the profile mode (pp/pv) and homing mode (hm), the servo motor decelerates to a
stop with Quick stop deceleration (Class ID: 64h, Ins ID: 6085h, Attr ID: 0) and the
2 state shifts to the Switch On Disabled state.
In the profile torque mode (tq), the state immediately shifts to the Switch On Disabled
state and the servo motor stops with the dynamic brake.
3
4
5
6
7
8

19 - 156
19．EtherNet/IP COMMUNICATION

(5) Halt option code (605Dh)

Ins ID Attr ID Access Name Data Type
605Dh 0 Get/Set Halt option code INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

605Dh 0 1 0001h to 0001h Possible PT68

Set how to decelerate the servo motor to a stop at Halt reception. The description of the setting values is
as follows.
Setting
Description
value
For Profile deceleration (Class ID: 64h, Ins ID: 6084h, Attr ID: 0) and the homing
mode (hm), the servo motor decelerates to a stop according to Homing acceleration
1
(Class ID: 64h, Ins ID: 6094h, Attr ID: 0) and the state does not change from the
Operation Enabled state (servo-on).
2
3
4

(6) Modes of operation (6060h)

Ins ID Attr ID Access Name Data Type
6060h 0 Get/Set Modes of operation SINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6060h 0 0 Refer to the text. Impossible

Set the control mode. The setting values are as follows.

Setting
Description
value
0 No mode change/No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)

The settable values are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.

19 - 157
19．EtherNet/IP COMMUNICATION

(7) Modes of operation display (6061h)

Ins ID Attr ID Access Name Data Type
6061h 0 Get Modes of operation display SINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6061h 0 1 Refer to the text. Impossible

The current control mode is returned. The description is as follows.

Setting
Description
value
0 No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)

(8) Supported drive modes (6502h)

Ins ID Attr ID Access Name Data Type
6502h 0 Get Supported drive modes UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6502h 0 Refer to the text. Refer to the text. Impossible

The supported control mode is returned. The description is as follows.

Bit Description Defined value
0 Profile position mode (pp) 1: Supported
1 Velocity mode (vl) 0
2 Profile velocity mode (pv) 1: Supported
3 Profile torque mode (tq) 1: Supported
4 Reserved 0
5 Homing mode (hm) 1: Supported
6 Interpolated position mode (ip) 0
7 Cyclic synchronous position mode (csp) 0
8 Cyclic synchronous velocity mode (csv) 0
9 Cyclic synchronous torque mode (cst) 0
10 Cyclic synchronous torque mode with communication angle (cstca) 0
11 to 31 Reserved 0

A fixed value is returned regardless of the [Pr. PA01] setting.

19 - 158
19．EtherNet/IP COMMUNICATION

19.7.3.9 Position Control Function Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Position actual internal value (6063h)

Ins ID Attr ID Access Name Data Type
6063h 0 Get Position actual internal value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6063h 0 80000000h to 7FFFFFFFh inc Impossible

The current position is returned.

(2) Position actual value (6064h)

Ins ID Attr ID Access Name Data Type
6064h 0 Get Position actual value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6064h 0 80000000h to 7FFFFFFFh pos units Impossible

The current position in the command unit is returned.

(3) Following error window (6065h)

Ins ID Attr ID Access Name Data Type
6065h 0 Get/Set Following error window UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6065h 0 00C00000h 00000000h to FFFFFFFFh pos units Possible PC67/PC68

In the profile position mode (pp), when the time set with Following error time out (Class ID: 64h, Ins ID:
6066h, Attr ID: 0) has elapsed with the number of droop pulses exceeding the setting value of this object,
Bit 13 of Statusword (Class ID: 64h, Ins ID: 6041h, Attr ID: 0) is turned on. When "FFFFFFFFh" is set, Bit
13 of Statusword (Class ID: 64h, Ins ID: 6041h, Attr ID: 0) is always off.

19 - 159
19．EtherNet/IP COMMUNICATION

(4) Following error time out (6066h)

Ins ID Attr ID Access Name Data Type
6066h 0 Get/Set Following error time out UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6066h 0 10 0000h to FFFFh ms Possible PC69

Refer to Following error window (Class ID: 64h, Ins ID: 6065h, Attr ID: 0).

(5) Position window (6067h)

Ins ID Attr ID Access Name Data Type
6067h 0 Get/Set Position window UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6067h 0 100 Refer to the text. pos units Possible PC70

The description of this object is as follows.

Setting value Description
In the profile position mode (pp), when the time set with Position windows time (Class
ID: 64h, Ins ID: 6068h, Attr ID: 0) has elapsed with the number of droop pulses equal
00000000h to 0000FFFEh
to or lower than the setting value of this object, Bit 10 of Statusword (Class ID: 64h,
Ins ID: 6041h, Attr ID: 0) is turned on.
0000FFFFh to FFFFFFFEh Unsettable
Bit 10 of Statusword (Class ID: 64h, Ins ID: 6041h, Attr ID: 0) is always on in the
FFFFFFFFh
profile position mode (pp).

(6) Position window time (6068h)

Ins ID Attr ID Access Name Data Type
6068h 0 Get/Set Position window time UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6068h 0 10 0000h to FFFFh ms Possible PC71

Refer to Position window (Class ID: 64h, Ins ID: 6067h, Attr ID: 0).

19 - 160
19．EtherNet/IP COMMUNICATION

(7) Positioning option code (60F2h)

Ins ID Attr ID Access Name Data Type
60F2h 0 Get/Set Positioning option code UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60F2h 0 0000h 0000h to 00C0h Possible PT03

Set the profile position mode. The description of this object is as follows.
Bit Description Defined value
00b: The positioning is performed with the relative position from the internal absolute
target position.
01b: The positioning is performed with the relative position from Position demand
0 to 1 actual value (Class ID: 64h, Ins ID: 60FCh, Attr ID: 0). (Not supported) (Note) 00b
10b: The positioning is performed with the relative position from Position actual value
(Class ID: 64h, Ins ID: 6064h, Attr ID: 0). (Not supported) (Note)
11b: reserved
00b: New values of Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0), Profile
velocity (Class ID: 64h, Ins ID: 6081h, Attr ID: 0), and Acceleration are promptly
applied.
01b: The current positioning continues to reach the target position. Then new values
2 to 3 of Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0), Profile velocity 00b
(Class ID: 64h, Ins ID: 6081h, Attr ID: 0), and Acceleration are applied. (Not
supported) (Note)
10b: reserved
11b: reserved
4 to 5 Reserved 0
00b: The servo motor rotates to the target position in a direction specified with a sign
of the position data.
01b: The servo motor rotates in the address decreasing direction regardless of the
sign of the position data.
6 to 7 10b: The servo motor rotates in the address increasing direction regardless of the 00b
sign of the position data.
11b: The servo motor rotates from the current position to the target position in the
shorter direction. If the distances from the current position to the target position
are the same for CCW and CW, the servo motor rotates in the CCW direction.
8 to 15 Reserved 0

Note. This is not supported by the driver.

(8) Following error actual value (60F4h)

Ins ID Attr ID Access Name Data Type
60F4h 0 Get Following error actual value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60F4h 0 80000000h to 7FFFFFFFh pos units Impossible

The droop pulses are returned.

19 - 161
19．EtherNet/IP COMMUNICATION

(9) Control effort (60FAh)

Ins ID Attr ID Access Name Data Type
60FAh 0 Get Control effort DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60FAh 0 80000000h to 7FFFFFFFh vel units Impossible

The speed command is returned.

Unit: [0.01 r/min]

19.7.3.10 Profile Velocity Mode Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Velocity demand value (606Bh)

Ins ID Attr ID Access Name Data Type
606Bh 0 Get Velocity demand value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

606Bh 0 80000000h to 7FFFFFFFh vel units Impossible

The speed command is returned.

Unit: [0.01 r/min]

(2) Velocity actual value (606Ch)

Ins ID Attr ID Access Name Data Type
606Ch 0 Get Velocity actual value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

606Ch 0 80000000h to 7FFFFFFFh vel units Impossible

The current speed is returned.

Unit: [0.01 r/min]

19 - 162
19．EtherNet/IP COMMUNICATION

(3) Velocity window (606Dh)

Ins ID Attr ID Access Name Data Type
606Dh 0 Get/Set Velocity window UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

606Dh 0 2000 0000h to FFFFh vel units Possible PC72

In the profile velocity mode (pv), when the time set with Velocity window time (Class ID: 64h, Ins ID:
606Eh, Attr ID: 0) has elapsed with the current speed equal to or lower than the setting value of this
object, Bit 10 of Statusword (Class ID: 64h, Ins ID: 6041h, Attr ID: 0) is turned on.
Unit: [0.01 r/min]

(4) Velocity window time (606Eh)

Ins ID Attr ID Access Name Data Type
606Eh 0 Get/Set Velocity window time UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

606Eh 0 10 0000h to FFFFh ms Possible PC73

Refer to Velocity window (Class ID: 64h, Ins ID: 606Dh, Attr ID: 0).

(5) Velocity threshold (606Fh)

Ins ID Attr ID Access Name Data Type
606Fh 0 Get/Set Velocity threshold UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

606Fh 0 5000 0000h to FFFFh vel units Possible PC65

In the profile velocity mode (pv), when the time set with Velocity threshold time (Class ID: 64h, Ins ID:
6070h, Attr ID: 0) has elapsed with the current speed higher than the setting value of this object, Bit 12 of
Statusword (Class ID: 64h, Ins ID: 6041h, Attr ID: 0) is turned off.
Unit: [0.01 r/min]

(6) Velocity threshold time (6070h)

Ins ID Attr ID Access Name Data Type
6070h 0 Get/Set Velocity threshold time UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6070h 0 10 0000h to FFFFh ms Possible PC66

Refer to Velocity threshold (Class ID: 64h, Ins ID: 606Fh, Attr ID: 0).

(7) Target velocity (60FFh)

Ins ID Attr ID Access Name Data Type
60FFh 0 Get/Set Target velocity DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60FFh 0 0 80000000h to 7FFFFFFFh vel units Impossible

Set the speed command used in the profile velocity mode (pv).
Unit: [0.01 r/min]

19 - 163
19．EtherNet/IP COMMUNICATION

19.7.3.11 Profile Torque Mode Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Target torque (6071h)

Ins ID Attr ID Access Name Data Type
6071h 0 Get/Set Target torque INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

per thousand of
6071h 0 0 8000h to 7FFFh Impossible
rated torque

Set the torque command used in the profile torque mode (tq).

(2) Max torque (6072h)

Ins ID Attr ID Access Name Data Type
6072h 0 Get/Set Max torque UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

per thousand of
6072h 0 0000h to FFFFh Impossible
rated torque

The maximum torque of the servo motor is returned. The values notified by this object are the maximum
current and feedback value.

(3) Torque demand value (6074h)

Ins ID Attr ID Access Name Data Type
6074h 0 Get Torque demand value INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

per thousand of
6074h 0 8000h to 7FFFh Impossible
rated torque

The torque command is returned.

19 - 164
19．EtherNet/IP COMMUNICATION

(4) Torque actual value (6077h)

Ins ID Attr ID Access Name Data Type
6077h 0 Get Torque actual value INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

per thousand of
6077h 0 8000h to 7FFFh Impossible
rated torque

The current torque is returned.

(5) Torque slope (6087h)

Ins ID Attr ID Access Name Data Type
6087h 0 Get/Set Torque slope UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

per thousand of
6087h 0 00000000h 00000000h to 00989680h (10000000) rated torque per Possible PT53
second

Set the variation per second of the torque command used in the profile torque mode. When "0" is set, the
setting value is invalid and the torque command is input with step input.

(6) Torque profile type (6088h)

Ins ID Attr ID Access Name Data Type
6088h 0 Get/Set Torque profile type INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6088h 0 0 0000h to 0000h Impossible

Set the torque command pattern. The description is as follows.

Setting
Description
value
0 Linear ramp
1 sin2 ramp (Not supported) (Note)

Note. This is not supported by the driver.

Values other than "0" cannot be set.

(7) Positive torque limit value (60E0h)

Ins ID Attr ID Access Name Data Type
60E0h 0 Get/Set Positive torque limit value UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

PA11 (POL
per thousand of
60E0h 0 10000 0000h to 2710h (10000) Possible disabled), PA12
rated torque
(POL enabled)

You can limit the torque generated by the servo motor. Set the limit value of the torque of the servo motor
in the CCW power running or CW regeneration. Set this object to "0" to generate no torque

19 - 165
19．EtherNet/IP COMMUNICATION

(8) Negative torque limit value (60E1h)

Ins ID Attr ID Access Name Data Type
60E1h 0 Get/Set Negative torque limit value UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

PA12 (POL
per thousand of
60E1h 0 10000 0000h to 2710h (10000) Possible disabled), PA11
rated torque
(POL enabled)

You can limit the torque generated by the servo motor. Set the limit value of the torque of the servo motor
in the CW power running or CCW regeneration. Set this object to "0" to generate no torque

19.7.3.12 Profile Position Mode Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Target position (607Ah)

Ins ID Attr ID Access Name Data Type
607Ah 0 Get/Set Target position DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

607Ah 0 0 Refer to the text. pos units Impossible

Set the position command used in the profile position mode (pp). The settable values vary depending on
the setting of [Pr. PT01]. When using superimposed synchronous control, set compensation amounts for
the servo motor rotation position. A positive superimposed feed length adds compensation to
superimposed control in the command address increasing direction, and a negative superimposed feed
length adds compensation in the command address decreasing direction.
[Pr. PT01] setting Range
_ 0 _ _ (mm) FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 1 _ _ (inch) FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 2 _ _ (degree) FFFA81C0h to 00057E40h (-360000 to 360000)
_ 3 _ _ (pulse) FFF0BDC1h to 000F423Fh (-999999 to 999999)

Set also Gear ratio (Class ID: 64h, Ins ID: 6091h, Attr ID: 0) for the profile position mode (pp).

19 - 166
19．EtherNet/IP COMMUNICATION

(2) Position range limit (607Bh)

Ins ID Attr ID Access Name Data Type
0 Get Position range limit USINT
607Bh 1 Min position range limit
Get/Set DINT
2 Max position range limit

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 00h to 02h
607Bh 1 Impossible
Refer to the text. pos units
2

No value can be written because Position range limit (Class ID: 64h, Ins ID: 607Ah) is set automatically
with the control mode and [Pr. PT01]. Writing a value sets a general-purpose code 09h Invalid attribute
value.
[Pr. PT01] setting Range
_ 0 _ _ (mm) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 1 _ _ (inch) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 2 _ _ (degree) 00000000h to 00057E3Fh (0 to 359999)
_ 3 _ _ (pulse) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)

(3) Software position limit (607Dh)

Ins ID Attr ID Access Name Data Type
0 Get Software position limit USINT
607Dh 1 Min position limit
Get/Set DINT
2 Max position limit

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
607Dh 1 PT17/PT18
0 80000000h to 7FFFFFFFh pos units Possible
2 PT15/PT16

Set the range for limiting the command position. Target position (Class ID: 64h, Ins ID: 607Ah, Attr ID: 0)
is limited within the range between Min position limit (Class ID: 64h, Ins ID: 607Dh, Attr ID: 1) and Max
position limit (Class ID: 64h, Ins ID: 607Dh, Attr ID: 2). When the set value of Min position limit (Class ID:
64h, Ins ID: 607Dh, Attr ID: 1) is equal to or greater than the set value of Max position limit (Class ID:
64h, Ins ID: 607Dh, Attr ID: 2), the function of Software position limit (Class ID: 64h, Ins ID: 607Dh, Attr
ID: 0) is disabled.

(4) Max profile velocity (607Fh)

Ins ID Attr ID Access Name Data Type
607Fh 0 Get/Set Max profile velocity UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

607Fh 0 2000000 00000000h to 001E8480h (2000000) vel units Possible PT66

Set the speed limit value for the profile position mode (pp) and profile velocity mode (pv). When a value
exceeding this object is set to Target velocity (Class ID: 64h, Ins ID: 60FFh, Attr ID: 0) or Profile velocity
(Class ID: 64h, Ins ID: 6081h, Attr ID: 0), the speed is limited with the value of this object.

19 - 167
19．EtherNet/IP COMMUNICATION

(5) Max motor speed (6080h)

Ins ID Attr ID Access Name Data Type
6080h 0 Get/Set Max motor speed UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6080h 0 00000000h to FFFFFFFFh Refer to the text. Impossible

The instantaneous permissible speed of the servo motor is returned. Operation cannot be performed at a
speed exceeding the speed set with this object.
Unit: [r/min]

(6) Profile velocity (6081h)

Ins ID Attr ID Access Name Data Type
6081h 0 Get/Set Profile velocity UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

00000000h to instantaneous permissible
6081h 0 10000 vel units Possible PT65
speed

Set the command speed in the profile position mode (pp). Set a value within the range between "0" and
permissible speed. When using superimposed synchronous control, set a superimposed feed speed at a
start of the superimposed control. Set a value within the range between "0" and permissible speed.
Unit: [0.01 r/min]

(7) Profile acceleration (6083h)

Ins ID Attr ID Access Name Data Type
6083h 0 Get/Set Profile acceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6083h 0 0 Refer to the text. ms Possible PT49

Set the acceleration time constant in the profile position mode (pp) and the profile velocity mode (pv). Set
a time for the servo motor to reach the rated speed. The settable values vary depending on the control
mode. When using superimposed synchronous control, set an acceleration time constant for the
superimposed control. Set a time for the servo motor to reach the rated speed.
Control mode Range
Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000

19 - 168
19．EtherNet/IP COMMUNICATION

(8) Profile deceleration (6084h)

Ins ID Attr ID Access Name Data Type
6084h 0 Get/Set Profile deceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6084h 0 0 Refer to the text. ms Possible PT50

Set the deceleration time constant in the profile position mode (pp) and the profile velocity mode (pv). Set
a time for the servo motor to stop from the rated speed. The settable values vary depending on the
control mode. When using superimposed synchronous control, set a deceleration time constant for the
superimposed control. Set a time for the servo motor to stop from the rated speed.
Control mode Range
Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000

(9) Quick stop deceleration (6085h)

Ins ID Attr ID Access Name Data Type
6085h 0 Get/Set Quick stop deceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6085h 0 100 0 to 20000 ms Possible PC24

Set a deceleration time constant for the Quick stop function. Set a time for the servo motor to stop from
the rated speed. When "0" is set, the operation is performed with 100 ms.

(10) Motion profile type (6086h)

Ins ID Attr ID Access Name Data Type
6086h 0 Get/Set Motion profile type INT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6086h 0 -1 FFFFh to FFFFh (-1) Impossible

Set the acceleration/deceleration pattern in the profile position mode (pp). The description is as follows.
Setting
Description
value
-1 S-pattern
0 Linear ramp (Not supported) (Note)
1 sin2 ramp (Not supported) (Note)
2 Jerk-free ramp (Not supported) (Note)
3 Jerk-limited ramp (Not supported) (Note)

Note. This is not supported by the driver.

For this object, "-1" is always returned. Values other than "-1" cannot be set.

19 - 169
19．EtherNet/IP COMMUNICATION

(11) External encoder gear ratio (2DF0h)

Ins ID Attr ID Access Name Data Type
0 Get External encoder gear ratio USINT
2DF0h 1 External encoder gear numerator
Get/Set DINT
2 External encoder gear denominator

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
2DF0h 1 PT72/PT73
1 00000001h to 7FFFFFFFh (2147483647) rev Possible
2 PT74/PT75

Set a synchronous encoder electronic gear for converting a synchronous encoder command into a
command unit. A value written to this object is not immediately applied to the synchronous encoder
electronic gear. To apply the value of this object to the synchronous encoder electronic gear, turn on
Analysis command (C_CEG).

(12) External encoder acceleration (2DF1h)

Ins ID Attr ID Access Name Data Type
2DF1h 0 Get/Set External encoder acceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2DF1h 0 0 00000000h to 00004E20h (20000) ms Impossible

Set a time for the servo motor to reach the rated speed for a synchronous encoder command when
Synchronous control command (C_STS) is turned on. A setting value when Synchronous control
command (C_STS) is turned on will be applied.

(13) External encoder deceleration (2DF2h)

Ins ID Attr ID Access Name Data Type
2DF2h 0 Get/Set External encoder deceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

2DF2h 0 0 00000000h to 00004E20h (20000) ms Impossible

Set a time for the servo motor to stop from the rated speed for a synchronous encoder command when
Synchronous control command (C_STS) is turned off. A setting value when Synchronous control
command (C_STS) is turned on will be applied.

19 - 170
19．EtherNet/IP COMMUNICATION

19.7.3.13 Homing Mode Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Home offset (607Ch)

Ins ID Attr ID Access Name Data Type
607Ch 0 Get/Set Home offset DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

607Ch 0 0 80000000h to 7FFFFFFFh pos units Possible

The home position is returned. Only reading the value is available. Do not perform writing because doing
so causes an error.

(2) Homing method (6098h)

Ins ID Attr ID Access Name Data Type
6098h 0 Get/Set Homing method SINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

6098h 0 37 D5h (-43) to 25h (37) Possible PT45

Set a home position return type. Refer to section 5.4.6 (4) for the settable values.

19 - 171
19．EtherNet/IP COMMUNICATION

(3) Homing speeds (6099h)

Ins ID Attr ID Access Name Data Type
0 Get Homing speeds USINT
6099h 1 Speed during search for switch
Get/Set UDINT
2 Speed during search for zero

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
6099h 1 10000 PT05
0 to instantaneous permissible speed vel units Possible
2 1000 PT06

Set the servo motor speed at home position return.

Set the servo motor speed at home position return for Speed during search for switch (Class ID: 64h, Ins
ID: 6099h, Attr ID: 1).
Unit: [0.01 r/min]

Set the creep speed after proximity dog at home position return for Speed during search for zero (Class
ID: 64h, Ins ID: 6099h, Attr ID: 2).
Unit: [0.01 r/min]

(4) Homing acceleration (609Ah)

Ins ID Attr ID Access Name Data Type
609Ah 0 Get/Set Homing acceleration UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

609Ah 0 0 00000000h to 00004E20h (20000) ms Possible PT56

Set the acceleration/deceleration time constants at home position return. Set a time for the servo motor
to reach the rated speed.

19 - 172
19．EtherNet/IP COMMUNICATION

(5) Supported homing method (60E3h)

Ins ID Attr ID Access Name Data Type
0 Supported homing method USINT
1 1st supported homing method
2 2nd supported homing method
3 3rd supported homing method
4 4th supported homing method
5 5th supported homing method
6 6th supported homing method
7 7th supported homing method
8 8th supported homing method
9 9th supported homing method
10 10th supported homing method
11 11th supported homing method
12 12th supported homing method
13 13th supported homing method
14 14th supported homing method
15 15th supported homing method
16 16th supported homing method
17 17th supported homing method
18 18th supported homing method
19 19th supported homing method
60E3h Get
20 20th supported homing method SINT
21 21st supported homing method
22 22nd supported homing method
23 23rd supported homing method
24 24th supported homing method
25 25th supported homing method
26 26th supported homing method
27 27th supported homing method
28 28th supported homing method
29 29th supported homing method
30 30th supported homing method
31 31st supported homing method
32 32nd supported homing method
33 33rd supported homing method
34 34th supported homing method
35 35th supported homing method
36 36th supported homing method
37 37th supported homing method
38 38th supported homing method
39 39th supported homing method

19 - 173
19．EtherNet/IP COMMUNICATION

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 39 27h (39)
1 37 25h (37)
2 35 23h (35)
3 34 22h (34)
4 33 21h (33)
5 28 1Ch (28)
6 27 1Bh (27)
7 24 18h (24)
8 23 17h (23)
9 22 16h (22)
10 21 15h (21)
11 20 14h (20)
12 19 13h (19)
13 12 0Ch (12)
14 11 0Bh (11)
15 8 08h (8)
16 7 07h (7)
17 6 06h (6)
18 5 05h (5)
19 4 04h (4)
60E3h Impossible
20 3 03h (3)
21 -1 FFh (-1)
22 -2 FEh (-2)
23 -3 FDh (-3)
24 -4 FCh (-4)
25 -6 FAh (-6)
26 -7 F9h (-7)
27 -8 F8h (-8)
28 -9 F7h (-9)
29 -10 F6h (-10)
30 -11 F5h (-11)
31 -33 DFh (-33)
32 -34 DEh (-34)
33 -36 DCh (-36)
34 -38 DAh (-38)
35 -39 D9h (-39)
36 -40 D8h (-40)
37 -41 D7h (-41)
38 -42 D6h (-42)
39 -43 D5h (-43)

The supported home position return type is returned.

19 - 174
19．EtherNet/IP COMMUNICATION

19.7.3.14 Factor Group Objects

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Polarity (607Eh)

Ins ID Attr ID Access Name Data Type
607Eh 0 Get/Set Polarity USINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

PA14
607Eh 0 00h Refer to the text. Possible
PC29

The rotation direction selection can be set.

Bit Description
0 reserved
1 reserved
2 reserved
3 reserved
4 reserved
0: Servo motor CCW rotation at positive torque
5
1: Servo motor CW rotation at positive torque
0: Servo motor CCW rotation at positive speed
6
1: Servo motor CW rotation at positive speed
0: Servo motor CCW rotation in positioning address increasing direction
7
1: Servo motor CW rotation in positioning address increasing direction

Only "00h", "C0h", and "E0h" can be set. Values other than 00h, C0h, and E0h cannot be set.

(2) Position encoder resolution (608Fh)

Ins ID Attr ID Access Name Data Type
0 Get Position encoder resolution USINT
608Fh 1 Encoder increments
Get/Set UDINT
2 Motor revolutions

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h inc / rev
608Fh 1 00000000h to FFFFFFFFh inc Impossible
2 1 00000001h to 00000001h rev

Encoder resolution is returned with Encoder increments (Class ID: 64h, Ins ID: 608Fh, Attr ID: 1).

19 - 175
19．EtherNet/IP COMMUNICATION

(3) Gear ratio (6091h)

Ins ID Attr ID Access Name Data Type
0 Get Gear ratio USINT
6091h 1 Motor revolutions
Get/Set UDINT
2 Shaft revolutions

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h Impossible
6091h 1 PA06
1 00000001h to 00FFFFFFh (16777215) rev Possible
2 PA07

Set the electronic gear. Refer to [Pr. PA06] for the settable values.

(4) Feed constant (6092h)

Ins ID Attr ID Access Name Data Type
0 Get Feed constant USINT
6092h 1 Feed
Get/Set UDINT
2 Shaft revolutions

Ins ID Attr ID Default Range Units EEP-ROM Parameter

0 2 02h to 02h
6092h 1 pos units Impossible
Refer to the text.
2 1 rev

No value can be written because Feed (Class ID: 64h, Ins ID: 6092h, Attr ID: 1) and Shaft revolutions
(Class ID: 64h, Ins ID: 6092h, Attr ID: 2) are set automatically with the control mode, [Pr. PT01] and [Pr.
PT03]. Writing a value sets a general-purpose code 09h Invalid attribute value.
Range
[Pr. PT01] setting [Pr. PT03] setting
Feed Shaft revolutions
___0 1
_ 0 _ _ (mm) ___1 Encoder resolution of 10
_ 1 _ _ (inch) ___2 the servo motor 100
___3 1000
_ 2 _ _ (degree) 360000
_ _ _ 0 to _ _ _ 3 Encoder resolution of 1
_ 3 _ _ (pulse)
the servo motor

Position actual value (Class ID: 64h, Ins ID: 6064h, Attr ID: 0) is calculated from Gear ratio (Class ID:
64h, Ins ID: 6091h) and Feed constant (Class ID: 64h, Ins ID: 6092h), as follows.

Position actual value (64h, 6064h, 0)

Position actual internal value (64h, 6063h, 0) × Feed constant (64h, 6092h)
=
Position encoder resolution (64h, 608Fh) × Gear ratio (64h, 6091h)

Each value in ( ) of the formula indicates Class ID, Ins ID, and Attr ID from the left.
When the unit is degree, the operation result will be limited within 0 to 359999.

19 - 176
19．EtherNet/IP COMMUNICATION

(5) SI unit position (60A8h)

Ins ID Attr ID Access Name Data Type
60A8h 0 Get/Set SI unit position UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60A8h 0 0 Refer to the text. pos units Impossible

SI unit position (Class ID: 64h, Ins ID: 60A8h, Attr ID: 0) is set automatically with the control mode, [Pr.
PT01] and [Pr. PT03].
[Pr. PT01] setting [Pr. PT03] setting Range
_ _ _ 0 (× 1) FA010000h (0.001 mm)
_ _ _ 1 (× 10) FB010000h (0.01 mm)
_ 0 _ _ (mm)
_ _ _ 2 (× 100) FC010000h (0.1 mm)
_ _ _ 3 (× 1000) FD010000h (1 mm)
_ _ _ 0 (× 1) FCC00000h (0.0001 inch)
_ _ _ 1 (× 10) FDC00000h (0.001 inch)
_ 1 _ _ (inch)
_ _ _ 2 (× 100) FEC00000h (0.01 inch)
_ _ _ 3 (× 1000) FFC00000h (0.1 inch)
_ 2 _ _ (degree) FD410000h (0.001 degree)
_ _ _ 0 to _ _ _ 3
_ 3 _ _ (pulse) 00000000h (1 pulse)

(6) SI unit velocity (60A9h)

Ins ID Attr ID Access Name Data Type
60A9h 0 Get/Set SI unit velocity UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

FB010300h (0.01 mm/s)
60A9h 0 0 vel units Impossible
FEB44700h (0.01 r/min)

The SI unit velocity is returned.

19 - 177
19．EtherNet/IP COMMUNICATION

19.7.3.15 Touch Probe Function Objects (Class ID: 64h)

The instances described in this section support the following service.
When "Get" is in the "Access" field
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

When "Set" is in the "Access" field

Service Code Name Description
10h Set_Attribute_Single Writes a value to the specified attribute.

When "Get/Set" is in the "Access" field

Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.
10h Set_Attribute_Single Writes a value to the specified attribute.

(1) Touch probe function (60B8h)

Ins ID Attr ID Access Name Data Type
60B8h 0 Get/Set Touch probe function UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60B8h 0 0 0000h to FFFFh Impossible

Set the command for the touch probe function. Refer to section 5.5 (1) (a) for details.

(2) Touch probe status (60B9h)

Ins ID Attr ID Access Name Data Type
60B9h 0 Get Touch probe status UINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60B9h 0 0000h to FFFFh Impossible

The status of the touch probe function is returned. Refer to section 5.5 (1) (b) for details.

(3) Touch probe pos1 pos value (60BAh)

Ins ID Attr ID Access Name Data Type
60BAh 0 Get Touch probe pos1 pos value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60BAh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the rising edge of touch probe 1 is returned.

19 - 178
19．EtherNet/IP COMMUNICATION

(4) Touch probe pos1 neg value (60BBh)

Ins ID Attr ID Access Name Data Type
60BBh 0 Get Touch probe pos1 neg value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60BBh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the falling edge of touch probe 1 is returned.

(5) Touch probe pos2 pos value (60BCh)

Ins ID Attr ID Access Name Data Type
60BCh 0 Get Touch probe pos2 pos value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60BCh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the rising edge of touch probe 2 is returned.

(6) Touch probe pos2 neg value (60BDh)

Ins ID Attr ID Access Name Data Type
60BDh 0 Get Touch probe pos2 neg value DINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60BDh 0 0 80000000h to 7FFFFFFFh pos units Impossible

The position latched at the falling edge of touch probe 2 is returned.

19 - 179
19．EtherNet/IP COMMUNICATION

19.7.3.16 Optional application FE Objects (Class ID: 64h)

The instances described in this section support the following service.
Service Code Name Description
0Eh Get_Attribute_Single Reads the value of the specified attribute.

(1) Digital inputs (60FDh)

Ins ID Attr ID Access Name Data Type
60FDh 0 Get Digital inputs UDINT

Ins ID Attr ID Default Range Units EEP-ROM Parameter

60FDh 0 00000000h to 037E0007h Impossible

The on/off states of the input device connected to the driver are returned.

19 - 180
19．EtherNet/IP COMMUNICATION

Input Status LSP/LSN

Reading device reading output
Initial
Bit connector changing selection reversing Description
device
pin No. parameter parameter paramete
(Note 2) (Note 3) r (Note 4)
Negative limit switch
[Pr. PA14] = 0
0: LSN (Reverse rotation stroke end) off
0 PC76 1: LSN (Reverse rotation stroke end) on
[Pr. PA14] = 1
0: LSP (Forward rotation stroke end) off
1: LSP (Forward rotation stroke end) on
Positive limit switch
[Pr. PA14] = 0
0: LSP (Forward rotation stroke end) off
1 PC76 1: LSP (Forward rotation stroke end) on
[Pr. PA14] = 1
0: LSN (Reverse rotation stroke end) off
1: LSN (Reverse rotation stroke end) on
home switch
2 0: DOG (Proximity dog) off
1: DOG (Proximity dog) on
(reserved) The value at reading is
3 to 16
undefined.
DI1
PC76
17 CN3-2 LSP PD03 PC79 0: Off
(Note 5)
1: On
DI2
PC76
18 CN3-12 LSN PD04 PC79 0: Off
(Note 5)
1: On
DI3
PC76
19 CN3-19 DOG PD05 PC79 0: Off
(Note 5)
1: On
DI4
20 CN3-10 TPR1 PD38 PC79 0: TPR1 (Touch probe 1) off
1: TPR1 (Touch probe 1) on
DI5
21 CN3-1 TPR2 PC79 0: TPR2 (Touch probe 2) off
1: TPR2 (Touch probe 2) on
EM2/EM1
22 CN3-20 EM2 PA04 PC79 0: Off
1: On
(reserved) The value at reading is
23
undefined.
Safe torque off 1
24 CN8-4 0: STO1 off
1: STO1 on
Safe torque off 2
25 CN8-5 0: STO2 off
1: STO2 on
26 to (reserved) The value at reading is
31 undefined.

2. You can change input devices of the pin with this parameter setting. When [Pr. PD03] to [Pr. PD05] are set to "_ _ 0 0", the
ON/OFF state of each pin is returned.
3. With this parameter setting, you can specify whether the ON/OFF states of the input devices are returned or the ON/OFF
states of the pins are returned.
4. You can reverse the output with this parameter setting.
5. This parameter is available when [Pr. PC79] is set to "0" (the ON/OFF states of the input devices are returned) while LSP or
LSN is assigned to each pin.

19 - 181
19．EtherNet/IP COMMUNICATION

(2) Digital outputs (60FEh)

Ins ID Attr ID Access Name Data Type
0 Get Number of entries USINT
60FE 1 Physical outputs
Get/Set UDINT
2 Bit mask

Attr
Ins ID Default Range Units EEP-ROM Parameter
ID
0 2 02h to 02h
60FE
1 0 Impossible
h 00000000h to 000E0000h
2 0

Set the ON/OFF states of the output devices connected to the driver.
This object is available with drivers.

(a) Physical outputs (Class ID: 64h, Ins ID: 60FEh, Attr ID: 1)
Bit Description
0 to 16 (reserved) The value at reading is undefined. Set "0" when writing.
DO1
0: DOA (General-purpose output A) off
17 1: DOA (General-purpose output A) on
When using this bit, assign DOA (General-purpose output A) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
DO2
0: DOB (General-purpose output B) off
18 1: DOB (General-purpose output B) on
When using this bit, assign DOB (General-purpose output B) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
DO3
0: DOC (General-purpose output C) off
19 1: DOC (General-purpose output C) on
When using this bit, assign DOC (General-purpose output C) to CN3-9, CN3-13 or
CN3-15 pin in [Pr. PD07] to [Pr. PD09].
20 to (reserved) The value at reading is undefined. Set "0" when writing.
31

(b) Bit mask (Class ID: 64h, Ins ID: 60FEh, Attr ID: 2)
Bit Description
0 to 16 (reserved) The value at reading is undefined. Set "0" when writing.
DO1
0: DOA (General-purpose output A) disabled
17
1: DOA (General-purpose output A) enabled
When this bit is set to "0", bit 17 of the Physical outputs is always "0".
DO2
0: DOB (General-purpose output B) disabled
18
1: DOB (General-purpose output B) enabled
When this bit is set to "0", bit 18 of the Physical outputs is always "0".
DO3
0: DOC (General-purpose output C) disabled
19
1: DOC (General-purpose output C) enabled
When this bit is set to "0", bit 19 of the Physical outputs is always "0".
20 to (reserved) The value at reading is undefined. Set "0" when writing.
31

19 - 182
20．PROFINET COMMUNICATION

20 PROFINET COMMUNICATION ...............................................................................................................3

20.1 PROFINET COMMUNICATION ....................................................................................................3
20.1.1 Description .................................................................................................................................3
20.1.2 Communication specifications ..................................................................................................5
20.1.3 Startup .......................................................................................................................................6
20.1.4 Network disconnection procedure ............................................................................................7
20.1.5 Object dictionary (OD) ................................................................................................................7
20.1.5.1 Section definition of object dictionary ...............................................................................7
20.2 PROFINET NETWORK CARD (LEC-S-NP) ..................................................................................8
20.2.1 Specifications .............................................................................................................................8
20.2.2 Parts identification ....................................................................................................................8
20.2.3 LED display ...............................................................................................................................9
20.2.3.1 Network Status LED ..........................................................................................................9
20.2.3.2 Card Status LED ................................................................................................................9
20.2.3.3 Link/Activity LED ..............................................................................................................9
20.2.4 Ethernet cable connection .......................................................................................................10
20.3 PROCESS DATA (CYCLIC DATA EXCHANGE) .........................................................................11
20.4 ACYCLIC DATA EXCHANGE.......................................................................................................15
20.4.1 Acyclic data exchange communication format .......................................................................15
20.4.2 Error number ...........................................................................................................................16
20.4.3 PROFIdrive parameters (PROFIdrive-specific).....................................................................16
20.4.3.1 Telegram Selection (P922) ...............................................................................................17
20.4.3.2 Operating mode (P930) ......................................................................................................17
20.4.3.3 Fault message counter (P944) ...........................................................................................17
20.4.3.4 Fault number (P947) ..........................................................................................................18
20.4.3.5 Drive Unit identification (P964) ........................................................................................18
20.4.3.6 Profile identification number (P965) ................................................................................18
20.4.3.7 DO identification (P975) ....................................................................................................19
20.4.3.8 Parameter Database Handling and Identification (P980) ...............................................19
20.4.4 Identification & Maintenance (I&M) ......................................................................................20
20.4.5 Reset To Factory ......................................................................................................................21
20.5 STATE TRANSITION ....................................................................................................................22
20.5.1 Basic State Machine ................................................................................................................22
20.5.2 FSA state ..................................................................................................................................25
20.5.3 Controlword/Statusword .........................................................................................................27
20.5.3.1 Controlword ......................................................................................................................27
20.5.3.2 Statusword ........................................................................................................................30
20.6 CONTROL MODE ..........................................................................................................................36
20.6.1 Selection of control mode ........................................................................................................36
20.6.2 Control switching.....................................................................................................................37
20.6.3 Profile position mode (pp) .......................................................................................................37
20.6.4 Profile velocity mode (pv) ........................................................................................................42
20.6.5 Profile torque mode (tq) ............................................................................................................48
20.6.6 Homing mode (hm) ....................................................................................................................51
20.6.7 Point table mode (pt) .................................................................................................................79
20.6.8 Indexer mode (idx).....................................................................................................................84
20.6.9 Jog mode (jg) ..............................................................................................................................91
20.7 WEB SERVER.................................................................................................................................97
20.8 MANUFACTURER FUNCTIONS .................................................................................................98
20.8.1 PROFIdrive parameters for status monitor ...........................................................................98
20.8.2 Stroke end ................................................................................................................................100
20.8.3 Software limit ..........................................................................................................................101
20.8.4 Torque limit .............................................................................................................................102
20.8.5 Polarity .....................................................................................................................................103

20 - 1
20．PROFINET COMMUNICATION

20.8.6 Touch probe .............................................................................................................................104

20.8.7 One-touch tuning .....................................................................................................................109
20.8.8 Driver life diagnosis function .................................................................................................110
20.8.9 Machine diagnosis ...................................................................................................................111
20.8.10 Quick stop ..............................................................................................................................112
20.8.11 Halt .........................................................................................................................................113
20.8.12 Ramp Stop ..............................................................................................................................113
20.8.13 PROFIdrive parameter definitions related to alarms .........................................................114
20.8.14 Parameter ..............................................................................................................................115
20.8.14.1 Parameter enabling ......................................................................................................116
20.8.15 Degree function......................................................................................................................117
20.9 OBJECT DICTIONARY ...............................................................................................................119
20.9.1 Store parameters ...................................................................................................................119
20.9.2 PROFIdrive parameter (Manufacturer-specific) list ...........................................................120
20.9.3 PROFIdrive parameter (Manufacturer-specific) ...................................................................124
20.9.3.1 General Objects ..............................................................................................................124
20.9.3.2 Servo Parameter Objects ...............................................................................................125
20.9.3.3 Alarm Objects .................................................................................................................128
20.9.3.4 Monitor Objects ..............................................................................................................130
20.9.3.5 Manufacturer Specific Control Objects .........................................................................143
20.9.3.6 PDS Control Objects.......................................................................................................151
20.9.3.7 Position Control Function Objects ................................................................................154
20.9.3.8 Profile Velocity Mode Objects ........................................................................................156
20.9.3.9 Profile Torque Mode Objects .........................................................................................158
20.9.3.10 Profile Position Mode Objects ......................................................................................160
20.9.3.11 Homing Mode Objects ..................................................................................................164
20.9.3.12 Point Table Mode Objects ............................................................................................168
20.9.3.13 Factor Group Objects ...................................................................................................171
20.9.3.14 Optional application FE Objects..................................................................................173
20.9.3.15 Touch Probe Function Objects .....................................................................................175

20 - 2
20．PROFINET COMMUNICATION

20 PROFINET COMMUNICATION

20.1 PROFINET COMMUNICATION

20.1.1 Description
PROFINET represents the communication standard for the automation which was made by PI (PROFIBUS &
PROFINET International).
The PROFINET IO communication is available when the PROFINET network card (LEC-S-NP) is connected
to the_driver. The driver to which the PROFINET network card is connected is an IO device.
It supports two cyclic communication formats conforming to PROFIdrive profile and CiA 402 drive profile. It is
compatible with the following control modes. Refer to chapter 6 for details.
Control mode Symbol Description
This is a positioning control mode where an end position command is received to
Profile position mode pp drive the servo motor in the commutation with a upper side.
Use an absolute position address or relative position address for a command.
This is a control mode where a target speed command is received to drive the servo
Profile velocity mode pv
motor in the communication with a upper side.
This is a control mode where a target torque command is received to drive the
Profile torque mode tq
servo motor in the communication with a upper side.
This is a control mode where the driver performs a home position return using the
Homing mode hm
method directed by the upper side.
This is a positioning operation mode where the servo motor is driven according to
Point table mode pt the commands of the travel distance, speed command and others stored in the
specified point table No. in the commutation with a upper side.
This is a control mode where the servo motor speed is set to drive the servo motor
Jog mode jg
manually in the commutation with a upper side.
This is a positioning operation mode where the servo motor is driven to the
Indexer mode idx
specified station in the communication with a upper side.

_ drivers comply with the following standards. Refer to the following standards for the description not written
in this Instruction Manual.
Document Version
Profile Drive Technology PROFIdrive Technical Specification V4.1
Profiles for decentralized periphery
V2.3Ed2
Technical Specification for PROFINET IO
Application Layer protocol for decentralized periphery
V2.3Ed2
Technical Specification for PROFINET IO
Application Layer services for decentralized periphery
V2.3Ed2
Technical Specification for PROFINET IO

20 - 3
20．PROFINET COMMUNICATION

The following table shows explanation of terms applied to PROFINET standard used in this manual.
Term Explanation
PROFINET (PROFINET IO) PROFINET has two application types: PROFINET IO and PROFINET CBA. This product is
compatible with PROFINET IO. PROFINET IO is based on a communication between upper sides
and other devices. PROFINET CBA is based on a communication between upper sides with
components.
PROFIdrive This is an application profile defined with PROFINET and PROFIBUS for electric-powered drives
such as drivers. The communication data format and functional range are provided.
RT, IRT These are the communication methods of Process Data (cyclic communication) for PROFINET IO.
RT means Real-Time (asynchronous communication) and IRT means Isochronous Real-Time
(synchronous communication).
Process Data This is the name of cyclic communication data (Cyclic Data Exchange) for PROFINET
communication. This is also called I/O data. The data format of cyclic communication is called
Telegram in this manual.
Acyclic communication This is the name of acyclic communication (request/response pattern) for PROFINET
(Acyclic Data Exchange) communication.
GSD file This is the XML format file (GSDML file) of communication specifications and characteristics
supported with this product. Use this when you set up this product (selection of Telegram and setting
of transmission cycle) with the PROFINET configuration tool.
PNU This is an abbreviation for parameter number used in PROFINET communication. The network
variables used in PROFINET communication are described as PROFIdrive parameters and the
parameters of drivers are described as parameters (or servo parameters). The PROFIdrive
parameters are described as follows.
Example) PROFIdrive parameter 922 → P922
Array [n] The PROFIdrive parameter whose Data Type is "Array [n]" is in an array structure and subindex (Sub)
will be used to access each element in the array. The subindices of PROFIdrive parameters are
described as follows.
Example) PROFIdrive parameter 980, subindex 2 → P980.2
AR, CR These are AR (Application Relationship) and CR (Communication Relationship). AR is established
between the upper side and device. Each CR (IO CR for cyclic communication and Record Data CR
for acyclic communication) in AR will transmit/receive data.
R, W, R/W The following shows description of Access.
R: Readable
W: Writable
R/W: Readable and writable

20 - 4
20．PROFINET COMMUNICATION

20.1.2 Communication specifications

The following shows the communication specifications.
Item Description Remark
PROFINET PROFINET IO
communication Real Time (RT) communication
specifications PROFIdrive v4.1
Physical layer 100BASE-TX
Communication connector RJ45, 2 ports (port 1, port 2)
Communication cable CAT5e, shielded twisted pair (4 pair) straight Double-shielded type recommended
cable
Network topology Line, Star, Ring, or a connection topology
where the topologies are used together
Variable communication 100 Mbps (Full duplex)
speed
Transmission speed Max. 100 m
between stations
Number of nodes Compliant with the specifications of the
standard Ethernet
Conformance class Conformance class B (CC-B)
Real time class RT_Class_1
Acyclic Data Exchange Transmitting/Receiving: 1 channel each
Process Data (Cyclic Data Transmission cycle: 1, 2, 4, 8, 16, 32, 64, 128, Transmission cycle
Exchange) 256, 512 ([ms]) = 31.25 µs × SendClockFactor ×
Variable mapping: compatible ReductionRatio
Setting range of SendClockFactor
(= 32)
Setting range of ReductionRatio
(= 1, 2, 4, 8, 16, 32, 64, 128, 256, 512)

Variable mapping
Telegram 102:
Maximum size: 48 bytes each transmitting/
receiving
Maximum number of mapping: 24 each
transmitting/receiving
Telegram 103:
Maximum size: 60 bytes each
transmitting/receiving
Maximum number of mapping: 30 each
transmitting/receiving
Byte order Big endian
LED display Network Status, Card Status, LINK/Activity (port
1, port 2)

20 - 5
20．PROFINET COMMUNICATION

20.1.3 Startup
The following describes the setting and startup of the PROFINET communication. Refer to section 4.1 for the
startup procedure other than the network setting.

(1) Connection with the upper side

Set up the upper side following the manual of the upper side used. For the setup, the General Station
Description (GSD) file listing the information about the communication setting of devices is available.
Install the EDS file to a configuration tool to be used.
Refer to the manual of each configuration tool for how to use the GSD file.

(2) Station name

This is used for identifying of driver from the upper side. Set up the upper side following the manual of
the upper side used.

(3) Parameter setting

Set the control mode with [Pr. PA01 Operation mode]. Refer to section 5.2.1 for the parameter setting.

(4) IP address setting

Set an IP address using the "AnybusIPconfig" tool offered, axis selection rotary switch (SW2/SW3) on
the display of the driver, and upper side. Change the IP address with the axis selection rotary switch
(SW2/SW3) before powering on the driver. When you set it with automatic setting of the upper side, the
upper side setting will be prioritized. The IP address you set can be checked with the "AnybusIPconfig"
tool or system configuration window of Setup software (MR Configurator2TM). You can set an IP address
as follows.
Axis selection rotary switch
IP address setting value
(SW2/SW3)
00h An IP address set by the "AnybusIPconfig" tool is used.
Although an IP address set by the "AnybusIPconfig" tool is used, the forth octet value is replaced
with a value set with the axis selection rotary switch (SW2/SW3). The DHCP function is disabled.
01h to FEh
Set a hexadecimal value with the axis selection rotary switch (SW2/SW3). The hexadecimal value
is converted into a decimal value and set as the fourth octet of the IP address.
FFh The DHCP function is enabled.

(5) Setting tool

The following lists the tools used for starting up.
Tool Explanation Manufacturer
Setup software (MR This software is used to configure
Configurator2TM) various settings of the driver and
helps maintenance works.
AnybusIPconfig This tool is used to set an IP address You can get this tool from the website of HMS Industrial
to the PROFINET network card Networks.
(LEC-S-NP).

20 - 6
20．PROFINET COMMUNICATION

20.1.4 Network disconnection procedure

To disconnect the network by stopping device operation or other means, follow the procedure shown below.

(1) When the servo motor is during operation, stop the servo motor depending on the operation mode.

(2) When the driver is in servo-on status, set the off command for Controlword to establish the servo-off
status.

(3) Stop the Process Data communication referring to the instruction manual of upper side.

(4) Shut off the power of the driver and upper side.

20.1.5 Object dictionary (OD)

This product supports object dictionary which conforms to CiA 402 Drive Profile and converts PROFIdrive
parameter number (PNU) to index number to access each entry in the object dictionary.
Each data set that devices have such as control parameters, command values, and feedback values is
handled as an object composed of an object name, object type, data type, and other elements. The object
data can be exchanged between the master and slave devices. The aggregate of these objects is called
object dictionary (OD).

20.1.5.1 Section definition of object dictionary

The object dictionary is categorized by PNU depending on the contents of data as shown in the following
table.
The object group of Manufacturer-specific is defined between P1000 and P59999. All of the other objects
comply with definitions of the PROFIdrive standard. The following correspondence table shows PNU and
description of objects. Refer to the Reference column for the chapters and the section where the details of
each object are described.

Section definition of object dictionary

PNU Description Reference
900 to 999 PROFIdrive-specific parameters Section 4.3
4096 to 59999 Manufacturer-specific PROFIdrive parameters Section 9.3
(including object group provided in CiA 402 Drive Profile)

Outline of Manufacturer-specific PROFIdrive parameters

Index No. of
PNU Description CiA 402 Reference
standard
4096 to 8191 CoE communication area 1000h to 1FFFh Section 8.14,
chapter 9
8192 to 10239 Parameter 2000h to 25FFh Section 8.14,
chapter 9
10240 to 10751 Point table 2800h to 29FFh Chapter 9
10752 to 10879 Servo control command/monitor 2A00h to Chapter 6,
2FFFh chapter 9
24576 to 28671 CiA 402 drive profile area 6000h to 6FFFh Chapter 5,
chapter 6,
chapter 9

20 - 7
20．PROFINET COMMUNICATION

20.2 PROFINET NETWORK CARD (LEC-S-NP)

The PROFINET communication with an _ driver requires the PROFINET network card (LEC-S-NP). The
following shows the details.

20.2.1 Specifications
Category Description
Network card LEC-S-NP
Product name ABCC-M40-PIR
Model AB6938-C-139
Manufacturer HMS Industrial Networks
External interface driver connecting interface: Compact flash connector with standard 50 pins
PROFINET communication port interface: RJ45 connector
Dimensions 52 (W) × 50 (D) × 20 (H)
Except the protrusion of the PROFINET communication port connector
Mass Approx. 30 g

20.2.2 Parts identification

This section describes the PROFINET network card (LEC-S-NP) only. Refer to section 1.7 for the driver.
Detailed
(5) No. Name/Application
explanation
(3)
Card Status LED Section
(1)
(1) Indicates the card status. 2.2.2
RJ45 PROFINET communication port (port 2)
(2) Section 2.3
Connect the upper side or driver.
Link/Activity LED (port 2)
Section
(3) Indicates the link status of each PROFINET
2.2.3
communication port.
RJ45 PROFINET communication port (port 2)
(6) (4) Section 2.3
Connect the upper side or driver.
Link/Activity LED (port 1)
Section
(5) Indicates the link status of each PROFINET
2.2.3
(2) communication port.
(4) Network Status LED Section
(6)
Indicates the communication status. 2.2.1

20 - 8
20．PROFINET COMMUNICATION

20.2.3 LED display

The PROFINET Network card (LEC-S-NP) has each LED of the Network Status, Card Status, and
Link/Activity.
The following shows the LED indication definitions.
LED status Definition
Lit An LED remains lit.
Extinguished An LED remains extinguished.
Flickering An LED is switching between lit and extinguished at 10 Hz cycles (every 50 ms).
Blinking For 3 s, an LED is switching between lit and extinguished at 1 Hz cycles (every 500 ms).
Single flash An LED is lit for 200 ms and extinguished 1000 ms repeatedly.
Double flash An LED is lit for 200 ms, extinguished for 200 ms, lit for 200 ms, and extinguished for 1000 ms
repeatedly.
Triple flash An LED is lit for 200 ms, extinguished for 200 ms, lit for 200 ms, extinguished for 200 ms, lit for 200
ms, and extinguished for 1000 ms repeatedly.

20.2.3.1 Network Status LED

The Network Status LED indicates the PROFINET communication status. When Network Status LED is
extinguished, the LED may be influenced by Link/Activity LED.
LED status Description
Extinguished Indicates that the power is shut off or connection with the upper side has not been established.
Lit in green Indicates that connection with the upper side has been established and the upper side is in RUN
status.
Single flash in green Indicates that connection with the upper side has been established and the upper side is in STOP
status or the communication data is incorrect.
Blinking in green Indicates that the engineering tool is checking a node on network.
Lit in red Indicates that a serious malfunction that cannot be restored has been detected. This will light
simultaneously with Card Status LED in red.
Single flash in red Indicates that a station name has not been set.
Double flash in red Indicates that an IP address has not been set.
Triple flash in red Indicates that identification information differs between upper side and device. It means a
configuration error.

20.2.3.2 Card Status LED

The Card Status LED indicates the status of device and an error in the PROFINET communication.
LED status Description
Extinguished Indicates that the power is shut off or initialization has not been completed.
Lit in green Indicates that initialization of the network card has been completed and the card operates
normally.
Single flash in green Indicates that the network card is diagnosing itself.
Lit in red Indicates that an exception error has detected in the network card.
Indicates that a serious malfunction that cannot be restored has been detected. This will light
simultaneously with Network Status LED in red.

20.2.3.3 Link/Activity LED

The Link/Activity LEDs indicate the link status of each PROFINET communication port.
LED status Description
Extinguished Indicates that the power supply is shut off or the link-unestablished state.
Lit in green Indicates that the link is established without traffic.
Flickering in green Indicates that the link is established with traffic.

20 - 9
20．PROFINET COMMUNICATION

20.2.4 Ethernet cable connection

POINT
Use a twisted pair cable (double shielded) compliant with Ethernet Category 5e
(100BASE-TX) or higher as an Ethernet cable. The maximum cable length
between nodes is 100 m.

When the RJ45 PROFINET communication ports (port 1 and port 2) are not used, leave these ports open.
The first axis The second axis The final axis
servo amplifier
driver servo amplifier
driver servo amplifier
driver

Port 2 Port 2 Port 2

Ethernet cable Ethernet cable
Ethernet cable
Upper
Controller
side
Port 1 Port 1 Port 1

20 - 10
20．PROFINET COMMUNICATION

20.3 PROCESS DATA (CYCLIC DATA EXCHANGE)

The communication can send and receive command data/feedback data between a master (upper side) and
slaves (driver) at a constant cycle.

The following communication format is supported.

Telegram Name Description
1 Standard Telegram 1 This is for applications using speed control.
(compliant with PROFIdrive)
100 Telegram 100 This is for applications using torque control.
(Manufacturer-specific format)
102 Telegram 102 This is for applications using position control, speed control, torque control,
(Manufacturer-specific format) and home position return switching.
This is compatible with variable mapping.
103 Telegram 103 This is for applications using the point table mode, Jog mode and the
(Manufacturer-specific format) home position return mode switched, or for applications using the indexer
mode, Jog mode and home position return mode switched.
This is compatible with variable mapping.

Note. Each telegram is selected with a configuration tool of upper side. Refer to section 6.1 for the control mode compatible with each
telegram.

(1) Standard Telegram 1

Data
IO Data
Direction Name Symbol length Remark
number
(Bit)
Upper side to Drive 1 Control word 1 STW1 16 Refer to chapter 5/
2 Speed setpoint A NSOLL_A 16 chapter 6.
Drive to Upper side 1 Status word 1 ZSW1 16
2 Speed actual value A NIST_A 16

(2) Telegram 100

IO Data Data
Direction Name Remark
number length (Bit)
Upper side to Drive 1 Controlword 16 Refer to chapter 6.
2 Target torque 16
Drive to Upper side 1 Statusword 16 Refer to chapter 6.
2 Torque actual value 16

20 - 11
20．PROFINET COMMUNICATION

(3) Telegram 102

IO Data Data
Direction Name Remark
number length (Bit)
Upper side to Drive 1 Modes of operation 8 Refer to chapter 5
Reserved 8 and chapter 6.
Map size: 48 bytes
2 Controlword 16
(Note)
3 Control DI 1 16
4 Control DI 2 16
5 Control DI 3 16
6 Target torque 16
7 Torque slope 32
8
9 Target position 32
10
11 Target velocity 32
12
13 Velocity limit value 32
14
15 Profile velocity 32
16
17 Profile acceleration 32
18
19 Profile deceleration 32
20
21 Touch probe function 16
22 Reserved 16
23 Reserved 16
24 Reserved 16
Drive to Upper side 1 Modes of operation display 8 Refer to chapter 5
Reserved 8 and chapter 6.
2 Statusword 16 Map size: 48 bytes
(Note)
3 Status DO 1 16
4 Status DO 2 16
5 Status DO 3 16
6 Torque actual value 16
7 Digital inputs 32
8
9 Position actual value 32
10
11 Velocity actual value 32
12
13 Following error actual value 32
14
15 Touch probe pos1 pos value 32
16
17 Touch probe pos1 neg value 32
18
19 Touch probe pos2 pos value 32
20
21 Touch probe pos2 neg value 32
22
23 Touch probe status 16
24 Reserved 16

Note. When changing a mapping, set the total size 48 bytes. Use Reserve (PNU = 0) to adjust mapping size. To change a data length
(Bit), set "0", "8", or "16" to subIndex for Reserve.

20 - 12
20．PROFINET COMMUNICATION

(4) Telegram 103

IO Data Data
Direction Name Remark
number length (Bit)
Upper side to Drive 1 Modes of operation 8 Refer to chapter 5
Reserved 8 and chapter 6.
Map size: 60 bytes
2 Controlword 16
(Note)
3 Control DI 1 16
4 Control DI 2 16
5 Control DI 3 16
6 Target point table 16
7 Profile velocity 32
8
9 Profile acceleration 32
10
11 Profile deceleration 32
12
13 Touch probe function 16
14 Reserved 16
15 Reserved 16
16 Reserved 16
17 Reserved 16
18 Reserved 16
19 Reserved 16
20 Reserved 16
21 Reserved 16
22 Reserved 16
23 Reserved 16
24 Reserved 16
25 Reserved 16
26 Reserved 16
27 Reserved 16
28 Reserved 16
29 Reserved 16
30 Reserved 16
Drive to Upper side 1 Modes of operation display 8 Refer to chapter 5
Reserved 8 and chapter 6.
2 Statusword 16 Map size: 60 bytes
(Note)
3 Status DO 1 16
4 Status DO 2 16
5 Status DO 3 16
6 Status DO 5 16
7 Status DO 7 16
8 Torque actual value 16
9 Digital inputs 32
10
11 Position actual value 32
12
13 Velocity actual value 32
14
15 Following error actual value 32
16
17 Point demand value 16
18 Point actual value 16
19 M code actual value 8
Reserved 8
20 Reserved 16

20 - 13
20．PROFINET COMMUNICATION

IO Data Data
Direction Name Remark
number length (Bit)
Drive to Upper side 21 Touch probe pos1 pos value 32 Refer to chapter 5
22 and chapter 6.
23 Touch probe pos1 neg value 32 Map size: 60 bytes
(Note)
24
25 Touch probe pos2 pos value 32
26
27 Touch probe pos2 neg value 32
28
29 Touch probe status 16
30 Reserved 16

Note. When changing a mapping, set the total size 60 bytes. Use Reserve (PNU = 0) to adjust mapping size. To change a data length
(Bit), set SubIndex in Reserve to 0, 8, or 16.

20 - 14
20．PROFINET COMMUNICATION

20.4 ACYCLIC DATA EXCHANGE

20.4.1 Acyclic data exchange communication format

PROFIdrive parameters are transmitted/received between the master upper side and slave with acyclic
communication.
The transmission/receive will be in accordance with the following formats. The maximum size is 240 bytes.
Refer to the standards of PROFIdrive for details.

(1) Acyclic Data Exchange PROFIdrive parameter request format

Block definition Byte n Byte n + 1 n
Request header Request reference Request ID 0
Axis-No./DO-ID No. of parameters = i 2
1st Parameter address Attribute No. of elements 4
Parameter number (PNU)
Subindex
ith Parameter address ... 4 + 6 × (i - 1)
1st Parameter value(s) Format No. of values 4+6×i
(only for request "Change Values
parameter") ...

ith Parameter values ...

4 + 6 × i + … + (Format_n ×
Qty_n)

(2) Acyclic Data Exchange PROFIdrive parameter response format

Block definition Byte n Byte n + 1 n
Response header Request ref. mirrored Response ID 0
Axis-No./DO-ID mirrored No. of parameters = i 2
1st Parameter value(s) Format No. of values 4
(only after request Values or Error values
"Request")
...

ith Parameter values ...

4 + ... + (Format_n × Qty_n)

20 - 15
20．PROFINET COMMUNICATION

20.4.2 Error number

The following error number will be returned depending on conditions during Acyclic communication.
Error No. Name Description
00h Impermissible parameter number Access to non-existent PROFIdrive parameter
01h Parameter value cannot be changed Writing to unwritable PROFIdrive parameter
02h Low or high limit exceeded Out of setting range
03h Faulty subindex Access to non-existent subindex
04h No array Access to PROFIdrive parameter having non-existent
subindex
05h Incorrect data type Data type mismatch
07h Description element cannot be changed Changing unchangeable description element
0Fh No text array available Access to non-existent text
11h Request cannot be executed because of operating Temporarily inaccessible due to operating state
state
14h Value impermissible Changing PROFIdrive parameter with an impermissible
value
15h Response too long Response is over the maximum size of transmission.
16h Parameter address impermissible Combination of incorrect value, element No., PNU, and
subindex
17h Illegal format Incorrect PROFIdrive parameter data format
18h Number of values are not consistent The number of PROFIdrive parameter values does not
match the number of address elements
19h Axis/DO nonexistent Access to non-existent axis or object
21h Service not supported Out of service range (incorrect request ID)
FFh Attempt to read to a write only parameter Reading out write only parameter

20.4.3 PROFIdrive parameters (PROFIdrive-specific)

The following shows PROFIdrive-specific parameters supported by _. For manufacturer-specific PROFIdrive
parameters, refer to chapter 9.

PROFIdrive-specific parameter list

Group PNU Acces Name
s
PROFIdrive Parameters 922 R Telegram Selection
930 R Operating mode
944 R Fault message counter
947 R Fault number
964 R Drive Unit identification
965 R Profile identification number
975 R DO identification
980 R Number list of defined parameter

20 - 16
20．PROFINET COMMUNICATION

20.4.3.1 Telegram Selection (P922)

PNU Sub Acces Name Data Type Description Defaul
s t
922 0 R Tgm selection Unsigned16 The selected Telegram is returned. 1

PNU Sub Range Units EEP-ROM Parameter

922 0 0001h to FFFFh Impossible

The read values are as follows.

Value Description
1 Standard telegram 1
100 Telegram 100
102 Telegram 102
103 Telegram 103

20.4.3.2 Operating mode (P930)

PNU Sub Access Name Data Type Description Defaul
t
930 0 R Operating Unsigned16 The current Operating mode is 1
mode returned.

PNU Sub Range Units EEP-ROM Parameter

930 0 0001h to FFFFh Impossible

The read values are as follows.

Value Description
1 Speed control mode (when Standard telegram 1 is selected)
32768 Manufacturer-specific mode (when Telegram is selected other than the above)

Refer to Modes of operation display (P24673) for details of the control mode.

20.4.3.3 Fault message counter (P944)

Acces Defaul
PNU Sub Name Data Type Description
s t
The value of Fault message counter is
returned. This value will be incremented
944 0 R Fault counter Unsigned16 0
when an alarm of driver occurs or the
alarm is released.

PNU Sub Range Units EEP-ROM Parameter

944 0 0000h to FFFFh Impossible

20 - 17
20．PROFINET COMMUNICATION

20.4.3.4 Fault number (P947)

The alarm occurrence of driver after power on is displayed. When the alarm does not occur, the read value of
P947.0 will be "0". The error number is as follows.
Acces Defaul
PNU Sub Name Data Type Description
s t
0 R Unacknowledged faults 0
8 R Acknowledged faults 0
Array [16]
947 Other than Fault numbers
Unsigned16
the values R Fixed to 0 0
above

PNU Sub Range Units EEP-ROM Parameter

947 0 to 15 0000h to FFFFh Impossible

Value Description
0x0000 None
0x0010 Generic error

For details of the occurrence of an alarm, refer to Alarm Objects (section 9.3.3).

20.4.3.5 Drive Unit identification (P964)

The identification information of drive unit is returned.
Acces Defaul
PNU Sub Name Data Type Description
s t
Manufacturer ID
0 R 540
Manufacturer ID of Mitsubishi Electric
1 R Device type 0
Firmware version
2 R The firmware version of the _ driver
Array [5] Example: 110 means V1.10.
964 Device ident
Unsigned16 Firmware date (year)
3 R The firmware update year of the _ 0000
driver (not supported)
Firmware date (day/month)
4 R The firmware update day/month of the 0000
_ driver (not supported)

PNU Sub Range Units EEP-ROM Parameter

0 0000h to FFFFh Impossible
1 0000h to FFFFh Impossible
964 2 0000h to FFFFh Impossible
3 0000h to FFFFh Impossible
4 0000h to FFFFh Impossible

20.4.3.6 Profile identification number (P965)

Acces Defaul
PNU Sub Name Data Type Description
s t
0 R Profile Number 3 03h
965 Profile number OctetString2
1 R Profile Version Number 41 29h

PNU Sub Range Units EEP-ROM Parameter

0 03h to 29h Impossible
965
1 03h to 29h Impossible

20 - 18
20．PROFINET COMMUNICATION

20.4.3.7 DO identification (P975)

The identification information of drive object is returned.
Acces Defaul
PNU Sub Name Data Type Description
s t
Manufacturer ID
0 R 540
Mitsubishi Electric Corporation
1 R Drive Object type 0
Firmware version
2 R The firmware version of the _ driver
Example: 110 means V1.10.
Firmware date (year)
3 R The firmware update year of the _ 0000
Array [8] driver (not supported)
975 DO ident
Unsigned16 Firmware date (day/month)
4 R The firmware update day/month of the 0000
_ driver (not supported)
PROFIdrive DO type class
5 R 1
1: Axis
PROFIdrive DO sub class 1
6 R 1
1: Application Class 1 supported
Drive Object ID (DO-ID)
7 R 1
Number of Drive Objects (DO)

PNU Sub Range Units EEP-ROM Parameter

0 0000h to FFFFh Impossible
1 0000h to FFFFh Impossible
2 0000h to FFFFh Impossible
3 0000h to FFFFh Impossible
975
4 0000h to FFFFh Impossible
5 0000h to FFFFh Impossible
6 0000h to FFFFh Impossible
7 0000h to FFFFh Impossible

20.4.3.8 Parameter Database Handling and Identification (P980)

All the supported PROFIdrive parameter numbers are listed.
Acces Defaul
PNU Sub Name Data Type Description
s t
Array [n] Supported PROFIdrive parameter
980 0 to n R Parameter list
Unsigned16 number

PNU Sub Range Units EEP-ROM Parameter

980 0 to n 0000h to FFFFh Impossible

20 - 19
20．PROFINET COMMUNICATION

20.4.4 Identification & Maintenance (I&M)

The information concerning I/O devices can be obtained.
The following record data can be read with the Acyclic communication.
Recor Acces
Name Data size Description Default
d s
Manufacture ID 2 bytes Mitsubishi Electric Corporation 540
Order ID 20 bytes Model name of the _ driver "MR-J4-TM"
Serial number of the PROFINET Network card
Serial number 16 bytes
(Note)
Hardware revision 2 bytes The hardware version of the _ driver
Software revision 4 bytes The software version of the _ driver
I&M0 R Revision counter 2 bytes Version counter
Slot 0 F600h
Profile ID 2 bytes Profile ID
Slot 1 3A00h
Profile specific Slot 0 0004h
2 bytes Profile detail
type Slot 1 0000h
IM revision 2 bytes I&M version 0101h
IM supported 2 bytes Supported I&M 30

Note. The serial number of _ driver can be checked with Serial Number 2 (P11571).

20 - 20
20．PROFINET COMMUNICATION

20.4.5 Reset To Factory

POINT
When Reset To Factory is used with a driver on which MR-D30 functional safety
unit is mounted, [AL. 7A.3 Parameter combination error (safety observation
function)] or [AL. 79.4 Driver error] will occur. Cycle the power of the driver.

With Reset To Factory, you can reset the parameters of the device to the factory setting. Since the operation
methods of Reset To Factory differs depending on configuration software, refer to the manuals for the
configuration software.
Reset Description
Option
2 This function resets the communication parameters to the factory setting. (Note 1)
Reset equivalent to power off/on will be executed.
The station name will be "" (null character).
IP address will be "0.0.0.0".
8 This function resets the communication parameters, driver parameters and the point table to the factory setting.
Reset equivalent to power off/on will be executed.
The station name will be "" (null character).
IP address will be "0.0.0.0".
Parameter default will be executed. (Note 2)
Point table default will be executed.
Parameter default of MR-D30 functional safety unit will be executed.

Note 1. With Reset To Factory, the values are written to EEP-ROM even when in Reset Option 2. Note that the number of write
times to the EEP-ROM is limited to 100,000. If the total number of write times exceeds 100,000, the driver may
malfunction when the EEP-ROM reaches the end of its useful life.
2. The following parameters will be reset;
Basic setting parameters [Pr. PA_ _ ]
Gain/filter setting parameters [Pr. PB_ _ ]
Extension setting parameters [Pr. PC_ _ ] (except [Pr. PC11] and [Pr. PC12])
I/O setting parameters [Pr. PD_ _ ]
Extension setting 2 parameters [Pr. PE_ _ ]
Extension setting 3 parameters [Pr. PF_ _ ]
Linear servo motor/DD motor setting parameters [Pr. PL_ _ ]
Positioning control parameters [Pr. PT_ _]
Network setting parameters [Pr. PN_ _]

20 - 21
20．PROFINET COMMUNICATION

20.5 STATE TRANSITION

20.5.1 Basic State Machine

The internal state of Standard telegram 1 of the _ is controlled as follows. Figure 5.1 and Table 5.1 show the
transition conditions between each state. The states are switched when the master sends a command
following the table 5.1 (sets Control word 1) after the Process Data communication was established. When
the state has transitioned from Switch on inhibited, which is right after the power on, to Operation with the
predetermined procedure, the servo motor becomes ready to operate.
Pow er on Pow er off
(0)
(18) (A): Ready-off, Servo-off
Fault reset
Sw itch on inhibited Fault

(15) (1) (6)

Coast Off Coast stop
(14) stop or Quick stop
Servo motor (7) (17)
stop Ready for Automatic transition
sw itching on Coast stop or
Quick stop

(11) (2) (5) (B): Ready-on, Servo-off

Disable On Off
(8)
Operation Coast stop
or servo Sw itched on
motor stop
Fault reaction
(3) (4) active
Enable Disable
Operation Operation (C): Ready-on, Servo-on
Quick stop
Operation
(12) (16)
Quick stop (9)
Off (13) (10) Error occurs
On
Ramp stop Quick stop

Sw itching off

Transition by slave
Transition by master
Transition by slave or master

Figure 5.1 Transition between the basic states

20 - 22
20．PROFINET COMMUNICATION

Table 5.1 State transition

Transiti
Event Remark
on No.
(0) The control circuit power supply is turned on. Initialization
(1) The state transitions with the Off command from the master. None
(2) The state transitions with the On command from the master. RA turns on.
(3) The state transitions with the Enable operation command from The operation becomes ready after servo-on.
the master.
(4) The state transitions with the Disable operation command from The operation is disabled after servo-off.
the master.
(5) The state transitions with the Off command from the master. RA turns off.
(6) The state transitions with the Coast stop command None
from the master.
Quick stop command from the master
(7) The state transitions with the Coast stop command RA turns off.
from the master.
The state transitions with the Quick stop command from the
master.
(8) The state transitions with the Coast stop command from the Operation is disabled after servo-off or RA-off.
master.
(9) The state transitions with the Off command from the master. Ramp stop (temporary stop) starts.
(10) The state transitions with the Quick stop command from the Quick Stop starts.
master.
(11) The state transitions after the servo motor stops. Operation is disabled after servo-off or RA-off.
The state transitions with the Disable operation
command from the master.
(12) The state transitions with the Quick stop command from the Quick Stop starts.
master.
(13) The state transitions with the On command from the master. Ramp stop (temporary stop) is canceled.
(14) The state transitions after the servo motor stops. Operation is disabled after servo-off or RA-off.
(15) The state transitions with the Coast stop command from the Operation is disabled after servo-off or RA-off.
master.
(16) Alarm occurrence Processing against the alarm is executed.
(17) Automatic transition After processing against the alarm has been
completed, servo-off or RA-off is performed and
the operation is disabled.
(18) The state transitions with the Fault reset command from the Alarms are reset. Resettable alarms are cleared.
master.
- Main circuit power supply off Operation is disabled after servo-off or RA-off.

20 - 23
20．PROFINET COMMUNICATION

Correspondence relation between command bit setting and state transition.

Command bit setting of Control word 1 (STW1, P24640) CiA 402 Drive
PROFIENT
(Note) Transition No. Profile command
Command
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 (reference)
Off 0 1 1 0 (1), (5), (9) Shutdown
On 0 0 1 1 1 (2), (13) Switch on
Coast stop 0 0 (6), (7), (8), (15) Disable voltage
Quick stop 0 0 1 (6), (7), (10), (12) Quick stop
Disable operation 0 0 1 1 1 (4), (11) Disable operation
Enable operation 0 1 1 1 1 (3) Enable operation
Fault reset 0 to 1 (18) Fault reset

Note. 0: OFF 1: ON : ON/OFF

In faulty communication, hold the state of Bit 7 = 1 for as follows for the Fault Reset command to prevent the command from
failing to be recognized.

10 ms ≥ twice the communication cycle: Hold the state for 10 ms.

10 ms < twice the communication cycle: Hold the state for the time determined by doubling the
communication cycle.

Figure 5.1 and Table 5.1 show the transition conditions. The transition from the Switch on Inhibited state to
the Operation state requires Off, On, and Enable operation to be issued in this order. However, with the _
driver, transition to the target state skipping the states in between is possible.
Current status Command Status after transition
Switch on inhibited On Switched on
Enable operation Operation
Ready for switching on Enable operation Operation

20 - 24
20．PROFINET COMMUNICATION

20.5.2 FSA state

Telegram 100 or more internal status of the driver are controlled with STA state. Figure 5.2 and Table 5.2
show the transition conditions between the FSA states. The states are switched when the master sends a
command following table 5.2 (sets Controlword) after the I/O communication was established. When the
state has transitioned from Not ready to switch on, which is right after the power on, to Operation enabled
with the predetermined procedure, the servo motor becomes ready to operate.
Pow er on Pow er off
(0)

(A): Ready-off, Servo-off

Not ready to
switch on
(1)
(15)
Sw itch on
disabled Fault

(2) (7)

(12) (10) Ready to (14)

switch on
(3) (6)

(B): Ready-on, Servo-off

(8) (9)
Sw itched on

(4) (5) Fault reaction

active
(16)
(C): Ready-on, Servo-on
Quick stop Operation
active enabled (13)
(11) Error occurs

Transition by slave
Transition by master
Transition by slave or master

When the communication state is "IDLE", the state will always be Switch on disabled.

Figure 5.2 Transition between the FSA states

20 - 25
20．PROFINET COMMUNICATION

Table 5.2 State transition

Transiti
Event Remark
on No.
(0) The control circuit power supply is turned on. Initialization
(1) The state automatically transitions when the control circuit power Communication setting
supply is turned on.
(2) The state transitions with the Shutdown command from the None
master.
(3) The state transitions with the Switch on command from the RA turns on.
master.
(4) The state transitions with the Enable operation command from The operation becomes ready after servo-on.
the master.
(5) The state transitions with the Disable operation command from The operation is disabled after servo-off.
the master.
(6) The state transitions with the Shutdown command from the RA turns off.
master.
(7) The state transitions with the Disable Voltage command or Quick None
Stop command from the master.
(8) (a) The state transitions with the Shutdown command from the Operation is disabled after servo-off or RA-off.
master.
(b) The state transitions when the main circuit power supply is
turned off.
(9) The state transitions with the Disable Voltage command from the Operation is disabled after servo-off or RA-off.
master.
(10) The state transitions with the Disable Voltage command or Quick RA turns off.
Stop command from the master.
(11) The state transitions with the Quick Stop command from the Quick Stop starts.
master.
(12) (a) The state automatically transitions after Quick Stop is Operation is disabled after servo-off or RA-off.
completed. (If the Quick Stop option code is 1, 2, 3, or 4)
(b) The state transitions with the Disable Voltage command from
the master.
(13) Alarm occurrence Processing against the alarm is executed.
(14) Automatic transition After processing against the alarm has been
completed, servo-off or RA-off is performed and
the operation is disabled.
(15) The state transitions with the Fault Reset command from the Alarms are reset. Resettable alarms are cleared.
master.
(16) The state transitions with the Enable Operation command from The operation becomes ready. (Not supported)
the master. (If the Quick Stop option code is 5, 6, 7, or 8)

Correspondence relation between command bit setting and FSA state transition
Command bit setting of Controlword (Note)
Bit 3
Bit 7 Bit 2 Bit 1
Enable Bit 0
Command Fault Quick Enable Transition No.
Operati Switch
Reset Stop Voltage
on On

Shutdown 0 1 1 0 (2), (6), (8)

Switch On 0 0 1 1 1 (3)
Disable Voltage 0 0 (7), (9), (10), (12)
Quick Stop 0 0 1 (7), (10), (11)
Disable Operation 0 0 1 1 1 (5)
Enable Operation 0 1 1 1 1 (4), (16)
Fault Reset 0 to 1 (15)

Note. 0: OFF 1: ON : ON/OFF

In faulty communication, hold the state of Bit 7 = 1 for as follows for the Fault Reset command to prevent
the command from failing to be recognized.
10 ms ≥ twice the communication cycle: Hold the state for 10 ms.
10 ms < twice the communication cycle: Hold the state for the time determined by doubling the
communication cycle.
20 - 26
20．PROFINET COMMUNICATION

Figure 5.1 and Table 5.1 show the FSA state transition conditions. The transition from the Switch on disabled
state to the Operation enabled state requires Shutdown, Switch on, and Enable operation to be issued in this
order. However, with the _ driver, transition to the target state skipping the states in between is possible.
Current status Command Status after transition
Switch on disabled Switch on Switched on
Switch on disabled Enable operation Operation
Ready to switch on Enable operation Operation

20.5.3 Controlword/Statusword
The format of Controlword/Statusword used for the ProcessData communication is different depending on
Telegrams you use.
Refer to the following table.
ProcessData communication
Telegram
Controlword Statusword
Control word 1 (compliant with Status word 1 (compliant with
Standard Telegram 1
PROFIdrive) PROFIdrive)
Telegram 100, 102 Controlword (compliant with CiA 402) Statusword (compliant with CiA 402)

20.5.3.1 Controlword
The drive state can be switched and control commands for the functions of the drive can be issued by
rewriting Controlword from the master upper side. Refer to the followings for functions assigned to each bit.

(1) Control word 1 (compliant with PROFIdrive) bit definition

Control word 1 cannot be accessed from the Acyclic communication.
Controlword (P24640)
Bit Name Description
Bit Name
0 ON Refer to section 5.1. (Note 1) 0 Switch On
1 Coast Stop Refer to section 5.1. (Note 1) 1 Enable Voltage
2 Quick Stop Refer to section 5.1. (Note 1) 2 Quick Stop
3 Enable Operation Refer to section 5.1. (Note 1) 3 Enable Operation
4 Depends on the control mode
5 (Refer to each control mode.)
6
7 Fault Acknowledge When 1 is set from 0, alarms are reset. 7 Fault Reset
(Note 1)
8 JOG1 (not supported) Not supported (Note 2)
9 JOG2 (not supported) Not supported (Note 2)
10 Control By PLC 0: Not following PLC command (holding
previous value)
1: Drive following PLC command
11 Depends on the control mode
(Refer to each control mode.)
12 (Note 2)
13
14
15

Note 1. Bit 0 to 3 and 7 are used for switching drive state. Refer to chapter 5.
2. The values in bit 8, 9, and 12 to 15 at reading are undefined. Set "0" when writing.

20 - 27
20．PROFINET COMMUNICATION

Controlword (compliant with CiA 402) bit definition

Bit Symbol Description
0 SO Switch on (Note 1)
1 EV Enable voltage (Note 1)
2 QS Quick stop (Note 1)
3 EO Enable operation
4 OMS Differs depending on Modes of operation (P24672). (Refer to each control mode.)
5
6
7 FR Fault reset (Note 1)
8 HALT 0: Operation ready
1: Temporary stop
9 OMS Differs depending on Modes of operation (P24672). (Refer to each control mode.)
10 (Note 2)
11
12
13
14
15

Note 1. Bit 0 to 3 and 7 are used for switching drive state.

2. The values in bit 10 to 15 at reading are undefined. Set "0" when writing.

(2) Bit definition of control DI1

Bit Symbol Description
0 (Note)
1
2
3
4 C_CDP Gain switching
Turn on C_CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to
motor inertia ratio and gain values.
5 (Note)
6
7
8
9
10
11
12
13
14
15

Note. The values in bit 0 to 3 and 5 to 15 at reading are undefined. Set "0" when writing.

20 - 28
20．PROFINET COMMUNICATION

(3) Bit definition of control DI2

Bit Symbol Description
0 (Note)
1
2
3
4
5
6
7
8 C_PC Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to
compensate for a position shift. When the servo motor shaft is to be locked mechanically after
positioning completion (stop), switching on the C_PC upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, use the C_PC and torque limit at the same time to make
the torque less than the rated torque.
9 (Note)
10
11
12
13
14
15 C_ORST Operation alarm reset
Turn on C_ORST from off to reset [AL. F4 Positioning warning].

Note. The values in bit 0 to 7 and 9 to 14 at reading are undefined. Set "0" when writing.

(4) Bit definition of control DI3

Bit Symbol Description
0 (Note)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Note. The values in bit 0 to 15 at reading are undefined. Set "0" when writing.

20 - 29
20．PROFINET COMMUNICATION

20.5.3.2 Statusword
Statusword notifies the master upper side of the drive state of the driver and other drive status. Refer to the
followings for functions assigned to each bit.

(1) Status word 1 (compliant with PROFIdrive) bit definition

Statusword (P24641)
Bit Name Description
Bit Name
0 Ready To Switch On Refer to the following table for the definition. 0 Ready To Switch On
1 Ready To Operate Refer to the following table for the definition. 1 Switched On
2 Operation Enabled Refer to the following table for the definition. 2 Operation Enabled
3 Fault Present 0: No alarm 3 Fault
1: At alarm occurrence
4 Coast Stop Not Activated 0: During a coasting 4 Voltage Enabled
1: Other than coasting
5 Quick Stop Not Activated 0: During a quick stop 5 Quick Stop
1: other than quick stop
(including during the test mode)
6 Switching On Inhibited Refer to the following table for the definition. 6 Switch On Disabled
7 Warning Present 0: No warning has been occurred. 7 Warning
1: A warning is occurring.
8 Differs depending on
Telegrams.
(Refer to each control mode.)
9 Control Requested 0: Not controlled by upper side 9 Remote
1: Controlled by upper side
10 Differs depending on
11 Telegrams.
(Refer to each control mode.)
12
13
14
15

Bit 0 to 2 and 6 are switched depending on the internal state of driver. The following table shows the
details.
Status word 1 (bin) PROFIdrive state
xxxx xxxx x1xx x000 Switching on inhibited
xxxx xxxx x0xx x001 Ready for switching on
xxxx xxxx x0xx x011 Switched on
xxxx xxxx x0xx x111 Operation
xxxx xxxx x0xx x011 Switching off (Ramp stop, Quick stop)

20 - 30
20．PROFINET COMMUNICATION

(2) Statusword (compliant with CiA 402) bit definition

Bit Symbol Description
0 RTSO Ready-to-switch-on
1 SO Switch-on
2 OE Operation-enabled
3 F Fault
4 VE Voltage-enabled
0: The bus voltage is lower than the certain (RA) level.
1: The bus voltage is equal to or higher than the certain level.
5 QS Quick stop
0: During a quick stop
1: No during a quick stop (including during the test mode)
6 SOD Switch on disabled
7 W Warning
0: No warning has been occurred.
1: A warning is occurring.
8 (Note)
9 RM Remote
0: Not following the Controlword command
1: In operation following the Controlword command
10 TR Target reached
Differs depending on Modes of operation (P24672). (Refer to chapter 6.)
11 ILA Internal limit active
0: The forward rotation stroke end, reverse rotation stroke end, and software position limit have not been
reached
1: The forward rotation stroke end, reverse rotation stroke end, or software position limit has been
reached.
(Enabled in the pp, pv, hm, pt, jg, or idx mode)
12 OMS Differs depending on Modes of operation (P24672). (Refer to chapter 6.)
13
14 (Note)
15

Note. The values in bit 8, 14, and 15 at reading are undefined.

Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the internal state of the driver. Refer to the
following table for details.
Statusword (bin) CiA 402 Drive Profile state
x0xx xxx0 x0xx 0000 Not ready to switch on (Note)
x0xx xxx0 x1xx 0000 Switch on disabled
x0xx xxx0 x01x 0001 Ready to switch on
x0xx xxx0 x01x 0011 Switched on
x0xx xxx0 x01x 0111 Operation enabled
x0xx xxx0 x00x 0111 Quick stop active
x0xx xxx0 x0xx 1111 Fault reaction active
x0xx xxx0 x0xx 1000 Fault

Note. Statusword is not sent in the Not ready to switch on state.

20 - 31
20．PROFINET COMMUNICATION

(3) Bit definition of Status DO 1

Bit Symbol Description
0 (Note)
1
2 S_SA Speed reached
SA will turn off during servo-off. When the servo motor speed reaches the following range, S_SA turns
on.
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
3 S_MBR Electromagnetic brake interlock
0: Servo-off or at alarm occurrence
4 S_CDPS Variable gain selection
1: ON during gain switching
5 S_CLD During fully closed loop control switching
S_CLD turns on during fully closed loop control.
6 (Note)
7
8
9
10
11
12 S_INP In-position
When the number of droop pulses is in the in-position range, S_INP will turn on. The in-position range
can be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during
low-speed rotation.
The Status DO cannot be used in the velocity mode or torque mode.
13 S_TLC Limiting torque
When the torque reaches the torque limit value during torque generation, S_TLC will turn on. This will be
turned off at servo-off.
The Status DO cannot be used in the torque mode.
14 S_ABSV Absolute position undetermined
1: Absolute position is erased
15 S_BWNG Battery warning
When [AL. 92 battery cable disconnection warning] or [AL. 9F Battery warning] has occurred, S_BWNG
turns on. When the battery warning is not occurring, turning on the power will turn off S_BWNG after 2.5
s to 3.5 s.

Note. The values in bit 0, 1, and 6 to 11 at reading are undefined.

20 - 32
20．PROFINET COMMUNICATION

(4) Bit definition of Status DO 2

Bit Symbol Description
0 S_ZPAS Z-phase already passed
0: Z-phase unpassed after start-up
1: Z-phase passed once or more after start-up
1 (Note)
2
3 S_ZSP Zero speed detection
S_ZSP turns on when the servo motor speed is at zero speed or less. Zero speed can be changed with
[Pr. PC07].
4 S_VLC Limiting speed
When the speed reaches the speed limit value in the torque mode, S_VLC will turn on. When the servo is
off, TLC will be turned off.
The Status DO cannot be used in the position mode or velocity mode.
5 (Note)
6 S_IPF During IPF
S_IPF turns on during an instantaneous power failure.
7 (Note)
8 S_PC Under proportional control
S_PC turns on under proportional control.
9 (Note)
10 S_DB External dynamic brake output
When the dynamic brake needs to operate, S_DB turns off.
11 (Note)
12
13
14
15 S_ZP2 Home position return completion 2 (incremental system)
When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on unless the home
position is erased.
It will be off with the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
Home position return completion 2 (absolute position detection system)
If a home position return completes once, S_ZP2 is always on. However, it will be off with the following
conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
4) The home position return is not performed after [AL. 25 Absolute position erased] or [AL. E3 Absolute
position counter warning] occurred.
5) The home position return is not performed after the electronic gear ([Pr. PA06] or [Pr. PA07]) was
changed.
6) The home position return is not performed after the setting of [Pr. PA03 Absolute position detection
system selection] was changed from "Disabled" to "Enabled".
7) [Pr. PA14 Rotation direction selection] was changed.
8) [Pr. PA01 Operation mode] was changed.

Note. The values in bit 1, 2, 5, 7, 9, and 11 to 14 at reading are undefined.

20 - 33
20．PROFINET COMMUNICATION

(5) Bit definition of Status DO 3

Bit Symbol Description
0 (Note)
1
2
3
4
5 S_STO During STO
S_STO turns on during STO.
6 (Note)
7
8
9
10
11 S_MTTR Transition to tough drive mode in process
When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive will
turn on S_MTTR.
12 (Note)
13
14
15

Note. The values in bit 0 to 4, 6 to 10, and 12 to 15 at reading are undefined.

(6) Bit definition of Status DO 5

Bit Symbol Description
0 (Note)
1
2
3
4
5 S_CPO Rough match
When a command remaining distance is lower than the rough match output range set with [Pr. PT12],
S_CPO turns on.
6 S_MEND Travel completion
When the droop pulses are within the in-position output range set with [Pr. PA10] and the command
remaining distance is "0", S_MEND turns on.
S_MEND turns on with servo-on.
S_MEND is off at servo-off status. However, S_MEND will not be off in the indexer method.
7 (Note)
8
9
10
11
12
13
14
15

Note. The values in bit 0 to 4 and 7 to 15 at reading are undefined.

20 - 34
20．PROFINET COMMUNICATION

(7) Bit definition of Status DO 7

Bit Symbol Description
0 (Note)
1
2 S_POT Position range
When an actual current position is within the range set with [Pr. PT19] to [Pr. PT22], S_POT turns on.
This will be off when a home position return is not completed or base circuit shut-off is in progress.
3 (Note)
4
5
6
7
8
9
10
11
12
13
14
15

Note. The values in bit 0, 1, and 3 to 15 at reading are undefined.

20 - 35
20．PROFINET COMMUNICATION

20.6 CONTROL MODE

20.6.1 Selection of control mode

Specify a control mode with the combinations of the following conditions.
[Pr. PA01] (P8193)
Telegram setting from upper side
Modes of operation area in Telegram (only Telegram 102)

When the Telegram setting is other than the following combinations, [AL. 37] will occur.
Telegram Modes of
Pr. PA01 Control mode Remark
Setting operation
___0 1 Profile velocity mode (pv)
___2
___0 100 Profile torque mode (tq)
___2
___0 102 0 No mode change/No mode assigned
___2 (Note 1)
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
___1 Not supported ([AL. 37] occurs.)
___6 103 0 No mode change/No mode assigned
(Note 2)
6 Homing mode (hm)
-100 Jog mode (jg)
-101 Point table mode (pt)
___8 103 0 No mode change/No mode assigned
(Note 3)
6 Homing mode (hm)
-100 Jog mode (jg)
-103 Indexer mode (idx)

Note 1. The control mode at power on will be Profile position mode.

2. The control mode at power on will be Point table mode.
3. The control mode at power on will be Indexer mode.

The following table shows the objects related to control modes.

PNU Sub Access Name Data Type Default Description
24672 0 R/W Modes of operation Integer8 Differs depending on [Pr. PA01]. Refer to
section 9.3.6.
24673 0 R Modes of operation display Integer8 Differs depending on [Pr. PA01]. Refer to
section 9.3.6.
25858 0 R Supported drive mode Unsigned32 Varies depending on the software version. Refer to
section 9.3.6.

20 - 36
20．PROFINET COMMUNICATION

20.6.2 Control switching

When telegram 102 is used
Because control switching has a delay, the upper side must keep sending command values corresponding to
the control mode before and after the switching. After the completion of control switching has been checked
with Modes of operation display, update of the command value before the switching can be stopped.
Before switching the mode from or to Profile position mode (pp), check that the servo motor speed is zero
speed. Zero speed state can be obtained with Bit 3 (S_ZSP) of Status DO 2 (P11538). If the motor is not zero
speed state, the control will not be switched and Modes of operation display will not change.

Changes to the OMS bit of Controlword are not accepted until control switching is completed. Before inputting
commands, check that the control mode has been switched referring to Modes of operation display.

20.6.3 Profile position mode (pp)

The following shows the functions and related PROFIdrive parameters of the profile position mode (pp).
Torque limit value (P24800, P24801)
×
Motion profile type (P24710)
Control
Profile acceleration (P24707) effort
Position (P24826) Velocity Torque
Profile deceleration (P24708) control Motor
control control
Acceleration
Quick Stop deceleration (P24709) limit
function
Position
Quick stop option code (P24666) trajectry
generator Encoder
Profile velocity (P24705)
Max profile velocity (P24703) Velocity
limit
Max motor speed (P24704) function ×

Target position (P24698)

Position
Software position limit (P24701) limit
function × ×

Gear ratio (P24721)

Polarity (P24702)

Following error actual value (P24820) + × ×

-

Position actual value (P24676) × × Position actual internal value (P24675)

Velocity actual value (P24684) ×

Torque actual value (P24695) ×

20 - 37
20．PROFINET COMMUNICATION

(1) Related object

Default
PNU Sub Access Name Type Description
value
24698 0 R/W Target position Integer32 Command position (Pos units)
24699 0 R/W Min position range limit Array [2] Minimum value of the position range limit
Integer32 The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: -2147483648
degree: 0
1 R/W Max position range limit Maximum value of the position range limit
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: 2147483647
degree: 359999
24701 0 R/W Min position limit Array [2] 0 Minimum position address (Pos units)
1 R/W Max position limit Integer32 0 Maximum position address (Pos units)
24703 0 R/W Max profile velocity Unsigned32 2000000 maximum speed
Unit: Vel units (0.01 r/min )
24704 0 R/W Max motor speed Unsigned32 Servo motor maximum speed
Unit: r/min
24705 0 R/W Profile velocity Unsigned32 10000 Speed after acceleration completed
Unit: Vel units (0.01 r/min )
24707 0 R/W Profile acceleration Unsigned32 0 Acceleration at start of movement to target
position
Unit: ms
24708 0 R/W Profile deceleration Unsigned32 0 Deceleration at arrival at target position
Unit: ms
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24710 0 R/W Motion profile type Integer16 -1 Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not compatible) (Note)
1: Sin2 ramp (not compatible) (Note)
2: Jerk-free ramp (not compatible) (Note)
3: Jerk-limited ramp (not compatible) (Note)
24666 0 R/W Quick stop option code Integer16 2 Operation setting for Quick stop
Refer to section 8.10.
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min )
24695 0 R Torque actual value Integer16 Current torque
Unit: 0.1% (rated torque of 100%)
24722 0 R/W Feed Array [2] Travel distance per revolution of an output
Unsigned32 shaft
Encoder resolution of the connected servo
motor at initial value
1 R/W Shaft revolutions 1 Number of servo motor shaft revolutions
24820 0 R Following error actual value Integer32 Droop pulses (Pos units)
24826 0 R Control effort Integer32 Position control loop output (speed
command)
Unit: Vel units (0.01 r/min )
24800 0 R/W Positive torque limit value UInteger16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)

20 - 38
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24801 0 R/W Negative torque limit value UInteger16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Gear ratio: Number of revolutions of the servo
Unsigned32 motor axis (numerator)
1 R/W Shaft revolutions 1 Gear ratio: Number of revolutions of the drive
axis (denominator)
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
The values other than bit 5, 6, and 7 at
reading are undefined. Set "0" when writing.
Refer to section 8.5.
24744 0 R/W SI unit position Unsigned32 0 SI unit position
The value will be set automatically depending
on the value of [Pr. PT01] (_ x _ _) and [Pr.
PT03] (_ _ _ x). Refer to section 9.3.13 (5) for
details.
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
0.01 mm/s or 0.01 r/min
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note. This is not supported by the _ driver.

(2) Details on the OMS bit of Controlword (pp mode)

Bit Symbol Description
4 New set-point New positioning parameters are obtained when this bit turns on.
5 Change set 0: Set of set-points
immediately 1: Single set-point
6 abs/rel 0: Absolute position command
1: Relative position command (Note)
8 HALT 0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
9 Change on set-point Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped) (black line (Refer
to (6) in this section.)).
1: The next positioning starts after positioning is executed with Profile velocity held up to the current
set-point (gray line (Refer to (6) in this section.)).

Note. When the unit is set to degree, relative position commands are disabled. When the relative position command is specified and
positioning is started, [AL. F4.8] occurs and positioning cannot be started.

(3) Details on the OMS bit of Statusword (pp mode)

Bit Symbol Description
10 Target reached 0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0

Judgment condition for Target position reached

If the error between Position actual value and Target position has stayed within Position window for
Position window time or more, Target position reached is stored.
12 Set-point 0: Positioning completed (wait for next command)
acknowledge 1: Positioning being executed (The set-point can be overwritten.)
13 Following error 0: No following error
1: Following error
When the time set with Following error time out (P24678) has elapsed with the number of droop
pulses exceeding the set value of the Following error window (P24677), this bit becomes "1".

20 - 39
20．PROFINET COMMUNICATION

(4) Feed constant (P24722)

The following shows setting values of P24722.0 Feed and P24722.1 Shaft revolutions.
[Pr. PT01] setting Feed Shaft revolutions [Pr. PT03] setting
1 ___0
_ 0 _ _: mm
10 ___1
Encoder resolution of the servo motor
100 ___2
_ 1 _ _: inch
1000 ___3
_ 2 _ _: degree 360000 1 _ _ _ 0 to _ _ _ 3
_ 3 _ _: pulse Encoder resolution of the servo motor 1 _ _ _ 0 to _ _ _ 3

No value can be written to Feed because it is set automatically. Writing a value will be Error No. 02h (Low
or high limit exceeded).
When the command unit is mm or inch, you can change the travel distance per revolution of an output
shaft by changing Shaft revolutions.
The Shaft revolutions setting depends on the setting of "Feed length multiplication [STM]" in [Pr. PT03].
When a value other than the values shown in the table above is set for Shaft revolutions, Error No. 02h
(Low or high limit exceeded) will occur.
When the command unit is degree and pulse, the value of Shaft revolutions will be set automatically as
the table shows. Writing a value will trigger Error No. 02h (Low or high limit exceeded).

Additionally, Position actual value (P24676) is calculated from Gear ratio (P24721) and Feed constant
(P24722) as follows.

Position actual internal value (P24675) × Feed constant (P24722)

Position actual value (P24676) =
Position encoder resolution (P24719) × Gear ratio (P24721)

When the unit is degree, the operation result will be limited within 0 to 359999.

20 - 40
20．PROFINET COMMUNICATION

(5) Single Set-point

Update of positioning parameters during a positioning operation is immediately accepted. (The next
positioning starts after the current positioning is canceled.)

Actual
speed
t
New
set-point
(bit 4) t
Target
position
(set-point)
t
Profile velocity

Current target
position
processed
t
Set-point
acknow ledge
(bit 12) t
Target
reached
(bit 10) t

(6) Set of set-points

After the current positioning operation is completed, the next positioning is started. Whether positioning is
stopped at the first positioning point when at an update of the positioning parameter before completion of
the positioning can be switched. To switch the setting, use Change on set-point (Bit 9 of Controlword).

Actual
speed
t
New
set-point
(bit 4)
t
Target position
(set-point)
t
Profile
velocity
t

Current
target
position
processed
t
Set-point
acknow ledge
(bit 12)
t
Target
reached
(bit 10) t

20 - 41
20．PROFINET COMMUNICATION

20.6.4 Profile velocity mode (pv)

The following shows the functions and related PROFIdrive parameters of the profile velocity mode (pv).

The dotted line area in the following diagram is used only for Standard Telegram 1.

Speed setpoint A Target Velocity (P24831)

Normalization
function To the follow ing diagram
Speed actual value A Velocity actual value (P24684)

T orque limit value (P24800, P24801)

×
Motion profile type (P24710)

Profile acceleration (P24707)

Velocity T orque
Profile deceleration (P24708) control Motor
control
Acceleration
Quick Stop deceleration (P24709) limit
function Velocity
Quick stop option code (P24666) trajectry
generator
T arget velocity (P24831) Encoder

Max profile velocity (P24703) Velocity

limit
×
Max motor speed (P24704) function

Gear ratio (P24721)

Polarity (P24702)

Velocity demand value (P24683) ×

Position actual value (P24676) × × Position actual internal value (P24675)

Velocity actual value (P24684) ×

T orque actual value (P24695) ×

(1) Related object

Default
PNU Sub Access Name Type Description
value
24831 0 R/W Target velocity Integer32 Command speed (Vel units)
24703 0 R/W Max profile velocity Unsigned32 2000000 maximum speed
Unit: Vel units (0.01 r/min )
24704 0 R/W Max motor speed Unsigned32 Servo motor maximum speed
Unit: r/min
24707 0 R/W Profile acceleration Unsigned32 0 Acceleration at start of movement to target
position
Unit: ms
24708 0 R/W Profile deceleration Unsigned32 0 Deceleration at arrival at target position
Unit: ms
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24710 0 R/W Motion profile type Integer16 -1 Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (Not compatible) (Note)
1: Sin2 ramp (Not compatible) (Note)
2: Jerk-free ramp (not compatible) (Note)
3: Jerk-limited ramp (not compatible) (Note)
24666 0 R/W Quick stop option code Integer16 2 Operation setting for Quick stop
Refer to section 8.10.

20 - 42
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
24683 0 R Velocity demand value Integer32 Speed command (after trajectory generation)
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min )
24695 0 R Torque actual value Integer16 Current torque
Unit: 0.1% (rated torque of 100%)
24800 0 R/W Positive torque limit value Unsigned16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801 0 R/W Negative torque limit value Unsigned16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Gear ratio: Number of revolutions of the servo
Unsigned32 motor axis (numerator)
1 R/W Shaft revolutions 1 Gear ratio: Number of revolutions of the drive
axis (denominator)
24722 0 R/W Feed Array [2] Travel distance per revolution of an output
Unsigned32 shaft
Encoder resolution of the servo motor at
initial value
1 R/W Shaft revolutions 1 Number of servo motor shaft revolutions
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
The values other than bit 5, 6, and 7 at
reading are undefined. Set "0" when writing.
Refer to section 8.5.
24685 0 R/W Velocity window Unsigned16 2000 Speed error threshold for judging Target
reached
Unit: Vel units (0.01 r/min )
24686 0 R/W Velocity window time Unsigned16 10 Target reached judgment time
Unit: ms
24687 0 R/W Velocity threshold Unsigned16 5000 Zero speed threshold for judging Speed
Unit: Vel units (0.01 r/min )
24688 0 R/W Velocity threshold time Unsigned16 10 Speed judgment time
Unit: ms
24744 0 R/W SI unit position Unsigned32 0 SI unit position
The value will be set automatically depending
on the value of [Pr. PT01] (_ x _ _) and [Pr.
PT03] (_ _ _ x). Refer to section 9.3.13 (5) for
details.
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
0.01 mm/s or 0.01 r/min
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note. This is not supported by the driver.

20 - 43
20．PROFINET COMMUNICATION

(2) Details on the Control word 1 (compliant with PROFIdrive) bit (pv mode) (only when using Standard
telegram 1)
Controlword (P24640)
Bit Name Description
Bit Name
4 Enable Ramp Generator Refer to the following table for the definition. 8 Halt
5 Unfreeze Ramp Generator
6 Enable Setpoint
11 (Note)
12
13
14
15

Note. The values in bit 11 to 15 at reading are undefined. Set "0" when writing.

Details of bit 4, 5, and 6

Bit 4 Bit 5 Bit 6 Description
0 The servo motor stops according to Halt option code (P24669).
1 0 Command speed is followed up with Velocity demand value (P24683).
1 1 0 Command speed is set to 0.
1 1 1 Command speed is updated.

(3) Details on the OMS bit of Controlword (pv mode)

Bit Symbol Description
4 (reserved) (Note)
5 (reserved)
6 (reserved)
8 HALT 0: The servo motor is driven.
1: The servo motor stops according to Halt option code (P24669).
9 (reserved) (Note)

Note. The values in bit 4 to 6, and 9 at reading are undefined. Set "0" when writing.

20 - 44
20．PROFINET COMMUNICATION

(4) Details on the Status word 1 (compliant with PROFIdrive) bit (pv mode) (only when using Standard
telegram 1)
Statusword (P24641)
Bit Name Description
Bit Name
8 Speed Error (Not supported)
10 Speed Reached Refer to the following table for the definition. 10 Target velocity reached
11 Internal limit active Internal limit active 11 Internal limit active
0: The forward rotation stroke end, reverse
rotation stroke end, and software position limit
have not been reached
1: The forward rotation stroke end, reverse
rotation stroke end, or software position limit
has been reached.
12 Speed 0: Speed is not equal 0 12 Speed
1: Speed is equal 0

Judgment condition for Speed is not equal 0

If the absolute value of Velocity actual value
has exceeded Velocity threshold for Velocity
threshold time or more, Speed is not equal 0 is
stored.
13 (Note)
14
15

Note. The values in bit 8 and 13 to 15 at reading are undefined.

Speed Reached
Status word 1 bit 10 Control word 1 bit 4
Description
Speed Reached (Note) Enable Ramp Generator
0 0 Target velocity not reached.
1 Axis decelerates
1 0 Target velocity reached.
1 Velocity of axis is 0

Note. Judgment condition for Speed Reached: If the error between Velocity actual value and Target velocity has stayed
within Velocity window for Velocity window time or more, Speed Reached is stored.

(5) Details on the OMS bit of Statusword (pv mode)

Bit Symbol Description
10 Target reached 0 (Halt (Bit 8) = 0): Target velocity not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target velocity reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target velocity reached
If the error between Actual velocity and Target velocity has stayed within Velocity window for
Velocity window time or more, Target velocity reached is stored.
12 Speed 0: Speed is not equal 0
1: Speed is equal 0
Judgment condition for Speed is not equal 0
If the absolute value of Actual velocity has exceeded Velocity threshold for Velocity threshold time
or more, Speed is not equal 0 is stored.
13 Max slippage error 0: Maximum slippage not reached
1: Maximum slippage reached (not supported) (Note)
Max slippage is a maximum slippage of the asynchronous servo motor.

Note. This is not supported by the driver.

20 - 45
20．PROFINET COMMUNICATION

(6) Speed setpoint A (only when using Standard telegram 1)

Speed setpoint A is a target speed.
The _ driver receives Speed setpoint A from the upper side, converts it to a target speed, and set it to
Target Velocity (P24831).

Target Velocity (P24831)

Speed setpoint A =
100

(7) Speed actual value A (only when using Standard telegram 1)

Speed actual value A is a current speed.
The _ driver converts Velocity actual value (P24684) to Speed actual value A and transmits it to the
upper side.

Velocity actual value (P24684)

Speed actual value A =
100

(8) Feed constant (P24722)

The following shows setting values of P24722.0 Feed and P24722.1 Shaft revolutions.
[Pr. PT01] setting Feed Shaft revolutions [Pr. PT03] setting
1 ___0
_ 0 _ _: mm
10 ___1
Encoder resolution of the servo motor
100 ___2
_ 1 _ _: inch
1000 ___3
_ 2 _ _: degree 360000 1 _ _ _ 0 to _ _ _ 3
_ 3 _ _: pulse Encoder resolution of the servo motor 1 _ _ _ 0 to _ _ _ 3

No value can be written to Feed because it is set automatically. Writing a value will be Error No. 02h (Low
or high limit exceeded).
When the command unit is mm or inch, you can change the travel distance per revolution of an output
shaft by changing Shaft revolutions.
The Shaft revolutions setting depends on the setting of "Feed length multiplication [STM]" in [Pr. PT03].
When a value other than the values shown in the table above is set for Shaft revolutions, Error No. 02h
(Low or high limit exceeded) will occur.
When the command unit is degree and pulse, the value of Shaft revolutions will be set automatically as
the table shows. Writing a value will trigger Error No. 02h (Low or high limit exceeded).

Additionally, Position actual value (P24676) is calculated from Gear ratio (P24721) and Feed constant
(P24722) as follows.

Position actual internal value (P24675) × Feed constant (P24722)

Position actual value (P24676) =
Position encoder resolution (P24719) × Gear ratio (P24721)

When the unit is degree, the operation result will be limited within 0 to 359999.

20 - 46
20．PROFINET COMMUNICATION

(9) The pv mode operation sequence

When using Standard telegram 1, replace the following left signals to the right signals.
Signal name When using Standard telegram 1
Velocity Actual Value Speed actual value A
Target Velocity Speed Setpoint A
Target reached Speed reached
(Statusword bit 10) (Status word 1 bit 10)
Speed Speed
(Statusword bit 12) (Status word 1 bit 12)

Velocity Actual Value Decelerates w ith Profile deceleration (P24708)

(P24684)

Accelerates w ith Profile acceleration (P24707)

Target Velocity
(P24831)

Velocity w indow time (P24686)

Target reached
Statusw ord
(P24641) bit 10
t

Velocity threshold time (P24688)

Speed Statusw ord

(P24641) bit 12
t

20 - 47
20．PROFINET COMMUNICATION

20.6.5 Profile torque mode (tq)

The following shows the functions and related PROFIdrive parameters of the Profile torque mode (tq).
T arget torque (P24689)

T orque sl ope (P24711)

T orque profi le type (P24712) T rajectry T orque demand

generator (P24692)
Controlword (P24640) × Motor
Max torque (P24690) Torque
control
and
power
T orque li mi t value (P24800, P24801) stage
Encoder
×

Gear rati o (P24721)

Pol ari ty (P24702)

Position actual internal

Position actual value (P24676) × × val ue (P24675)

Vel oci ty actual value (P24684) ×

T orque actual val ue (P24695) ×

(1) Related object

Default
PNU Sub Access Name Type Description
value
24689 0 R/W Target torque Integer16 Command torque
Unit: 0.1% (rated torque of 100%)
24690 0 R/W Max torque Unsigned16 Maximum torque
Unit: 0.1% (rated torque of 100%)
24692 0 R Torque demand Integer16 Command torque (after limit)
Unit: 0.1% (rated torque of 100%)
24711 0 R/W Torque slope Unsigned32 0 Torque variation
Unit: 0.1%/s (rated torque of 100%)
24712 0 R/W Torque profile type Unsigned32 0 Torque variation pattern
0000h: Linear ramp
0001h: Sin2 ramp (not supported) (Note)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer specific
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min )
24695 0 R Torque actual value Integer16 Current torque
Unit: 0.1% (rated torque of 100%)
24800 0 R/W Positive torque limit value Unsigned16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801 0 R/W Negative torque limit value Unsigned16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Gear ratio: Number of revolutions of the servo
Unsigned32 motor axis (numerator)
1 R/W Shaft revolutions 1 Gear ratio: Number of revolutions of the drive
axis (denominator)
24722 0 R/W Feed Array [2] Travel distance per revolution of an output
Unsigned32 shaft
Encoder resolution of the servo motor at
initial value
1 R/W Shaft revolutions 1 Number of servo motor shaft revolutions

20 - 48
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
The values other than bit 5, 6, and 7 at
reading are undefined. Set "0" when writing.
Refer to section 8.5.
11552 0 R/W Velocity limit value Integer32 50000 Speed limit value
Unit: Vel units (0.01 r/min )
24744 0 R/W SI unit position Unsigned32 0 SI unit position
The value will be set automatically depending
on the value of [Pr. PT01] (_ x _ _) and [Pr.
PT03] (_ _ _ x). Refer to section 9.3.13 (5) for
details.
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
0.01 mm/s or 0.01 r/min
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)

Note. This is not supported by the driver.

(2) Details on the OMS bit of Controlword (tq mode)

Bit Symbol Description
4 (reserved) (Note)
5 (reserved)
6 (reserved)
8 HALT 0: The servo motor is driven.
1: The servo motor stops according to Halt option code (P24669).
9 (reserved) (Note)

Note. The values in bit 4 to 6, and 9 at reading are undefined. Set "0" when writing.

(3) Details on the OMS bit of Statusword (tq mode)

Bit Symbol Description
10 Target reached 0 (Halt (Bit 8) = 0): Target torque not reached.
(not compatible) 0 (Halt (Bit 8) = 1): Axis decelerates
(Note 1) 1 (Halt (Bit 8) = 0): Target torque reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target torque reached
If the error between Torque actual value and Target torque has stayed within Torque window for
Torque window time or more, Target torque reached is stored.
(Note 2)
12 (reserved) (Note 2)
13 (reserved) (Note 2)

Note 1. This is not supported by the driver.

2. The value at reading is undefined.

20 - 49
20．PROFINET COMMUNICATION

(4) Feed constant (P24722)

The following shows setting values of P24722.0 Feed and P24722.1 Shaft revolutions.
[Pr. PT01] setting Feed Shaft revolutions [Pr. PT03] setting
1 ___0
_ 0 _ _: mm
10 ___1
Encoder resolution of the servo motor
100 ___2
_ 1 _ _: inch
1000 ___3
_ 2 _ _: degree 360000 1 _ _ _ 0 to _ _ _ 3
_ 3 _ _: pulse Encoder resolution of the servo motor 1 _ _ _ 0 to _ _ _ 3

No value can be written to Feed because it is set automatically. Writing a value will be Error No. 02h (Low
or high limit exceeded).
When the command unit is mm or inch, you can change the travel distance per revolution of an output
shaft by changing Shaft revolutions.
The Shaft revolutions setting depends on the setting of "Feed length multiplication [STM]" in [Pr. PT03].
When a value other than the values shown in the table above is set for Shaft revolutions, Error No. 02h
(Low or high limit exceeded) will occur.
When the command unit is degree and pulse, the value of Shaft revolutions will be set automatically as
the above table shows. Writing a value will be Error No. 02h (Low or high limit exceeded).

Additionally, Position actual value (P24676) is calculated from Gear ratio (P24721) and Feed constant
(P24722) as follows.

Position actual internal value (P24675) × Feed constant (P24722)

Position actual value (P24676) =
Position encoder resolution (P24719) × Gear ratio (P24721)

When the unit is degree, the operation result will be limited within 0 to 359999.

(5) The tq mode operation sequence

Torque demand
(P24692)

Changed w ith Torque slope (P24711)

Changed w ith Torque slope (P24711)
Target torque
(P24689)

Halt
Controlw ord
(P24640) Bit 8
t

20 - 50
20．PROFINET COMMUNICATION

20.6.6 Homing mode (hm)

The following shows the functions and related PROFIdrive parameters of the homing mode (hm).

Controlword (P24640)

Homing method (P24728) Statusword (P24641)

Homing
Homing speeds (P24729)
method

Homing acceleration (P24730)

Home offset (P24700)

(1) Related object

In the homing mode (hm), the servo motor is not brought to a slow stop according to the deceleration
time constant when the stroke end is detected. The motor is brought to a quick stop. Set the home
position return speed carefully.
Default
PNU Sub Access Name Type Description
value
24700 0 R Home offset Integer32 The home position saved in EEP-ROM is
stored at power-on.
If a home position return is executed in the
homing mode (hm), the home position will be
updated.
If [Pr. PA03 Absolute position detection
system] is disabled, 0 is always stored.
24728 0 R/W Homing Method Integer8 -1 Specify a home position return type.
Refer to (4) in this section for supported
home position return types.
24729 0 R/W Speed during search for Array [2] 10000 Specify the travel speed until dog detection.
switch Unsigned32 Unit: Vel units (0.01 r/min )
Range: 0 to servo motor maximum speed

1 R/W Speed during search for 1000 Specify the travel speed up to the home
zero position after dog detection.
Unit: Vel units (0.01 r/min )
Range: 0 to servo motor maximum speed
24730 0 R/W Homing acceleration Unsigned32 0 Acceleration/deceleration time constant at
home position return
Unit: ms
24803 0 R 1st supported homing Array [39] 37 The home position return type that uses the
method Integer8 current position as a home position is
supported.
to
38 R 39th supported homing -43 The dogless Z-phase reference home
method position return type (reverse rotation) is
supported.

20 - 51
20．PROFINET COMMUNICATION

(2) Details on the OMS bit of Controlword (hm mode)

Bit Symbol Description
4 HOS Homing operation start (Note 1)
0: Do not start homing procedure
1: Start or continue homing procedure
5 (Reserved) (Note 2)
6 (Reserved) (Note 2)
8 HALT Halt (Note 1)
(Note 3) 0: Bit 4 enable
1: Stop axis according to halt option code (P24669)

Note 1. Bit 4 and 8 are enabled only in the homing mode (hm).
2. The values in bit 5 and 6 at reading are undefined. Set "0" when writing.
3. Bit 8 is disabled in the indexer method.

(3) Details on the OMS bit of Statusword (hm mode)

Bit Symbol Description
10 Target reached Refer to the following table for the definition.
12 Homing attained Refer to the following table for the definition.
13 Homing error Refer to the following table for the definition.

Statusword Bit 10, 12, and 13 in the hm mode.

Bit 13 Bit 12 Bit 10 Definition
0 0 0 Homing procedure is in progress.
0 0 1 Homing procedure is interrupted or not started.
0 1 0 Homing is attained, but target is not reached.
0 1 1 Homing procedure is completed successfully.
1 0 0 Homing error occurred, velocity is not 0.
1 0 1 Homing error occurred, velocity is 0.
1 1 reserved

20 - 52
20．PROFINET COMMUNICATION

(4) List of Homing method

POINT
In the following cases, make sure that the Z-phase has been passed through
once before the home position return. Z-phase unpassed will trigger [AL. 90.5
Z-phase unpassed].
To execute a home position return securely, start a home position return after
moving the servo motor to the opposite stroke end with csv or pv from the upper
side and others. Whether the servo motor has reached the stroke end can be
checked with Digital inputs (P24829).
When changing the mode after the home position return completion, set 0 to the
Target position (P24698) and change the control mode.
The Method numbers which can be used in indexer method are only -1, -33, -3,
35 and 37.

20 - 53
20．PROFINET COMMUNICATION

To specify the home position return type in the homing mode (hm), use Homing Method (P24728). The _
driver supports Homing method in the following table.
Method Home position return Rotation
Description
No. type direction
Deceleration starts at the front end of the proximity dog. After the
rear end is passed, the position specified by the first Z-phase
Forward signal, or the position of the first Z-phase signal shifted by the
-1 specified home position shift distance is used as the home
Dog type rotation
position.
(Rear end detection
In the indexer method, deceleration starts at the front end of the
Z-phase reference)/
proximity dog, and then the first Z-phase signal at which a
Torque limit changing
deceleration to a stop is possible or the position of the Z-phase
dog type
signal shifted by the specified home position shift distance is
(Front end detection
Reverse used as the home position. The torque limit values in Positive
-33 Z-phase reference)
rotation torque limit value (P24800) and Negative torque limit value
(P24801) are enabled during execution of home position return,
and the torque limit value in Torque limit value2 (P11627) is
enabled when the home position return is stopped.
Data set type home The current position is set as the home position.
position return/ In the indexer method, the current position is set as the home
-3
Torque limit changing position. The torque limit value becomes "0" when switched to
data set type the homing mode.
Forward A workpiece is pressed against a mechanical stopper, and the
-4 Stopper type
rotation position where it is stopped is set as the home position.
(Stopper position
Reverse
-36 reference)
rotation
Forward At the front end of the proximity dog, deceleration starts. After the
-2
Count type rotation front end is passed, the position specified by the first Z-phase
(Front end detection signal after the set distance or the position of the Z-phase signal
Reverse
-34 Z-phase reference) shifted by the set home position shift distance is set as a home
rotation
position.
Forward Deceleration starts from the front end of the proximity dog. After
-6 Dog type
rotation the rear end is passed, the position is shifted by the travel
(Rear end detection distance after proximity dog and the home position shift distance.
Reverse
-38 rear end reference) The position after the shifts is set as the home position.
rotation
Forward Deceleration starts from the front end of the proximity dog. The
-7 Count type
rotation position is shifted by the travel distance after proximity dog and
(Front end detection the home position shift distance. The position after the shifts is
Reverse
-39 front end reference) set as the home position.
rotation
Forward A position, which is specified by the first Z-phase signal after the
-8
rotation front end of the proximity dog is detected, is set as the home
Dog cradle type
Reverse position.
-40
rotation
Forward After the front end of the proximity dog is detected, the position is
-9 shifted away from the proximity dog in the reverse direction.
Dog type last Z-phase rotation
Then, the position specified by the first Z-phase signal or the
reference Reverse
-41 position of the first Z-phase signal shifted by the home position
rotation shift distance is used as the home position.
Forward Starting from the front end of the proximity dog, the position is
-10
Dog type front end rotation shifted by the travel distance after proximity dog and the home
reference Reverse position shift distance. The position after the shifts is set as the
-42 home position.
rotation
Forward The position specified by the first Z-phase signal, or the position
-11
Dogless Z-phase rotation of the first Z-phase signal shifted by the home position shift
reference Reverse distance is used as the home position.
-43
rotation
Same as the dog type last Z-phase reference home position
Homing on positive
Forward return.
3 home switch and index
rotation Note that if the stroke end is detected during home position
pulse
return, [AL. 90 Home position return incomplete warning] occurs.
Homing on positive Same as the dog cradle type home position return.
Forward
4 home switch and index Note that if the stroke end is detected during home position
rotation
pulse return, [AL. 90 Home position return incomplete warning] occurs.

20 - 54
20．PROFINET COMMUNICATION
Same as the dog type last Z-phase reference home position
Homing on negative
Reverse return.
5 home switch and index
rotation Note that if the stroke end is detected during home position
pulse
return, [AL. 90 Home position return incomplete warning] occurs.
Homing on negative Same as the dog cradle type home position return.
Reverse
6 home switch and index Note that if the stroke end is detected during home position
rotation
pulse return, [AL. 90 Home position return incomplete warning] occurs.
Homing on home Forward Same as the dog type last Z-phase reference home position
7
switch and index pulse rotation return.
Homing on home Forward Same as the dog cradle type home position return.
8
switch and index pulse rotation
Homing on home Reverse Same as the dog type last Z-phase reference home position
11
switch and index pulse rotation return.
Homing on home Reverse Same as the dog cradle type home position return.
12
switch and index pulse rotation
Same as the dog type front end reference home position return.
Homing without index Forward
19 Note that if the stroke end is detected during home position
pulse rotation
return, [AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
Homing without index Forward
20 distance after proximity dog and the home position shift distance.
pulse rotation
The position after the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Same as the dog type front end reference home position return.
Homing without index Reverse
21 Note that if the stroke end is detected during home position
pulse rotation
return, [AL. 90 Home position return incomplete warning] occurs.
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
from the front end of the dog, the position is shifted by the travel
Homing without index Reverse
22 distance after proximity dog and the home position shift distance.
pulse rotation
The position after the shifts is set as the home position.
If the stroke end is detected during home position return, [AL. 90
Home position return incomplete warning] occurs.
Homing without index Forward Same as the dog type front end reference home position return.
23
pulse rotation
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
Homing without index Forward
24 from the front end of the dog, the position is shifted by the travel
pulse rotation
distance after proximity dog and the home position shift distance.
The position after the shifts is set as the home position.
Homing without index Reverse Same as the dog type front end reference home position return.
27
pulse rotation
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase. Starting
Homing without index Reverse
28 from the front end of the dog, the position is shifted by the travel
pulse rotation
distance after proximity dog and the home position shift distance.
The position after the shifts is set as the home position.
Although this type is the same as the dogless Z-phase reference
Reverse
33 Homing on index pulse home position return, the creep speed is applied as the
rotation
movement start speed.
Although this type is the same as the dogless Z-phase reference
Forward
34 Homing on index pulse home position return, the creep speed is applied as the
rotation
movement start speed.
Homing on current The current position is set as the home position. This type can be
35
position executed not in the Operation Enabled (servo-on) state.
Homing on current The current position is set as the home position. This type can be
37
position executed not in the Operation Enabled (servo-on) state.

20 - 55
20．PROFINET COMMUNICATION

(5) CiA 402-type homing method

(a) Home position return type in CiA 402 type
The following shows the CiA 402-type home position return.

1) Method 3 and 4: Homing on positive home switch and index pulse

These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.

Index Pulse

Home Sw itch

2) Method 5 and 6: Homing on negative home switch and index pulse

These home position return types use the front end of the proximity dog as reference and set the
Z-phase right before and right after the dog as a home position. Method 5 and 6 differ from
Method 3 and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the
reversed direction.

20 - 56
20．PROFINET COMMUNICATION

3) Method 7, 8, 11, 12: Homing on home switch and index pulse

These types include the operation at stroke end detection in addition to the operation of Method 3
to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has
the operation of the dog type last Z-phase reference home position return. Method 8 has the
operation of the dog cradle type home position return at a forward rotation start. Method 11 and 12
differ from Method 7 and Method 8 only in the starting direction: the starting direction of Method 11
and 12 is the reversed direction.

Index Pulse

Home Sw itch

Positive Limit Sw itch

4) Method 17 to 30: Homing without index pulse

Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home
position not on the Z-phase but on the dog. Method 17 to 30 have the operation of Method 1 to
Method 14; however, these types set the home position not on the Z-phase but on the dog. The
following figure shows the operation of the home position return type of Method 19 and Method
20. Method 19 and Method 20 have the operation of Method 3 and Method 4; however, these
types set the home position not on the Z-phase but on the dog Method 19 has the operation of the
dog type front end reference home position return. Method 20 has the operation of the dog cradle
type home position return; however, the stop position is not on the Z-phase but on the dog.

19

19

20

20

Home Sw itch

20 - 57
20．PROFINET COMMUNICATION

5) Method 33 and 34: Homing on index pulse

These home position return types set the Z-phase detected first as a home position. The
operation is the same as that of the dogless Z-phase reference home position return except that
the creep speed is applied at the start.

33

34

Index Pulse

6) Method 35 and 37: Homing on current position

These home position return types set the current position as a home position. The operation is the
same as that of the data set type home position return; however, these types can be executed
even during servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

20 - 58
20．PROFINET COMMUNICATION

(b) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing
method.
1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 59
20．PROFINET COMMUNICATION

2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 4. The operation direction of Homing
method 6 is opposite to that of Homing method 4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 60
20．PROFINET COMMUNICATION

3) Method 7 and Method 11 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 7. The operation direction of Homing
method 11 is opposite to that of Homing method 7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 61
20．PROFINET COMMUNICATION

4) Method 8 and Method 12 (Homing on home switch and index pulse)

The following figure shows the operation of Homing method 8. The operation direction of Homing
method 12 is opposite to that of Homing method 8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 62
20．PROFINET COMMUNICATION

5) Method 19 and Method 21 (Homing without index pulse)

The following figure shows the operation of Homing method 19. The operation direction of Homing
method 21 is opposite to that of Homing method 19.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 63
20．PROFINET COMMUNICATION

6) Method 20 and Method 22 (Homing without index pulse)

The following figure shows the operation of Homing method 20. The operation direction of Homing
method 22 is opposite to that of Homing method 20.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shift distance
+
Travel distance after proximity dog

When a home position return is started from the proximity dog

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 64
20．PROFINET COMMUNICATION

7) Method 23 and Method 27 (Homing without index pulse)

The following figure shows the operation of Homing method 23. The operation direction of Homing
method 27 is opposite to that of Homing method 23.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 65
20．PROFINET COMMUNICATION

8) Method 24 and Method 28 (Homing without index pulse)

The following figure shows the operation of Homing method 24. The operation direction of Homing
method 28 is opposite to that of Homing method 24.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Home position shift distance
constant constant +
Home position return speed Travel distance after proximity dog

Forw ard Creep speed

rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data

Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position return start position
Home position shift distance
+
Travel distance after proximity dog

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 66
20．PROFINET COMMUNICATION

9) Method 33 and Method 34 (Homing on index pulse)

The following figure shows the operation of Homing method 34. The operation direction of Homing
method 33 is opposite to that of Homing method 34.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Deceleration time

constant constant
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return Creep speed
position data
ON Home position shift distance
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

10) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

20 - 67
20．PROFINET COMMUNICATION

(6) Operation example of Manufacturer-specific Homing method

The following shows an operation example of the Manufacturer-specific home return.

(a) Method -1 and -33

1) Dog type home position return
The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter td
rotation
Home position return
position data
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end

20 - 68
20．PROFINET COMMUNICATION

2) Torque limit changing dog type home position return

The following figure shows the operation of Homing method -1 in the indexer method. The
operation direction of Homing method -33 is opposite to that of Homing method -1.
ON
Pow er supply
OFF
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Point actual value Hold the previous value 0

Home position Set time in [Pr. PT56]

return speed or [Pr. PT57]

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse Home position
rotation shift distance
Set time in
[Pr. PT56]
Position w here the station home
ON position shift distance is added
Z-phase
OFF

Controlw ord bit 4 ON

Homing operation start OFF

ON
DOG (Proximity dog)
OFF
(Note)

T orque li mi t Positive torque limit value

Enabled torque limit value val ue2 Negative torque limit value T orque li mi t val ue2

Note. A delay time can be set with [Pr. PT39].

20 - 69
20．PROFINET COMMUNICATION

(b) Method -2 and -34 (Count type home position return)

POINT
For the count type home position return, after the front end of the proximity dog is
detected, the position is shifted by the distance set in the travel distance after
proximity dog. Then, the first Z-phase is set as the home position. Therefore,
when the on-time of the proximity dog is 10 ms or more, the length of the
proximity dog has no restrictions. Use this home position return type when the
dog type home position return cannot be used because the length of the
proximity dog cannot be reserved or other cases.

The following figure shows the operation of Homing method -2. The operation direction of Homing
method -34 is opposite to that of Homing method -2.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
constant constant Home position
Home position return speed shift distance
Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Home position return
Travel distance after position data
proximity dog (Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep
te. speed, [AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return
speed to the creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

20 - 70
20．PROFINET COMMUNICATION

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.

When the movement is returned at the stroke end

(c) Method -3
1) Data set type home position return
The following figure shows the operation of Homing method -3. This type cannot be executed
during servo-off.
Statusw ord bit 12 ON
Homing attained OFF

Home position return position data

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Controlw ord bit 4 ON
Homing operation start OFF

2) Torque limit changing data set type home position return

The following figure shows the operation of Homing method -3 in the indexer method. This type
cannot be executed during servo-off.

Modes of operation Homing mode (hm)

Statusw ord bit 12 ON

Homing attained OFF

Point actual value Hold the previous value 0

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation Home position return
position data
Controlw ord bit 4 ON
Homing operation start OFF

T orque limit
Enabled torque limit value value2 0% T orque limit value2

20 - 71
20．PROFINET COMMUNICATION

(d) Method -4 and -36 (stopper type home position return)

POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.

The following figure shows the operation of Homing method -4. The operation direction of Homing
method -36 is opposite to that of Homing method -4.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
Forw ard constant Home position return speed Home position return
rotation position data
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Stopper
Controlw ord bit 4 ON
Homing operation start 5 ms or longer
OFF
ON [Pr. PT10 Stopper type home position return stopper time]
TLC (Limiting torque) (Note 2)
OFF

Torque limit value T orque li mi t val ue (Note 1) [Pr. PT11] Torque limit value (Note 1)

Note 1. When Method -4 is set, the torque limit value of Positive torque limit value (P24800) is applied. When Method -36 is set,
the torque limit value of Negative torque limit value (P24801) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 72
20．PROFINET COMMUNICATION

(e) Method -6 and -38 (dog type rear end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the rear end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.

The following figure shows the operation of Homing method -6. The operation direction of Homing
method -38 is opposite to that of Homing method -6.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
(Note) Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

Note. The software limit cannot be used with these functions.

When the movement is returned at the stroke end
20 - 73
20．PROFINET COMMUNICATION

(f) Method -7 and -39 (count type front end reference home position return)

POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.

The following figure shows the operation of Homing method -7. The operation direction of Homing
method -39 is opposite to that of Homing method -7.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time Travel distance after proximity dog
constant constant +
Home position return speed Home position shift distance

Creep speed
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 74
20．PROFINET COMMUNICATION

(g) Method -8 and -40 (dog cradle type home position return)
The following figure shows the operation of Homing method -8. The operation direction of Homing
method -40 is opposite to that of Homing method -8.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time
constant Deceleration time constant Home position
Home position return speed shift distance
Forw ard Creep speed
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation Home position return
position data
Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Proximity dog
Home position
Forw ard return position data
rotation
Servo motor speed 0 r/min
Reverse
rotation

Home position Home position return start position

shift distance

When a home position return is started from the proximity dog

Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forw ard position data start position
rotation
Servo motor speed 0 r/min
Reverse
rotation
Home position
shift distance

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 75
20．PROFINET COMMUNICATION

(h) Method -9 and -41 (dog type last Z-phase reference home position return)
The following figure shows the operation of Homing method -9. The operation direction of Homing
method -41 is opposite to that of Homing method -9.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF

Acceleration time Home position return speed

Deceleration time constant
constant Home position return position data
Forw ard
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance
(Note) Proximity dog

ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90]
te. occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 76
20．PROFINET COMMUNICATION

(i) Method -10 and -42 (dog type front end reference home position return)
The following figure shows the operation of Homing method -10. The operation direction of Homing
method -42 is opposite to that of Homing method -10.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Home position shift distance
Forw ard Home position return position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed

(Note) Proximity dog

ON
DOG (Proximity dog)
OFF
Controlw ord bit 4 ON
Homing operation start OFF

No After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
te. speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.

Home position
return direction Proximity dog

Servo motor speed 0 r/min

Reverse
rotation Home position return start position

After retracting to before proximity dog,

the home position return starts from here.

When a home position return is started from the proximity dog

Home position
return direction Proximity dog Stroke end (Note)

Forw ard Home position return start position

rotation
Servo motor speed 0 r/min
Reverse
rotation

The home position return starts from here.

No The software limit cannot be used with these functions.

te.
When the movement is returned at the stroke end

20 - 77
20．PROFINET COMMUNICATION

(j) Method -11 and -43 (dogless Z-phase reference home position return)
The following figure shows the operation of Homing method -11. The operation direction of Homing
method -43 is opposite to that of Homing method -11.
Statusw ord bit 10 ON
Target reached OFF
Statusw ord bit 12 ON
Homing attained OFF
Acceleration time Deceleration time
Home position return speed constant
constant

Home position return

Forw ard position data
rotation
Servo motor speed 0 r/min
Reverse 3 ms or shorter
rotation
Creep speed
Home position shift distance

ON
Z-phase
OFF
Controlw ord bit 4 ON
Homing operation start OFF

Home position
return direction Stroke end

Forw ard
rotation
Servo motor speed 0 r/min

Home position return start position The servo motor stops due to
the occurrence of [AL. 90].

When the stroke end is detected

20 - 78
20．PROFINET COMMUNICATION

20.6.7 Point table mode (pt)

The following shows the functions and related objects of the point table mode (pt).
Torque limit value
(P24800, P24801)
×
Quick stop deceleration Control
(P24709) effort
Acceleration
Quick stop option code Position (P24826) Velocity Torque
Motor
limit control
(P24666) function control control

Speed
(P10241: 1 to P10495: 1)
Target point table Acceleration Encoder
(P11616) (P10241: 2 to P10495: 2)
Point Deceleration
Point table
table (P10241: 3 to P10495: 3)
(P10241 to P10495) function
Point data Position
trajectry
(P10241: 0 to P10495: 0)
Position generator
Software position limit
limit
(P24701) function × ×
Point demand value
(P11624)
Point actual value
(P11625)
Point table error
(P10819)
M code actual value
(P11626)

Gear ratio
(P24721)
Polarity
(P24702)
Following error actual value
(P24820) + × ×
-

Position actual value

(P24676) × × Position actual internal value (P24675)
Velocity actual value
(P24684) ×
Torque actual value
(P24695) ×

(1) Related object

Default
PNU Sub Access Name Type Description
value
24699 0 R/W Min position range limit Array [2] Minimum value of the position range limit
Integer32 The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
mm/inch/pulse: -2147483648
1 R/W Max position range limit Maximum value of the position range limit
The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
mm/inch/pulse: 2147483647
24701 0 R/W Min position limit Array [2] 0 Minimum position address (Pos units)
1 R/W Max position limit Integer32 0 Maximum position address (Pos units)
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24666 0 R/W Quick stop option code Integer16 2 Operation setting for Quick stop
Refer to section 8.10.

20 - 79
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min or 0.01 mm/s)
24695 0 R Torque actual value Integer16 Current torque
Unit: 0.1% (rated torque of 100%)
24722 0 R/W Feed Array [2] Travel distance setting
Unsigned32 Refer to section 9.3.12 (4).
1 R/W Shaft revolutions 1 Number of servo motor shaft revolutions
Refer to section 9.3.12 (4).
24820 0 R Following error actual value Integer32 Droop pulses (Pos units)
24826 0 R Control effort Integer32 Position control loop output (speed
command)
Unit: Vel units (0.01 r/min or 0.01 mm/s)
24800 0 R/W Positive torque limit value Unsigned16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801 0 R/W Negative torque limit value Unsigned16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Gear ratio: Number of revolutions of the servo
Unsigned32 motor shaft (numerator)
1 R/W Shaft revolutions 1 Gear ratio: Number of revolutions of the drive
shaft (denominator)
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 8.5.
24744 0 R/W SI unit position Unsigned32 0 SI unit position
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
Refer to section 9.3.12 (5).
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
11616 0 R/W Target point table Integer16 0 Point table command
0: Not operate
1 to 255: Execute the specified point table
-1: High-speed home position return
11624 0 R Point demand value Integer16 Point table demand
The currently specified point table No. is
returned.
While the servo motor is stopped, the value
becomes the set value of the Target point
table (P11616).
11625 0 R Point actual value Integer16 Current point table
The completed point table is returned.

20 - 80
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
10241 0 R/W Point data Array [7] Position data
to Integer32 Unit: pos units
10495 1 R/W Speed Speed
Unit: 0.01 r/min or 0.01 mm/s
2 R/W Acceleration Acceleration time constant
Unit: ms
3 R/W Deceleration Deceleration time constant
Unit: ms
4 R/W Dwell Dwell
Unit: ms
5 R/W Auxiliary Auxiliary function
Refer to section 9.3.15 (4).
6 R/W M code M code
10819 0 R Point table error No. Array [2] Point table error number
1 R Point table error factor Integer32 Point table error factor
The error status is indicated when this bit is
turned on.
Refer to section 9.3.15 (5).
11626 0 R M code actual value Unsigned8 Current M code
The completed M code of the point table is
returned.

(2) Details on the OMS bit of Controlword (pt mode)

Bit Symbol Description
4 New set-point The operation starts from the point table specified with the Target point table (P11616) when the
Bit turns on.
5 (reserved) (Note)
6 (reserved)
8 HALT 0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
9 (reserved) (Note)

Note. The values in bit 5, 6 and 9 at reading are undefined. Set "0" when writing.

(3) Details on the OMS bit of Statusword (pt mode)

Bit Symbol Description
10 Target reached 0: Halt (Bit 8) = 0: Target position not reached.
0: Halt (Bit 8) = 1: Axis decelerates
1: Halt (Bit 8) = 0: Target position reached.
1: Halt (Bit 8) = 1: Velocity of axis is 0
Judgment condition for Target position reached
When the current position and the point table command position vary within Position window
(P24679) and this state exceeds Position window time (P24680), this bit will be Target position
reached.
12 Set-point 0: Positioning completed (wait for next command)
acknowledge 1: Positioning being executed
13 Following error 0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (P24678) has elapsed with the number of droop
pulses exceeding the set value of the Following error window (P24677), this bit will be "1".

20 - 81
20．PROFINET COMMUNICATION

(4) pt mode operation sequence

(a) Automatic individual positioning operation
While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New
set-point)" starts the automatic positioning operation.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1 2

Forw ard Point table

rotation No. 1
Servo motor speed 0 r/min
Reverse Point table
rotation No. 2

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 2

Point demand value 1 2

M code of point table

M code actual value M code of point table No. 1 No. 2

Note. Switching on "Controlword bit 4 (New set-point)" is invalid during the servo motor rotation.

20 - 82
20．PROFINET COMMUNICATION

(b) Automatic continuous operation

By merely selecting a point table and switching on "Controlword bit 4 (New set-point)", the operation
can be performed in accordance with the point tables having consecutive numbers.
The following shows a timing chart.
(Note)
Controlw ord bit 4 ON
(New set-point) OFF

Target point table 1

Forw ard Point table Point table

rotation No. 1 No. 2
Servo motor speed 0 r/min
Reverse
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
Statusw ord bit 10 ON
(Target reached) OFF
INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1

Point demand value 1 2

M code of point table

M code actual value No. 1

Note. Switching on "Controlword bit 4 (New set-point)" is invalid during the servo motor rotation.

20 - 83
20．PROFINET COMMUNICATION

20.6.8 Indexer mode (idx)

The following shows the functions and related objects of the indexer mode (idx).
Torque limit value2 (P11627)
Torque
Torque limit value (P24800, P24801) limit
function ×
Control
Profile acceleration (P24707) effort
Position (P24826) Velocity Torque
Profile deceleration (P24708) control Motor
control control
Acceleration
Quick stop deceleration (P24709) limit
function
Quick stop option code (P24666)
Encoder
Target point table (P11616)
Position
Profile velocity (P24705) trajectry
generator
Max profile velocity (P24703) Velocity
limit
Max motor speed (P24704) function ×

Point demand value (P11624)

Point actual value (P11625)

M code actual value (P11626) (Fixed to 0)

Gear ratio (P24721)

Polarity (P24702)

Following error actual value (P24820) + × ×

-

Position actual value (P24676) (Fixed to 0) × × Position actual internal value (P24675)

Velocity actual value (P24684) ×

Torque actual value (P24695) ×

(1) Related object

Default
PNU Sub Access Name Type Description
value
24699 0 R/W Min position range limit Array [2] Minimum value of the position range limit
Integer32 In the indexer method, the value becomes
"0".
1 R/W Max position range limit Maximum value of the position range limit
In the indexer method, the value becomes the
set value of [Pr. PT28 Number of stations per
rotation] -1.
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24666 0 R/W Quick stop option code Integer16 2 Operation setting for Quick stop
Refer to section 8.10.
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
In the indexer method, the value is fixed to
"0".
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min)

20 - 84
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24695 0 R Torque actual value Integer32 Current torque
Unit: 0.1% (rated torque of 100%)
24703 0 R/W Max profile velocity Unsigned32 2000000 maximum speed
Unit: Vel units (0.01 r/min)
24704 0 R/W Max motor speed Unsigned32 Servo motor maximum speed
Unit: r/min
24705 0 R/W Profile velocity Unsigned32 10000 Speed after acceleration completed
Unit: Vel units (0.01 r/min)
24707 0 R/W Profile acceleration Unsigned32 Acceleration at start of movement to target
position
Unit: ms
24708 0 R/W Profile deceleration Unsigned32 Deceleration at arrival at target position
Unit: ms
24722 0 R/W Feed Array [2] Travel distance setting
Unsigned32 Refer to section 9.3.12 (4).
1 R/W Shaft revolutions Number of servo motor shaft revolutions
Refer to section 9.3.12 (4).
24820 0 R Following error actual value Integer32 Droop pulses (Pos units) (Note)
24826 0 R Control effort Integer32 Position control loop output (speed command)
Unit: Vel units (0.01 r/min)
24800 0 R/W Positive torque limit value Unsigned16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801 0 R/W Negative torque limit value Unsigned16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Gear ratio: Number of gear teeth on machine
Unsigned32 side
1 R/W Shaft revolutions 1 Gear ratio: Number of gear teeth on servo
motor side
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note)
Refer to section 8.5.
24744 0 R/W SI unit position Unsigned32 0 SI unit position
00000000h (no unit)
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
FEB44700h (0.01 r/min)
11616 0 R/W Target point table Integer16 0 Point table command
Set next station No.
0 to 254: Positioning operation to specified
stations
11624 0 R Point demand value Integer16 Point table demand
The currently specified next station No. is
returned.
While the servo motor is stopped, the value
becomes the set value of the Target point table
(2D60h).
11625 0 R Point actual value Integer16 Current point table
The completed point table is returned. The
previous value is held until the operation
completes.
11626 0 R M code actual value Unsigned8 Current M code
In the indexer method, the value is fixed to "0".
11627 0 R/W Torque limit value 2 Unsigned16 10000 Torque limit value 2
Unit: 0.1% (rated torque of 100%)
Set a torque limit value in stop.

Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).

20 - 85
20．PROFINET COMMUNICATION

(2) Details on the OMS bit of Controlword (idx mode)

Bit Symbol Description
4 New set-point The operation starts toward the point table specified with the Target point table (P11616) when
the bit turns on.
5 Direction 0: Station No. decreasing direction
1: Station No. increasing direction
6 Operation mode 0: Rotation direction specifying indexer operation
1: Shortest rotating indexer operation
8 HALT 0: Positioning is executed.
(Not supported) 1: The motor stops according to Halt option code (P24669).
9 (reserved) (Note)

Note. The value in bit 9 at reading is undefined. Set "0" when writing.

(3) Details on the OMS bit of Statusword (idx mode)

Bit Symbol Description
10 (reserved) (Note)
12 Set-point 0: Positioning completed (wait for next command)
acknowledge 1: Positioning being executed
13 Following error 0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (P24678) has elapsed with the number of droop
pulses exceeding the set value of the Following error window (P24677), this bit will be "1".

Note. The value in bit 10 at reading is undefined.

20 - 86
20．PROFINET COMMUNICATION

(4) idx mode operation sequence

(a) Rotation direction specifying indexer operation

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.

The following timing chart shows that an operation is performed at a stop of the station No. 0 when
servo-on.
Controlw ord bit 6 ON Rotation direction specifying indexer operation
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation *1
Servo motor speed (Note 4) 0 r/min
Reverse *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

20 - 87
20．PROFINET COMMUNICATION

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Station No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

20 - 88
20．PROFINET COMMUNICATION

(b) Shortest rotating indexer operation

POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When travel distances to a target station position from CCW and from CW are
the same, the shaft will rotate to the station No. increasing direction.

This disables "Controlword bit 5 (Direction)". The following timing chart shows that an operation is
performed at a stop of the station No. 0 when servo-on.
Shortest rotating indexer operation
Controlw ord bit 6 ON
(Indexer mode) OFF
(Note 2)
Controlw ord bit 4 ON
(New set-point) OFF
Controlw ord bit 5 ON
(Direction) OFF

Target point table (Note 1) 1 3 1

(Note 3)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard *3
rotation
Servo motor speed (Note 4) 0 r/min
Reverse *1 *2
rotation

Statusw ord bit 12 ON

(Set-point acknow ledge) OFF
INP/S_INP ON
(In-position) (Note 6) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 1 3 1

Point demand value 1 3 1

(Note 5) (Note 5) (Note 5)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

20 - 89
20．PROFINET COMMUNICATION

Note 1. When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] -1, the servo motor does
not operate.
2. "Controlword bit 4 (New set-point)" is not received when the rest of command travel distance is other than "0".
3. Switching "Profile velocity" during the servo motor rotation does not enable this.
4. The following shows the operations to be executed.

Operation *1 *2 *3
Station No. 1 No. 3 No. 1
Servo motor
100.00 r/min 100.00 r/min 150.00 r/min
speed

4 4 4
3 5 3 5 3 5

2 6 2 6 2 6
Positioning
1 7 1 7 1 7
0 0 0

5. A delay time can be set with [Pr. PT39].

6. After power-on, this turns on if the value is within the in-position range of the corresponding station position.

20 - 90
20．PROFINET COMMUNICATION

20.6.9 Jog mode (jg)

The following shows the function and related objects of the Jog mode (jg).
Torque limit value2 (P11627)
Torque
Torque limit value (P24800, P24801) limit
function ×

Software position limit (P24701)

× Control
Profile acceleration (P24707) effort
Position (P24826) Velocity Torque
Profile deceleration (P24708) control control control Motor
Acceleration
Quick stop deceleration (P24709) limit
function
Quick stop option code (P24666) Position
trajectry
Profile velocity (P24705) generator Encoder
Max profile velocity (P24703) Velocity
limit
Max motor speed (P24704) function ×

Point demand value (P11624)

Point actual value (P11625)

Gear ratio (P24721)

Polarity (P24702)

Following error actual value (P24820) + × ×

-

Position actual value (P24676) × × Position actual internal value (P24675)

Velocity actual value (P24684) ×

Torque actual value (P24695) ×

(1) Related object

Default
PNU Sub Access Name Type Description
value
24699 0 R/W Min position range limit Array [2] Minimum value of the position range limit
Integer32 The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
mm/inch/pulse: -2147483648
In the indexer method, the value becomes
"0".
1 R/W Max position range limit Maximum value of the position range limit
The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
mm/inch/pulse: 2147483647
In the indexer method, the set value in [Pr.
PT28] -1 will be set.
24701 0 R/W Min position limit Array [2] 0 Minimum position address (Pos units)
Integer32 This cannot be used in the indexer method.
1 R/W Max position limit 0 Maximum position address (Pos units)
This cannot be used in the indexer method.
24703 0 R/W Max profile velocity Unsigned32 2000000 maximum speed
Unit: Vel units (0.01 r/min or 0.01 mm/s)
24704 0 R/W Max motor speed Unsigned32 Servo motor maximum speed
Unit: r/min
24705 0 R/W Profile velocity Unsigned32 10000 Speed after acceleration completed
Unit: Vel units (0.01 r/min or 0.01 mm/s)

20 - 91
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
24707 0 R/W Profile acceleration Unsigned32 0 Acceleration at start of movement to target
position
Unit: ms
24708 0 R/W Profile deceleration Unsigned32 0 Deceleration at arrival at target position
Unit: ms
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24666 0 R/W Quick stop option code Integer16 2 Operation setting for Quick stop
Refer to section 8.10.
24675 0 R Position actual internal Integer32 Current position (Enc inc)
value
24676 0 R Position actual value Integer32 Current position (Pos units)
In the indexer method, the value is fixed to
"0".
24684 0 R Velocity actual value Integer32 Current speed
Unit: Vel units (0.01 r/min or 0.01 mm/s)
In the indexer method, this is available only in
0.01 r/min.
24695 0 R Torque actual value Integer16 Current torque
Unit: 0.1% (rated torque of 100%)
24722 0 R/W Feed Array [2] Travel distance setting
Unsigned32 Refer to section 9.3.12 (4).
1 R/W Shaft revolutions 1 Number of servo motor shaft revolutions
Refer to section 9.3.12 (4).
24820 0 R Following error actual value Integer32 Droop pulses (Pos units) (Note)
24826 0 R Control effort Integer32 Position control loop output (speed
command)
Unit: Vel units (0.01 r/min or 0.01 mm/s)
24800 0 R/W Positive torque limit value Unsigned16 10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
24801 0 R/W Negative torque limit value Unsigned16 10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
24721 0 R/W Motor revolutions Array [2] 1 Number of revolutions of the servo motor
Unsigned32 shaft (numerator)
In the indexer method, this means the
number of gear teeth on machine side.
1 R/W Shaft revolutions 1 Number of revolutions of the drive shaft
(denominator)
In the indexer method, this means the
number of gear teeth on servo motor side.
24702 0 R/W Polarity Unsigned8 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note)
Refer to section 8.5.
24744 0 R/W SI unit position Unsigned32 0 SI unit position
The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
Refer to section 9.3.12 (5).
24745 0 R/W SI unit velocity Unsigned32 0 SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
In the indexer method, this is available only in
0.01 r/min.

20 - 92
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
11624 0 R Point demand value Integer16 Point table demand
In the point table method, "0" is returned.
In the indexer method, the next station No. is
set.
11625 0 R Point actual value Integer16 Current point table
In the point table method, the previous value
is held.
In the indexer method, the station No. at
which the servo motor has stopped is set.
However, the previous value is held when
S_MEND is off.
11627 0 R/W Torque limit value 2 Unsigned16 10000 Torque limit value 2
Unit: 0.1% (rated torque of 100%)
A torque limit value in stop is set.
This can be used only in the indexer method.

Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).

(2) Details on the OMS bit of Controlword (jg mode)

Bit Symbol Description
4 Rotation start 0: Stop the motor
1: Start the motor
5 Direction 0: Forward rotation (address increase)
1: Reverse rotation (address decrease)
6 (reserved) (Note)
8 HALT 0: Positioning is executed.
1: The servo motor stops according to Halt option code (P24669).
In the indexer method, this bit is disabled.
9 (reserved) (Note)

Note. The values in bit 6 and 9 at reading are undefined.

(3) Details on the OMS bit of Statusword (jg mode)

Bit Symbol Description
10 Target reached 0 (Halt (Bit 8) = 0) : Target position not reached.
0 (Halt (Bit 8) = 1) : Axis decelerates
1 (Halt (Bit 8) = 0) : Target position reached.
1 (Halt (Bit 8) = 1) : Velocity of axis is 0
Judgment condition for Target position reached
If the error between Position actual value (P24676) and Target position (P24698) has stayed within
Position window (P24679) for Position window time (P24680) or more, Target position reached is
stored.
12 (reserved) (Note)
13 Following error 0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (P24678) has elapsed with the number of droop
pulses exceeding the set value of the Following error window (P24677), this bit will be "1".

Note. The value in bit 12 at reading is undefined.

20 - 93
20．PROFINET COMMUNICATION

(4) jg mode operation sequence in the point table method

(a) When operating at a constant speed
Decelerates w ith Profile acceleration
Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

(b) When changing the speed during operation

You can change the servo motor speed by changing the "Profile velocity" during operation. However,
the servo motor speed cannot be changed during deceleration. The acceleration time constant and
the deceleration time constant can be changed only while the servo motor is stopped.
Decelerates w ith Profile acceleration

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation
Accelerates w ith Profile acceleration

Profile velocity 1000.00 r/min 2000.00 r/min 500.00 r/min 1500.00 r/min

Controlw ord bit 4 ON

(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
Statusw ord bit 10 ON
(Target reached) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

20 - 94
20．PROFINET COMMUNICATION

(5) jg mode operation sequence in the indexer method

(a) Station JOG operation
The following timing chart shows that a station JOG operation is performed at a stop of the station
No. 0 when servo-on.
(Note 1)
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF
(Note 2)
Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0 4 7 2

Point demand value 0 1 2 3 4 4 5 6 7 7 6 5 4 3 2

(Note 3) (Note 3) (Note 3)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2 Torque limit value2
Positive torque limit value/ Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value Negative torque limit value

Note 1. "Controlword bit 4 (Rotation start)" is not received when the rest of command travel distance is other than "0".
2. Switching "Profile velocity" during the servo motor rotation does not enable this.
3. A delay time can be set with [Pr. PT39].

20 - 95
20．PROFINET COMMUNICATION

(b) JOG operation

The following timing chart shows that a JOG operation is performed at a stop of the station No. 0
when servo-on.
Controlw ord bit 4 ON
(Rotation start) OFF
Controlw ord bit 5 ON
(Direction) OFF

Profile velocity 100.00 r/min 150.00 r/min

Forw ard
rotation
Servo motor speed 0 r/min
Reverse
rotation

INP/S_INP ON
(In-position) OFF
Status DO 5 bit 5 ON
(S_CPO (Rough match)) OFF
Status DO 5 bit 6 ON
(S_MEND (Travel completion)) OFF

Point actual value 0

Point demand value 0 1 2 3 4 5 5 4 3 2 1 0

(Note) (Note)

Enabled torque limit value

Torque limit value2 Torque limit value2 Torque limit value2

Positive torque limit value/ Positive torque limit value/
Negative torque limit value Negative torque limit value

Note. A delay time can be set with [Pr. PT39].

20 - 96
20．PROFINET COMMUNICATION

20.7 WEB SERVER

You can configure various settings and monitor the driver in a web browser with the web server function of _
(PROFINET).

When you access the PROFINET network card with web browser, the following will be displayed.
(The example shows Card parameter and Network configuration.)

To save each setting set from the Card parameter page to EEP-ROM, Store Parameters are required. (Refer
to section 9.1.)
Input the parameter setting values in hexadecimal.

20 - 97
20．PROFINET COMMUNICATION

20.8 MANUFACTURER FUNCTIONS

20.8.1 PROFIdrive parameters for status monitor

Default
PNU Sub Access Name Type Description
value
11009 0 R/W Monitor 1 Integer32 Cumulative feedback pulses (Unit: pulse)
Cumulative feedback pulses Cleared by writing "0000 1EA5h".
11010 0 R Monitor 2 Integer32 Servo motor speed
Servo motor speed (Unit: r/min)
11011 0 R Monitor 3 Integer32 Droop pulses
Droop pulse (Unit: pulse)
11012 0 R Monitor 4 Integer32 Cumulative command pulses (Unit: pulse)
Cumulative command
pulses
11013 0 R Monitor 5 Integer32 Command pulse frequency
Command pulse frequency (Unit: kpulse/s)
11016 0 R Monitor 8 Unsigned16 Regenerative load ratio
Regenerative load ratio (Unit: %)
11017 0 R Monitor 9 Unsigned16 Effective load ratio
Effective load ratio (Unit: %)
11018 0 R Monitor 10 Unsigned16 Peak load ratio
Peak load ratio (Unit: %)
11019 0 R Monitor 11 Integer16 Instantaneous torque
Instantaneous torque (Unit: %)
11020 0 R Monitor 12 Integer32 Position within one-revolution
Within one-revolution (Unit: pulse)
position
11021 0 R Monitor 13 Integer32 ABS counter
ABS counter (Unit: rev)
11022 0 R Monitor 14 Unsigned16 Load to motor inertia ratio
Load to motor inertia ratio (Unit: 0.01 times)
11023 0 R Monitor 15 Unsigned16 Bus voltage
Bus voltage (Unit: V)
11024 0 R Monitor 16 Integer32 Load-side cumulative feedback pulses
Load side encoder (Unit: pulse)
cumulative feedback pulses
11025 0 R Monitor 17 Integer32 Load-side encoder droop pulses
Load side encoder droop (Unit: pulse)
pulses
11026 0 R Monitor 18 Integer32 Load-side encoder information 1
Load side encoder (Unit: pulse)
information 1
11027 0 R Monitor 19 Integer32 Load-side encoder information 2
Load side encoder (Unit: rev)
information 2
11031 0 R Monitor 23 Integer16 Servo motor thermistor temperature
Temperature of motor (Unit: ˚C)
thermistor
11032 0 R Monitor 24 Integer32 Servo motor-side cumulative feedback pulses
Motor side cumulative F/B (before gear)
pulses (BeforeGear) (Unit: pulse)
11033 0 R Monitor 25 Integer32 Electrical angle
Electrical angle (Unit: pulse)
11043 0 R Monitor 35 Integer32 Servo motor-side/load-side position deviation
Motor/load side position (Unit: pulse)
deviation

20 - 98
20．PROFINET COMMUNICATION

Default
PNU Sub Access Name Type Description
value
11044 0 R Monitor 36 Integer32 Servo motor-side/load-side speed deviation
Motor/load side speed (Unit: r/min)
deviation
11045 0 R Monitor 37 Integer16 Internal temperature of encoder
Internal temperature of (Unit: ˚C)
encoder
11046 0 R Monitor 38 Integer16 Settling time
Settling time (Unit: ms)
11047 0 R Monitor 39 Integer16 Oscillation detection frequency
Oscillation detection (Unit: Hz)
frequency
11048 0 R Monitor 40 Unsigned32 Number of tough drive operations
Number of tough drive (Unit: time)
operations
11053 0 R Monitor 45 Integer16 Unit power consumption
Unit power consumption (Unit: W)
11054 0 R Monitor 46 Integer32 Unit total power consumption
Unit total power (Unit: Wh)
consumption
11055 0 R Monitor 47 Integer32 Current position (Note 2)
Current position (Unit: pos units)
11056 0 R Monitor 48 Integer32 Command position (Note 2)
Command position (Unit: pos units)
11057 0 R Monitor 49 Integer32 Command remaining distance (Note 3)
Remaining command (Unit: pos units)
distance
11058 0 R Monitor 50 Integer16 Point table No./station position No. (Note 3)
Point table No./Program (Unit: none)
No./Station position No.

2. In the indexer method, the value is fixed to "0".

3. This is available in the point table method and the indexer method. In the other control modes, the value is fixed to "0".

20 - 99
20．PROFINET COMMUNICATION

20.8.2 Stroke end

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is
performed by either of the following stop methods.
Operation status
Remark
During rotation at constant speed During deceleration to a stop
No S-pattern acceleration/ No S-pattern acceleration/ Travels for the droop pulse
deceleration deceleration
With S-pattern acceleration/ With S-pattern acceleration/ portion and stops the servo
deceleration deceleration motor.
Part of droop Part of A difference will be
Servo motor speed pulses Servo motor speed droop
pulses generated between the
0 r/min 0 r/min command position and the
(0 mm/s) (0 mm/s) current position.
Perform a home position
LSP ON LSP ON
or OFF or OFF
return again.
LSN LSN

Perform a return as follows when the stroke end is detected.

Mode Return method
Profile position mode (pp) Input the position command of the direction opposite to the limit to Target position (P24698).
Profile velocity mode (pv) Input the speed command of the direction opposite to the limit to Target velocity (P24831).
When Standard telegram1 is selected, input it to Speed setpoint A.
Point table mode (pt) Perform operation opposite to the limit with the JOG operation.
After moving the machine to the range of the limit, execute a home position return.
Jog mode (jg) Perform operation opposite to the limit with the Jog mode.
Indexer mode (idx) Perform operation opposite to the limit with the JOG operation.

20 - 100
20．PROFINET COMMUNICATION

20.8.3 Software limit

Specify the upper and lower limits of the command position and current position. If a command position
exceeding the limit position is specified, the command position is clamped at the limit position. Specify a
relative position from the machine home point (position address = 0) as the limit position.
This function is enabled when the home position is not erased in the profile position mode (pp). While the
clamp processing is being performed with the command position exceeding the limit value, [AL. 98 Software
limit warning] occurs and not cleared. When the position command of the direction opposite to reached
Software position limit is given, the operation can be restarted.

Table 8.3 Definition of Software position limit

Default
PNU Sub Access Name Type Description
value
24701 0 R/W Min position limit (Note) Array [2] 0 Specify a relative position from the machine
Integer32 home point (position address = 0) as the
minimum value of the command position and
current position. When the value falls below
the minimum value, it is clamped and
processed as the minimum value.
1 R/W Max position limit (Note) 0 Specify a relative position from the machine
home point (position address = 0) as the
maximum value of the command position and
current position. When the value exceeds the
maximum value, it is clamped and processed
as the maximum value.

Note. When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software
position limit is disabled.

Software position limit (P24701) can be saved in EEP-ROM. The data saved in EEP-ROM is reflected to
Software position limit (P24701) at power-on.

20 - 101
20．PROFINET COMMUNICATION

20.8.4 Torque limit

Generated torque can be limited with the values of Positive torque limit value (P24800) and Negative torque
limit value (P24801). When "0" is set, torque is not generated.
The polarity of the torque limit value varies depending on the setting of bit 5 Torque polarity of Polarity
(P24702).

Table 8.4 Definition of Positive/Negative torque limit value

Default
PNU Sub Access Name Type Description
value
24800 0 R/W Positive torque limit value Unsigned16 10000 [Pr. PA11 Forward rotation torque limit]
Torque limit value in CCW power running/CW
regeneration
Unit: 0.1% (rated torque of 100%)
Range: 0 to 10000
Changing polarity of the torque limit value will
change the reading/writing parameter from
[Pr. PA11] to [Pr. PA12].
When the parameter is changed, the torque
limit value will be at CCW direction
regeneration/CW direction power running.
24801 0 R/W Negative torque limit value Unsigned16 10000 [Pr. PA12 Reverse rotation torque limit]
Torque limit value in CW power running/CCW
regeneration
Unit: 0.1% (rated torque of 100%)
Range: 0 to 10000
Changing polarity of the torque limit value will
change the reading/writing parameter from
[Pr. PA12] to [Pr. PA11].
When the parameter is changed, the torque
limit value will be at CCW direction power
running/CW direction regeneration.

20 - 102
20．PROFINET COMMUNICATION

20.8.5 Polarity
The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set with Polarity (P24702). For the Polarity setting to position commands and speed commands, use [Pr.
PA14]. For the Polarity setting to torque commands, use [Pr. PA14] and [Pr. PC29] (x _ _ _).
A change in the setting of Polarity is not applied immediately. Refer to section 8.14.1 for the procedure of
enabling parameters.

(1) Bit definition

7 6 5 4 3 2 1 0
Position POL Speed POL Torque POL Reserve

The polarity is reversed when this bit is turned on.

(2) Target parameter

The following shows objects whose polarity is reversed according to the setting of Polarity.
No. Object Remark
1 Target position (P24698)
2 Target velocity (P24831)
3 Target torque (P24689)
5 Position actual value (P24676)
6 Velocity demand value (P24683) Whether to reverse the polarity using Polarity can be switched with [Pr. PC76]
(_ x _ _).
[Pr. PC76] = _ 0 _ _ (Automatic setting): Automatically set depending on the
type of the network in use.
[Pr. PC76] = _ 1 _ _ (POL setting enabled): The polarity is reversed using
Polarity.
[Pr. PC76] = _ 2 _ _ (POL setting disabled): The polarity is not reversed using
Polarity.
7 Velocity actual value (P24684)
8 Torque demand (P24692)
9 Torque actual value (P24695)
10 Positive torque limit value (P24800) The corresponding parameters are changed according to the settings of [Pr.
PA14] and [Pr. PC29] (x _ _ _).
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA12] (TLN).
11 Negative torque limit value (P24801) The corresponding parameters are changed according to the settings of [Pr.
PA14] and [Pr. PC29] (x _ _ _).
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA11] (TLP).
12 Digital inputs (P24829) The corresponding status is changed according to the setting of [Pr. PA14] as
follows.
[Pr. PA14] = 0: The status of LSN (Reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSP (Forward rotation stroke end)
is applied to Positive limit switch (bit 1).
[Pr. PA14] = 1: The status of LSP (Reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSN (reverse rotation stroke end) is
applied to Positive limit switch (bit 1).
13 Speed setpoint A
14 Speed actual value A

20 - 103
20．PROFINET COMMUNICATION

20.8.6 Touch probe

POINT
Touch probe cannot be used in the indexer method.

The touch probe function that executes current position latch by sensor input can be used.
With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and
TPR2 (touch probe 2) or the position feedback of the encoder zero point passing can be memorized and
stored into each object of P24762 to P24765 according to the conditions specified in Touch probe function
(P24760).
The following shows the touch probe detection resolution. Enabling the high precision touch probe will disable
the encoder output pulses.
Touch probe1 Touch probe2
Input terminal TPR1 TPR2
Encoder [Pr. PD37] = _ _ _ 0 (Selection of high-precision touch probe 55 μs 55 μs
resolution is disabled)
[Pr. PD37] = _ _ _ 1 (Selection of high-precision touch probe 55 μs Rising: 2 µs
is enabled) Falling: 55 µs

(1) Related PROFIdrive parameters

Default
PNU Sub Access Name Type Description
value
24760 0 R/W Touch probe function Unsigned16 Settings such as enabling/disabling of the
touch probe function and trigger conditions
24761 0 R Touch probe status Unsigned16 0 Status information of the touch probe function
24762 0 R Touch probe pos1 pos value Integer32 0 Shows the rising edge position of Touch
probe 1.
(Pos units)
24763 0 R Touch probe pos1 neg Integer32 0 Shows the falling edge position of Touch
value probe 1.
(Pos units)
24764 0 R Touch probe pos2 pos value Integer32 0 Shows the rising edge position of Touch
probe 2.
(Pos units)
24765 0 R Touch probe pos2 neg Integer32 0 Shows the falling edge position of Touch
value probe 2.
(Pos units)

20 - 104
20．PROFINET COMMUNICATION

(2) Details of Touch probe function (P24760)

Bit Definition
0 0: Touch probe 1 disabled
1: Touch probe 1 enabled
1 0: Single trigger mode
1: Continuous trigger mode
2 0: Set input of touch probe 1 as a trigger
1: Set 0 point of the encoder as a trigger
3 (Reserved)
4 0: Stop sampling at the rising edge of touch probe 1
1: Start sampling at the rising edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback latched at rising edge of touch probe 1
is stored in Touch probe pos1 pos value (P24762).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of when the encoder zero point was
passed through is stored in Touch probe pos1 pos value (P24762).
5 0: Stop sampling at the falling edge of touch probe 1
1: Start sampling at the falling edge of touch probe 1
When the input of touch probe 1 is set as a trigger (Bit 2 = 0), the position feedback latched at falling edge of touch probe 1
is stored in Touch probe pos1 neg value (P24763).
When the encoder zero point is set as a trigger (Bit 2 = 1), the position feedback of when the encoder zero point was
passed through is stored in Touch probe pos1 neg value (P24763).
6 (Reserved)
7 (Reserved)
8 0: Touch probe 2 disabled
1: Touch probe 2 enabled
9 0: Single trigger mode
1: Continuous trigger mode
10 0: Set input of touch probe 2 as a trigger
1: Set 0 point of the encoder as a trigger
11 (Reserved)
12 0: Stop sampling at the rising edge of touch probe 2
1: Start sampling at the rising edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback latched at rising edge of touch probe 2
is stored in Touch probe pos2 pos value (P24764).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of when the encoder zero point was
passed through is stored in Touch probe pos2 pos value (P24764).
13 0: Stop sampling at the falling edge of touch probe 2
1: Start sampling at the falling edge of touch probe 2
When the input of touch probe 2 is set as a trigger (Bit 10 = 0), the position feedback latched at falling edge of touch probe
2 is stored in Touch probe pos2 neg value (P24765).
When the encoder zero point is set as a trigger (Bit 10 = 1), the position feedback of when the encoder zero point was
passed through is stored in Touch probe pos2 neg value (P24765).
14 (Reserved)
15 (Reserved)

20 - 105
20．PROFINET COMMUNICATION

(3) Details of Touch probe status (P24761)

Bit Definition
0 0: Touch probe 1 disabled
1: Touch probe 1 enabled
1 0: The rising edge position of touch probe 1 has not been stored.
1: The rising edge position of touch probe 1 has been stored.
When the position feedback is stored in Touch probe pos1 pos value (P24762), "1" will be set.
Setting Bit 4 of Touch probe function (P24760) to "0" will clear the value to "0".
2 0: The falling edge position of touch probe 1 has not been stored.
1: The falling edge position of touch probe 1 has been stored.
When the position feedback is stored in Touch probe neg1 neg value (P24763), "1" will be set.
Setting Bit 5 of Touch probe function (P24760) to "0" will clear the value to "0".
3-7 (Reserved)
8 0: Touch probe 2 disabled
1: Touch probe 2 enabled
9 0: The rising edge position of touch probe 2 has not been stored.
1: The rising edge position of touch probe 2 has been stored.
When the position feedback is stored in Touch probe pos2 pos value (P24764), "1" will be set.
Setting Bit 12 of Touch probe function (P24760) to "0" will clear the value to "0".
10 0: The falling edge position of touch probe 2 has not been stored.
1: The falling edge position of touch probe 2 has been stored.
When the position feedback is stored in Touch probe neg2 neg value (P24765), "1" will be set.
Setting Bit 13 of Touch probe function (P24760) to "0" will clear the value to "0".
11-15 (Reserved)

20 - 106
20．PROFINET COMMUNICATION

(4) Timing chart

Touch probe function P24760 Bit 0 1

Enable Touch Probe 1
13
P24760 Bit 1
Trigger first event

P24760 Bit 4 1
Enable Sampling at positive edge
7 9
P24760 Bit 5
Enable Sampling at negative edge

2 14
Touch probe status P24761 Bit 0
Touch Probe 1 is enabled
8
4 12
P24761 Bit 1 14
Touch Probe 1 positive edge stored

6
P24761 Bit 2 14
Touch Probe 1 negative edge stored
(Note)
3 (Note) 5 11
Touch Probe Signal (Note) 0.5 ms or longer

0.5 ms or
longer
4a 8a 10 12a
P24762
Touch Probe position 1 positive value 0000 yyyy uuuu
6a 14a
P24763
Touch Probe position 1 negative value 0000 xxxx

Note. Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.

20 - 107
20．PROFINET COMMUNICATION

Transition
Object Description
No.
1 P24760 bit 0, 4, 5 = 1 Enables Touch Probe1. The rising edge and falling edge are enabled.
2 → P24761 bit 0 = 1 Turns on the Touch Probe1 enable status.
3 Turns on Touch Probe Signal (TPR1).
4 → P24761 bit 1 = 1 Turns on the Touch Probe1 positive edge stored status.
4a → P24762 Sets the latched position feedback for Touch probe position1 positive value.
5 Turns off Touch Probe Signal (TPR1).
6 → P24761 bit 2 = 1 Turns on the Touch Probe1 negative edge stored status.
6a → P24763 Sets the latched position feedback for Touch probe position1 negative value.
7 P24760 bit 4 = 0 Turns off Sample positive edge. Rising edge detection is disabled.
8 → P24761 bit 1 = 0 Turns off Touch Probe1 positive edge stored status.
8a → P24762 Touch probe position1 positive value does not change.
9 P24760 bit 4 = 1 Turns on Sample positive edge. Rising edge detection is enabled.
10 → P24762 Touch probe position1 positive value does not change.
11 Turns on Touch Probe Signal (TPR1).
12 → P24761 bit 1 = 1 Turns on the Touch Probe1 negative edge stored status.
12a → P24762 Sets the latched position feedback for Touch probe position1 negative value.
13 P24760 bit 0 = 0 Disables Touch Probe1.
14 → P24761 bit 0, 1, 2 = 0 Clears all the status Bit.
14a → P24762, P24763 Touch probe position1 positive/negative value does not change.

(5) High-precision touch probe

Touch probe 2 supports high-precision touch probe. The normal touch probe has the latch function with
precision of 55 μs. On the other hand, the high-precision touch probe latches precisely startup of TPR2
(touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set [Pr. PD37] to "_ _ _ 1".
While the high-precision touch probe is being used, the encoder pulse output function cannot be used.
The precision of falling edge is 55 μs in this case as well.

20 - 108
20．PROFINET COMMUNICATION

20.8.7 One-touch tuning

Refer to section 6.2 for one-touch tuning. Using One-touch tuning mode (P11600) allows one-touch tuning
from a upper side. The function is the same as previous one-touch tuning except that it can be executed via
network and it is not compatible with the driver command method.

(1) Related object

Default
PNU Sub Access Name Type Description
value
11600 0 R/W One-touch tuning mode Unsigned8 0 One-touch tuning command
Setting a value of "1" to "3" to this parameter
starts one-touch tuning. After one-touch
tuning is completed, the setting value
automatically changes to "0".
0: During one-touch tuning stop
1: Basic mode
2: High mode
3: Low mode
11601 0 R One-touch tuning status Integer8 0 One-touch tuning status
Regardless of whether one-touch tuning is
properly completed or not, the setting value
changes to 100% at the completion.
(Unit: %)
11602 0 W One-touch tuning Stop Unsigned16 0 One-touch tuning stop command
Writing "1EA5h" stops one-touch tuning.
Writing a value other than "1EA5h" will trigger
Error No. 0x02 (Low or high limit exceeded).
11603 0 W One-touch tuning Clear Unsigned16 0 The parameter changed in one-touch tuning
can be returned to the value before the
change.
0000h: Restores the default value
0001h: Restores the value before one-touch
tuning.
The setting value of the restored parameter is
stored to the EEP-ROM.
11604 0 R One-touch tuning Error Unsigned16 0 One-touch tuning error code
Code 0000h: Finished normally
C000h: Tuning canceled
C001h: Overshoot exceeded
C002h: Servo-off during tuning
C003h: Control mode error
C004h: Time-out
C005h: Load to motor inertia ratio
misestimated
C00Fh: One-touch tuning disabled

20 - 109
20．PROFINET COMMUNICATION

(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.

Start

Refer to chapter 4 to start the system.

Startup of the system

Rotate the servo motor with a upper side. (One-touch tuning cannot be performed if the servo
Operation
motor is not operating.)

Response mode selection Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to
One-touch tuning perform in One-touch tuning mode (P11600) during servo motor driving to perform one-touch
tuning.

Gains and filters will be adjusted automatically. During one-touch tuning, the progress can be
One-touch tuning in progress
checked with One-touch tuning status (P11601).

Check whether one-touch tuning is completed normally with One-touch tuning Error Code
One-touch tuning completion
(P11604). When one-touch tuning is completed normally, the parameters will be set
automatically. Refer to section 6.2 for the parameters that are set automatically.
After a tuning error is returned, take the appropriate action according to section 6.2.2 (4)

Tuning result check

Check the tuning result.
If the tuning result is not satisfactory, you can return the parameter to the value before the
one-touch tuning or the initial value using One-touch tuning Clear (P11603).

End

20.8.8 Driver life diagnosis function

You can check the cumulative energization time and the number of on/off times of the inrush relay based on
the data in the driver. This function gives an indication of the replacement time for parts of the driver including
a capacitor and a relay before they malfunction. The information of the driver life diagnosis function can be
obtained with the following objects.
PNU Sub Access Name Type Description
11288 0 R Power ON cumulative time Unsigned32 The cumulative energization time of the driver is returned.
11289 0 R Number of inrush relay Unsigned32 The number of on/off times of the inrush relay of the driver
on/off times is returned.

20 - 110
20．PROFINET COMMUNICATION

20.8.9 Machine diagnosis

This function estimates the friction and vibrational component of the drive system in the equipment based on
the data in the driver, and recognizes an error in the machine parts, including a ball screw and bearing. The
information of the machine diagnosis function can be obtained with the following objects.
P11296
Friction estimation status at forw ard rotation During estimation Estimation completed

Friction estimation status at reverse rotation During estimation Estimation completed

Vibration estimation status During estimation Estimation completed

P11297/P11298 Undefined value Estimated value

P11299/P11300 Undefined value Estimated value

P11301 to P11304 Undefined value Estimated value

(1) Related object

PNU Sub Access Name Type Description
11296 0 R Machine diagnostic status Unsigned16 Machine diagnostic status
Refer to section 9.3.5 (2).
11297 0 R Static friction torque at Integer16 Static friction torque at forward rotation
forward rotation Static friction torque at forward rotation is returned in
increments of 0.1%.
11298 0 R Dynamic friction torque at Integer16 Dynamic friction torque at forward rotation (at rated speed)
forward rotation Dynamic friction torque at forward rotation at the rated
(at rated speed) speed is returned in increments of 0.1%.
11299 0 R Static friction torque at Integer16 Static friction torque at reverse rotation
reverse rotation Static friction torque at reverse rotation is returned in
increments of 0.1%.
11300 0 R Dynamic friction torque at Integer16 Dynamic friction torque at reverse rotation (at rated speed)
reverse rotation Dynamic friction torque at reverse rotation at rated speed is
(at rated speed) returned in increments of 0.1%.
11301 0 R Oscillation frequency during Integer16 Vibration frequency at stop/servo-lock
motor stop Vibration frequency during stop/servo-lock is displayed in
increments of 1 Hz.
11302 0 R Vibration level during motor Integer16 Vibration level at stop/servo-lock
stop Vibration level during stop/servo-lock is displayed in
increments of 0.1%.
11303 0 R Oscillation frequency during Integer16 Vibration frequency during operation
motor operating Vibration frequency during operation is displayed in
increments of 1 Hz.
11304 0 R Vibration level during motor Integer16 Vibration level during operation
operating Vibration level during operation is displayed in increments of
0.1%.

20 - 111
20．PROFINET COMMUNICATION

20.8.10 Quick stop

Deceleration to a stop is executed with the Quick stop command of Control word 1 (PROFIdrive standard)
and Controlword (CiA 402 standard) (P24640). The servo motor decelerates to a stop according to a time
constant of Quick stop deceleration (P24709) and the state shifts to Switch on inhibited (Switch on disabled).
The state shifts to Switch on inhibited (Switch on disabled) and the motor stops with the dynamic brake for tq.
The following shows related PROFIdrive parameters.
Default
PNU Sub Access Name Type Description
value
24709 0 R/W Quick stop deceleration Unsigned32 100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
24666 0 R/W Quick stop option code Integer16 2 Refer to table 8.10 for details.

The operation method of deceleration to a stop can be specified with Quick stop option code (P24666). The
following table shows the supported methods and the operations. Basic operation is the same as the forced
stop function. The difference should be only the deceleration time constant.

Table 8.10 Quick stop option code

Setting
Description
value
1 tq: The state shifts immediately to Switch on inhibited and the motor stops with dynamic brake.
pp/pv: The servo motor decelerates to a stop with Profile deceleration (P24708) and the state shifts to Switch on inhibited
(Switch on disabled).
hm: The servo motor decelerates to a stop with Homing acceleration (P24730) and the state shifts to Switch on inhibited
(Switch on disabled).
(Not compatible) (Note)
2 pp/pv/hm/pt/jg/idx: The servo motor decelerates to a stop with Quick stop deceleration (P24709) and the state shifts to
Switch on inhibited (Switch on disabled).
tq: The state shifts immediately to the Switch on inhibited and the motor stops with dynamic brake.
3 The current is limited and the motor decelerates. Then, the state shifts to Switch on inhibited (Switch on disabled). (Not
compatible) (Note)
4 The voltage is limited and the motor decelerates. Then, the state shifts to Switch on inhibited (Switch on disabled). (Not
compatible) (Note)
5 The motor decelerates to a stop. Then, the state does not change from the Quick Stop Active (servo-on). (not compatible)
(Note)
6 The motor decelerates to a stop with Quick stop deceleration (P24709). Then, the state does not change from the Quick
Stop Active (servo-on). (not compatible) (Note)
7 The current is limited and the motor decelerates. Then, the state does not change from the Quick Stop Active (servo-on).
(not compatible) (Note)
8 The voltage is limited and the motor decelerates. Then, the state does not change from the Quick Stop Active (servo-on).
(not compatible) (Note)

Note. This is not supported by the driver.

20 - 112
20．PROFINET COMMUNICATION

20.8.11 Halt
When Halt Bit (Bit 8 of Controlword (CiA 402 standard)) is set to 1, the servo motor decelerates to a stop with
the deceleration time constant of Homing acceleration (P24730), Profile deceleration (P24708) or the point
table according to the setting of Halt option code (P24669). This function can be used in Profile mode,
homing mode (hm) and point table method (pt/jg).
When Halt Bit is set to 0 at deceleration stop operation, the servo motor decelerates to a stop and returns to
the operable state. The following table lists the related objects.
Default
PNU Sub Access Name Type Description
value
24669 0 R/W Halt option code Integer16 1 Setting for executing the Halt function
Refer to table 8.11 for details.

The following table shows descriptions of Halt option code. However, in the tq mode, Torque demand value
(P24692) is set to 0 regardless of Halt option code. The amount of torque change at this time can be set
using Torque slope (P24711).

Table 8.11 Halt option code

Setting
Description
value
1 The motor decelerates to a stop in accordance with the deceleration time constant of Profile deceleration (P24708) in
pp/pv/jg, of Homing acceleration (P24730) in hm, and of the point table in pt, and the state does not change from Operation
Enabled (servo-on).
2 The servo motor decelerates to a stop with Quick stop deceleration (P24709). The state does not change from Operation
Enabled (servo-on). (Not compatible) (Note)
3 The current is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled
(servo-on). (Not compatible) (Note)
4 The voltage is limited and the servo motor decelerates to a stop. The state does not change from the Operation Enabled
(servo-on). (Not compatible) (Note)

Note. This is not supported by the driver.

20.8.12 Ramp Stop

This decelerates the motor to a stop with the off command of Control word 1 (PROFIdrive standard) in the
Operation state. The deceleration to a stop is according to a deceleration time constant of Profile deceleration
(P24708).
PNU Sub Access Name Data Type Description Default
24708 0 R/W Profile deceleration Unsigned32 Deceleration time constant 0

PNU Sub Range Units EEP-ROM Parameter

24708 0 Refer to the text. ms Possible PT50

20 - 113
20．PROFINET COMMUNICATION

20.8.13 PROFIdrive parameter definitions related to alarms

Whether an alarm occurs or not in the slave can be detected on the master with bit 3 and bit 7 of Statusword
via I/O communication. The alarm history of the latest alarm and 15 alarms that have occurred can be
referred to by acquiring the following related object values in Acyclic.
PNU Sub Access Name Type Description
10752 0 R Alarm No. Unsigned32 Alarm history (last alarm)
Alarm No. XXXXVVVVh
XXXX: Alarm No.
VVVV: Alarm detail
1 R Alarm time (Hour) Unsigned32 Alarm occurrence time
Time passed from start-up of the driver (unit: time)
10753 0 R Alarm No. Unsigned32 Alarm history 1
Sub 0 and Sub 1 are omitted. (the same as P10752)
: : : : : History 2 to 14 are omitted. (the same as P10752)
10767 0 R Alarm No. Unsigned32 Alarm history 15
Sub 0 and Sub 1 are omitted. (the same as P10752)
10816 0 W Clear alarm history Unsigned16 Writing "1EA5" clears Alarm history.
10817 0 R Current alarm Unsigned32 Occurring alarm XXXXVVVVh
XXXX: Alarm No.
VVVV: Alarm detail
10820 0 R Parameter error number Unsigned16 The number of parameter error numbers (The number of
parameter error numbers caused [AL. 37].)
10821 0 R (No. 1) Unsigned16 The list of parameter error numbers (The list of parameter
error numbers caused [AL. 37].)

Parameter error No. 1 GGNNh

GG: Group No. NN: Parameter No.
GG
00: Pr. group PA
01: Pr. group PB
02: Pr. group PC
03: Pr. group PD
04: Pr. group PE
05: Pr. group PF
06: Parameter for manufacturer setting
07: Parameter for manufacturer setting
08: Parameter for manufacturer setting
09: Parameter for manufacturer setting
0A: Pr. group PS
0B: Pr. group PL
0C: Pr. group PT
0E: Pr. group PN
:
15 R (No. 16) Unsigned16 Parameter error No. 15

20 - 114
20．PROFINET COMMUNICATION

20.8.14 Parameter
The parameter of the driver can be changed on the master in the Acyclic communication. However, once the
power supply is shut off, the changed setting is not held at the next startup because the setting value is
erased. To hold the changed setting even after the power supply is shut-off, save the parameter setting value
to EEP-ROM using Store Parameters object (P4112).
To change the setting of the parameters where the changes are reflected by cycling the power (parameters
whose symbols are preceded by *), change the value of the corresponding parameter and execute Store
Parameters before cycling the power. Refer to chapter 5 for "**" of the parameter symbol. The following table
lists the related objects.
PNU Sub Access Name Type Description
8193 0 R/W PA01 Integer32
: : : : : [Pr. PA_ _ ] group
8224 0 R/W PA32 Integer32
8321 0 R/W PB01 Integer32
: : : : : [Pr. PB_ _ ] group
8384 0 R/W PB64 Integer32
8449 0 R/W PC01 Integer32
: : : : : [Pr. PC_ _ ] group
8528 0 R/W PC80 Integer32
8577 0 R/W PD01 Integer32
: : : : : [Pr. PD_ _ ] group
8624 0 R/W PD48 Integer32
8705 0 R/W PE01 Integer32
: : : : : [Pr. PE_ _ ] group
8768 0 R/W PE64 Integer32
8833 0 R/W PF01 Integer32
: : : : : [Pr. PF_ _ ] group
8896 0 R/W PF64 Integer32
9217 0 R/W PL01 Integer32
: : : : : [Pr. PL_ _ ] group
9264 0 R/W PL48 Integer32
9345 0 R/W PT01 Integer32
: : : : : [Pr. PT_ _ ] group
9424 0 R/W PT80 Integer32
9601 0 R/W PN01 Integer32
: : : : : [Pr. PN_ _ ] group
9632 0 R/W PN32 Integer32

20 - 115
20．PROFINET COMMUNICATION

20.8.14.1 Parameter enabling

The parameters whose symbols are preceded by * are enabled by the following operations. Refer to chapter
5 for "*" of the parameter symbol.

(1) Network disconnection

A parameter is enabled when a network disconnection switches the driver state to the state in which it
waits for the upper side to be connected.

(2) State transition

A parameter is enabled when the upper side shifts from the ProcessData communication state to another
state.

(3) Parameter enabling operation

A parameter is enabled by writing "1EA5h" to User parameter configuration object (P11572). You can
operate this when the upper side is not using the ProcessData communication. Write it with Web server
function for a upper side whose Acyclic communication is not enabled without using ProcessData
communication.
The parameter enabling processing requires a maximum of about 100 ms. The read values of the User
parameter configuration object are as follows. By checking the read value, the completion of the
parameter enabling processing can be checked.
Value Description
0 Parameter enabling processing is being executed.
1 Parameter enabling processing is not being executed. (The processing is completed.)

20 - 116
20．PROFINET COMMUNICATION

20.8.15 Degree function

(1) Description
Selecting "degree (_ 2 _ _)" in [Pr. PT01] allows for positioning with card coordinates (axis of rotation).
The following shows the differences when "degree" is selected.
Item Description
P24698: Target position The range will be between -360.000° and 360.000°.
P24676: Position actual value The range will be between 0° and 359.999°.
P24701: Software position limit The range will be between 0° and 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.
P24699: Position range limit The range will be between 0° and 359.999°.
P24762: Touch probe pos1 pos value The range will be between 0° and 359.999°.
P24763: Touch probe pos1 neg value The range will be between 0° and 359.999°.
P24764: Touch probe pos2 pos value The range will be between 0° and 359.999°.
P24765: Touch probe pos2 neg value The range will be between 0° and 359.999°.
P24700: Home offset The range will be between 0° and 359.999°.
P11055: Current position The range will be between 0° and 359.999°.
P11056: Command position The range will be between 0° and 359.999°.
P11057: Command remaining distance The range will be between 0° and 359.999°.
P11183: Alarm Monitor 47 The range will be between 0° and 359.999°.
Current position
P11184: Alarm Monitor 48 The range will be between 0° and 359.999°.
Command position
P11185: Alarm Monitor 49 The range will be between 0° and 359.999°.
Command remaining distance
Position range output address The range will be between 0° and 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.

The positioning operation pattern can be changed with Positioning option code (P24818) for the degree
setting as follows. Change the setting while the servo motor is stopped (Target reached is on). If the setting is
changed while the servo motor is rotating (Target reached is off), the setting value is not applied immediately.
The new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is once
turned on.
Bit 7 Bit 6 Rotation direction definition for the axis of rotation [Pr. PT03]
The servo motor rotates to the target position in a direction specified with a sign of the
0 0 _0__
position data.
The servo motor rotates in the address decreasing direction regardless of the sign of the
0 1 _2__
position data.
The servo motor rotates in the address increasing direction regardless of the sign of the
1 0 _3__
position data.
The servo motor rotates from the current position to the target position in the shorter
1 1 direction. If the distances from the current position to the target position are the same for _1__
CCW and CW, the servo motor rotates in the CCW direction.

20 - 117
20．PROFINET COMMUNICATION

(2) Sequences for degree setting

The following shows the operation patterns corresponding to the settings of Positioning option code
(P24818).

(a) When POL is disabled ([Pr. PA14] = 0)

360 = 0 360 = 0 360 = 0 360 = 0
50 50 50 50
330 330 330 330

150 210 150 210 150 210 150 210

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

(b) When POL is enabled ([Pr. PA14] = 1)

360 = 0 360 = 0 360 = 0 360 = 0
330 330 330 330
50 50 50 50

210 150 210 150 210 150 210 150

Bit 7: 0 Bit 7: 0 Bit 7: 1 Bit 7: 1

Bit 6: 0 Bit 6: 1 Bit 6: 0 Bit 6: 1
The servo motor rotates in The servo motor rotates The servo motor rotates The servo motor rotates in
a direction specified with a only in the address only in the address the shorter direction.
sign of the position data. decreasing direction. increasing direction.

20 - 118
20．PROFINET COMMUNICATION

20.9 OBJECT DICTIONARY

20.9.1 Store parameters

Writing "65766173h" (= ASCII code of "save") to Store Parameters (P4112) will save the parameter in the
EEP-ROM of the driver.
The value saved in the EEP-ROM is set to the parameter at the next power-on. When setting parameters via
PROFINET, use Store Parameters. The setting will not be changed immediately.
Executing Store Parameters takes about a maximum of 25 s because all parameters are written at the same
time. Be careful not to shut off the power during writing.
PNU Sub Access Name Type Description
4112 0 R/W Save all parameters Unsigned32 Saves all parameters.
Writing "save" (= 65766173h) saves all the
parameters which can be stored in the EEP-ROM.
1 R/W Save communication Unsigned32 Saves communication parameters.
(not parameters Writing "save" (= 65766173h) saves the objects that
compatible) can be saved in the EEP-ROM for the communication
(Note) objects in the EEP-ROM.
2 R/W Save application parameters Unsigned32 Saves application parameters.
(not Writing "save" (= 65766173h) saves the objects that
compatible) can be saved in the EEP-ROM except for the
(Note) communication objects (PROFIdrive parameters in
the 900s) in the EEP-ROM.

Note. This is not supported by the driver.

The following values are read from this object. When a parameter is being saved, "0" is read. When no
parameter is being saved, "1" is read.
Bit Description
0 0: The parameter cannot be saved with the command. (A parameter is being saved.)
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.

20 - 119
20．PROFINET COMMUNICATION

20.9.2 PROFIdrive parameter (Manufacturer-specific) list

Group Name PNU
General Objects Store parameters 4112
Servo Parameter Objects PA_ _ 8193 to 8224
PB_ _ 8321 to 8384
PC_ _ 8449 to 8528
PD_ _ 8577 to 8624
PE_ _ 8705 to 8768
PF_ _ 8833 to 8896
PO_ _ 8961 to 8992
PL_ _ 9217 to 9264
PT_ _ 9345 to 9424
PN_ _ 9601 to 9632
Alarm Objects Alarm history newest 10752
Alarm history 10753 to 10767
Clear alarm history 10816
Current alarm 10817
Parameter error number 10820
Parameter error list 10821
Monitor Objects Cumulative feedback pulses 11009
Servo motor speed 11010
Droop pulses 11011
Cumulative command pulses 11012
Command pulse frequency 11013
Regenerative load ratio 11016
Effective load ratio 11017
Peak load ratio 11018
Instantaneous torque 11019
Within one-revolution position 11020
ABS counter 11021
Load to motor inertia ratio 11022
Bus voltage 11023
Load-side cumulative feedback pulses 11024
Load-side droop pulses 11025
Load-side encoder information 1 Z-phase counter 11026
Load-side encoder information 2 11027
Temperature of motor thermistor 11031
Motor-side cumu. feedback pulses (before gear) 11032
Electrical angle 11033
Motor-side/load-side position deviation 11043
Motor-side/load-side speed deviation 11044
Internal temperature of encoder 11045
Settling time 11046
Oscillation detection frequency 11047
Number of tough drive operations 11048
Unit power consumption 11053
Unit total power consumption 11054
Current position 11055
Command position 11056
Remaining command distance 11057
Point table No./Program No./Station position No. 11058
Alarm Monitor 1 Cumulative feedback pulses 11137
Alarm Monitor 2 Servo motor speed 11138
Alarm Monitor 3 Droop pulses 11139
Alarm Monitor 4 Cumulative command pulses 11140
Alarm Monitor 5 Command pulse frequency 11141
Alarm Monitor 8 Regenerative load ratio 11144

20 - 120
20．PROFINET COMMUNICATION

Group Name PNU

Monitor Objects Alarm Monitor 9 Effective load ratio 11145
Alarm Monitor 10 Peak load ratio 11146
Alarm Monitor 11 Instantaneous torque 11147
Alarm Monitor 12 Within one-revolution position 11148
Alarm Monitor 13 ABS counter 11149
Alarm Monitor 14 Load to motor inertia ratio 11150
Alarm Monitor 15 Bus voltage 11151
Alarm Monitor 16 Load-side cumulative feedback pulses 11152
Alarm Monitor 17 Load-side droop pulses 11153
Alarm Monitor 18 Load-side encoder information 1 Z-phase counter 11154
Alarm Monitor 19 Load-side encoder information 2 11155
Alarm Monitor 23 Temperature of motor thermistor 11159
Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) 11160
Alarm Monitor 25 Electrical angle 11161
Alarm Monitor 35 Motor-side/load-side position deviation 11171
Alarm Monitor 36 Motor-side/load-side speed deviation 11172
Alarm Monitor 37 Internal temperature of encoder 11173
Alarm Monitor 38 Settling time 11174
Alarm Monitor 39 Oscillation detection frequency 11175
Alarm Monitor 40 Number of tough drive operations 11176
Alarm Monitor 45 Unit power consumption 11181
Alarm Monitor 46 Unit total power consumption 11182
Alarm Monitor 47 Current position 11183
Alarm Monitor 48 Command position 11184
Alarm Monitor 49 Command remaining distance 11185
Alarm Monitor 50 Point table No./Program No./Station position No. 11186
Manufacturer Specific Control External Output pin display 11281
Objects Power ON cumulative time 11288
Number of inrush relay on/off times 11289
Machine diagnostic status 11296
Static friction torque at forward rotation 11297
Dynamic friction torque at forward rotation (at rated speed) 11298
Static friction torque at reverse rotation 11299
Dynamic friction torque at reverse rotation (at rated speed) 11300
Oscillation frequency during motor stop 11301
Vibration level during motor stop 11302
Oscillation frequency during motor operating 11303
Vibration level during motor operating 11304
Control DI 1 11521
Control DI 2 11522
Control DI 3 11523
Status DO 1 11537
Status DO 2 11538
Status DO 3 11539
Status DO 5 11541
Status DO 7 11543
Velocity limit value 11552
Motor rated speed 11560
Manufacturer Device Name 2 11568
Manufacturer Hardware Version 2 11569
Manufacturer Software Version 2 11570
Serial Number 2 11571
User parameter configuration 11572
Encoder status 11573
One-touch tuning mode 11600
One-touch tuning status 11601
One-touch tuning Stop 11602

20 - 121
20．PROFINET COMMUNICATION

Group Name PNU

Manufacturer Specific Control One-touch tuning Clear 11603
Objects One-touch tuning Error Code 11604
Torque limit value 2 11627
PDS Control Objects Error code 24639
Controlword 24640
Statusword 24641
Quick stop option code 24666
Halt option code 24669
Modes of operation 24672
Modes of operation display 24673
Supported drive modes 25858
Position Control Function Position actual internal value 24675
Objects Position actual value 24676
Following error window 24677
Following error time out 24678
Position window 24679
Position window time 24680
Positioning option code 24818
Following error actual value 24820
Control effort 24826
Profile Velocity Mode Objects Velocity demand value 24683
Velocity actual value 24684
Velocity window 24685
Velocity window time 24686
Velocity threshold 24687
Velocity threshold time 24688
Target velocity 24831
Profile Torque Mode Objects Target torque 24689
Max torque 24690
Torque demand value 24692
Torque actual value 24695
Torque slope 24711
Torque profile type 24712
Positive torque limit value 24800
Negative torque limit value 24801
Profile Position Mode Objects Target position 24698
Position range limit 24699
Software position limit 24701
Max profile velocity 24703
Max motor speed 24704
Profile velocity 24705
Profile acceleration 24707
Profile deceleration 24708
Quick stop deceleration 24709
Motion profile type 24710
Homing Mode Objects Home offset 24700
Homing method 24728
Homing speeds 24729
Homing acceleration 24730
Supported homing method 24803
Point Table Mode Objects Target point table 11616
Point demand value 11624
Point actual value 11625
Point table 001 to 255 10241 to 10495
Point table error 10819
M code actual value 11626

20 - 122
20．PROFINET COMMUNICATION

Group Name PNU

Factor Group Objects Polarity 24702
Position encoder resolution 24719
Gear ratio 24721
Feed constant 24722
SI unit position 24744
SI unit velocity 24745
Optional application FE Digital inputs 24829
Objects Digital outputs 24830
Touch Probe Function Touch probe function 24760
Objects Touch probe status 24761
Touch probe pos1 pos value 24762
Touch probe pos1 neg value 24763
Touch probe pos2 pos value 24764
Touch probe pos2 neg value 24765

20 - 123
20．PROFINET COMMUNICATION

20.9.3 PROFIdrive parameter (Manufacturer-specific)

This section describes the details of the Manufacturer-specific parameters for each group.
The following is shown in the "Access" column.
"R": Readable
"W": Writable
"R/W": Readable and writable

20.9.3.1 General Objects

(1) Store parameters (P4112)
PNU Sub Access Name Data Type Description Default
4112 0 R/W Store all parameters Unsigned32 Saves all parameters. 0
Writing "save" (= 65766173h) saves all the
parameters which can be stored in the
EEP-ROM.
1 R/W Store communication Unsigned32 Saves communication parameters. 1
(not parameters Writing "save" (= 65766173h) saves the
compatible) objects that can be saved in the EEP-ROM
(Note) for the communication objects in the
EEP-ROM.
2 R/W Store application parameters Unsigned32 Saves application parameters. 2
(not Writing "save" (= 65766173h) saves the
compatible) objects that can be saved in the EEP-ROM
(Note) except for the communication objects
(PROFIdrive parameters in the 900s) in the
EEP-ROM.

PNU Sub Range Units EEP-ROM Parameter

0 Refer to the followings. Impossible
4112 1 Impossible
2 Impossible

Note. This is not supported by the driver.

Writing "65766173h" (= reverse order of ASCII code of "save") to the corresponding Subindex saves a
parameter value in EEP-ROM.
Whether saving a parameter has been completed can be checked by reading this object. The read
values are as follows.
Bit Description
0 0: The parameter cannot be saved with the command. (A parameter is being saved.)
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.

20 - 124
20．PROFINET COMMUNICATION

20.9.3.2 Servo Parameter Objects

(1) Servo Parameter Objects PA (P8193 to P8224)
The values of the basic setting parameters ([Pr. PA_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8193 R/W PA01 Integer32 PA01

8224 R/W PA32 Integer32 PA32

PNU Sub Range Units EEP-ROM Parameter

8193 PA01

0 Refer to "_ Driver Instruction Manual". Possible

8224 PA32

(2) Servo Parameter Objects PB (P8321 to 8384)

The values of the gain/filter setting parameters ([Pr. PB_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8321 R/W PB01 Integer32 PB01

8384 R/W PB64 Integer32 PB64

PNU Sub Range Units EEP-ROM Parameter

8321 PB01

0 Refer to "_ Driver Instruction Manual". Possible

8384 PB64

(3) Servo Parameter Objects PC (P8449 to P8528)

The values of the extension setting parameters ([Pr. PC_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8449 R/W PC01 Integer32 PC01

8528 R/W PC80 Integer32 PC80

PNU Sub Range Units EEP-ROM Parameter

8449 PC01

0 Refer to "_ Driver Instruction Manual". Possible

8528 PC80

20 - 125
20．PROFINET COMMUNICATION

(4) Servo Parameter Objects PD (P8577 to P8624)

The values of the I/O setting parameters ([Pr. PD_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8577 R/W PD01 Integer32 PD01

8624 R/W PD48 Integer32 PD48

PNU Sub Range Units EEP-ROM Parameter

8577 PD01

0 Refer to "_ Driver Instruction Manual". Possible

8624 PD48

(5) Servo Parameter Objects PE (P8705 to 8768)

The values of the extension setting 2 parameters ([Pr. PE_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8705 R/W PE01 Integer32 PE01

8768 R/W PE64 Integer32 PE64

PNU Sub Range Units EEP-ROM Parameter

8705 PE01

0 Refer to "_ Driver Instruction Manual". Possible

8768 PE64

(6) Servo Parameter Objects PF (P8833 to 8896)

The values of the extension setting 3 parameters ([Pr. PF_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
8833 R/W PF01 Integer32 PF01

8896 R/W PF64 Integer32 PF64

PNU Sub Range Units EEP-ROM Parameter

8833 PF01

0 Refer to "_ Driver Instruction Manual". Possible

8896 PF64

20 - 126
20．PROFINET COMMUNICATION

(7) Servo Parameter Objects PL (P9217 to 9264)

The values of the linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
9217 R/W PL01 Integer32 PL01

9264 R/W PL48 Integer32 PL48

PNU Sub Range Units EEP-ROM Parameter

9217 PL01

0 Refer to "_ Driver Instruction Manual". Possible

9264 PL48

(8) Servo Parameter Objects PT (P9345 to 9424)

The values of the positioning control parameters ([Pr. PT_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
9345 R/W PT01 Integer32 PT01

9424 R/W PT80 Integer32 PT80

PNU Sub Range Units EEP-ROM Parameter

9345 PT01

0 Refer to "_ Driver Instruction Manual". Possible

9424 PT80

(9) Servo Parameter Objects PN (P9601 to 9632)

The values of the network setting parameters ([Pr. PN_ _ ]) can be obtained and set.
PNU Sub Access Name Data Type Description Default
9601 R/W PN01 Integer32 PN01

9632 R/W PN32 Integer32 PN32

PNU Sub Range Units EEP-ROM Parameter

9601 PN01

0 Refer to "_ Driver Instruction Manual". Possible

9632 PN32

20 - 127
20．PROFINET COMMUNICATION

20.9.3.3 Alarm Objects

(1) Alarm history newest (P10752)
The latest alarm information of the alarm history is returned.
PNU Sub Access Name Data Type Description Default
10752 0 R Alarm No. Array [2] The number of the alarm that has 0
Unsigned32 occurred is returned. The description is as
follows. When no history exists, "0" is
returned.
Bit 0 to Bit 15: Alarm detail number
Bit 16 to Bit 31: Alarm number
If [AL. 16.3] occurs, "00160003h" is
returned.
1 R Alarm time (Hour) Alarm occurrence time is returned. When 0
no history exists, "0" is returned.
Unit: [hour]

PNU Sub Range Units EEP-ROM Parameter

0 00000000h to FFFFFFFFh
10752 Possible
1 00000000h to FFFFFFFFh hour

(2) Alarm history 1 (P10753) to Alarm history 15 (P10767)

The second-latest alarm information of the alarm history is returned.
PNU Sub Access Name Data Type Description Default
10753 0 R Alarm No. Array [2] The number of the alarm that has 0
to Unsigned32 occurred is returned. The description is as
10767 follows. When no history exists, "0" is
returned.
Bit 0 to Bit 15: Alarm detail number
Bit 16 to Bit 31: Alarm number
If [AL. 16.3] occurs, "00160003h" is
returned.
1 R Alarm time (Hour) Alarm occurrence time is returned. When 0
no history exists, "0" is returned.
Unit: [hour]

PNU Sub Range Units EEP-ROM Parameter

10753 0 00000000h to FFFFFFFFh
to Possible
10767 1 00000000h to FFFFFFFFh hour

(3) Clear alarm history (P10816)

Writing "1EA5h" to this object clears the alarm history.
PNU Sub Access Name Data Type Description Default
10816 0 W Clear alarm history Unsigned16 Alarm history clear

PNU Sub Range Units EEP-ROM Parameter

10816 0 Refer to the text. Impossible

20 - 128
20．PROFINET COMMUNICATION

(4) Current alarm (P10817)

The number of the current alarm is returned. When no alarm has occurred, "00000000h" is returned. The
description of the values is as follows. If [AL. 16.3] occurs, "00160003h" is returned.
PNU Sub Access Name Data Type Description Default
Current alarm
10817 0 R Current alarm Unsigned32 Bit 0 to Bit 15: Alarm detail number
Bit 16 to Bit 31: Alarm number

PNU Sub Range Units EEP-ROM Parameter

10817 0 00000000h to FFFFFFFFh Impossible

(5) Parameter error number (P10820)

When [AL. 37 Parameter error] has occurred, the number of the parameters which cause the error is
returned. Refer to Parameter error list (P10821) for the number of each parameter which causes the
error.
PNU Sub Access Name Data Type Description Default
10820 0 R Parameter error number Unsigned16 Parameter error No.

PNU Sub Range Units EEP-ROM Parameter

10820 0 0000h to 01F4h Impossible

(6) Parameter error list (P10821)

When [AL. 37 Parameter error] has occurred, the number of the parameter which causes the error is
returned. For forms of parameter error Nos., refer to chapter 8.13. If [Pr. PC01] is an error factor, "0201h"
is returned.
If more than 17 parameter errors have occurred, the 17th and later parameter errors are returned after
the parameters are corrected and the power is cycled.
PNU Sub Access Name Data Type Description Default
0 No. 1 Parameter error No. 1
1 No. 2 Parameter error No. 2
Array [64]
10821 R
Unsigned16

15 No. 16 Parameter error No. 16

PNU Sub Range Units EEP-ROM Parameter

0
1

10821 0000h to FFFFh Impossible

15

20 - 129
20．PROFINET COMMUNICATION

20.9.3.4 Monitor Objects

(1) Cumulative feedback pulses (P11009)
The cumulative feedback pulses are returned. Writing "0000 1EA5h" to this object clears the cumulative
feedback pulses.
PNU Sub Access Name Data Type Description Default
Cumulative feedback
11009 0 R/W Integer32 Cumulative feedback pulses
pulses

PNU Sub Range Units EEP-ROM Parameter

11009 0 80000000h to 7FFFFFFFh pulse Impossible

(2) Servo motor speed (P11010)

The servo motor speed is returned.
Unit: [r/min]
PNU Sub Access Name Data Type Description Default
11010 0 R Servo motor speed Integer32 Servo motor speed

PNU Sub Range Units EEP-ROM Parameter

11010 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

(3) Droop pulses (P11011)

The droop pulses (encoder unit) are returned.
PNU Sub Access Name Data Type Description Default
11011 0 R Droop pulses Integer32 Droop pulses (encoder unit)

PNU Sub Range Units EEP-ROM Parameter

11011 0 80000000h to 7FFFFFFFh pulse Impossible

(4) Cumulative command pulses (P11012)

The cumulative command pulses are returned.
PNU Sub Access Name Data Type Description Default
Cumulative command
11012 0 R Integer32 Cumulative command pulses
pulses

PNU Sub Range Units EEP-ROM Parameter

11012 0 80000000h to 7FFFFFFFh pulse Impossible

(5) Command pulse frequency (P11013)

The command pulse frequency is returned.
PNU Sub Access Name Data Type Description Default
Command pulse
11013 0 R Integer32 Command pulse frequency
frequency

PNU Sub Range Units EEP-ROM Parameter

11013 0 80000000h to 7FFFFFFFh kpulse/s Impossible

20 - 130
20．PROFINET COMMUNICATION

(6) Regenerative load ratio (P11016)

The regenerative load ratio is returned.
PNU Sub Access Name Data Type Description Default
11016 0 R Regenerative load ratio Unsigned16 Regenerative load ratio

PNU Sub Range Units EEP-ROM Parameter

11016 0 0000h to FFFFh % Impossible

(7) Effective load ratio (P11017)

The effective load ratio is returned.
PNU Sub Access Name Data Type Description Default
11017 0 R Effective load ratio Unsigned16 Effective load ratio

PNU Sub Range Units EEP-ROM Parameter

11017 0 0000h to FFFFh % Impossible

(8) Peak load ratio (P11018)

The peak load ratio is returned.
PNU Sub Access Name Data Type Description Default
11018 0 R Peak load ratio Unsigned16 Peak load ratio

PNU Sub Range Units EEP-ROM Parameter

11018 0 0000h to FFFFh % Impossible

(9) Instantaneous torque (P11019)

The instantaneous torque is returned.
PNU Sub Access Name Data Type Description Default
11019 0 R Instantaneous torque Integer16 Instantaneous torque

PNU Sub Range Units EEP-ROM Parameter

11019 0 8000h to 7FFFh % Impossible

(10) Within one-revolution position (P11020)

The position within one-revolution is returned.
PNU Sub Access Name Data Type Description Default
Within one-revolution
11020 0 R Integer32 Position within one-revolution
position

PNU Sub Range Units EEP-ROM Parameter

11020 0 80000000h to 7FFFFFFFh pulse Impossible

(11) ABS counter (P11021)

The ABS counter is returned.
PNU Sub Access Name Data Type Description Default
11021 0 R ABS counter Integer32 ABS counter

PNU Sub Range Units EEP-ROM Parameter

11021 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 131
20．PROFINET COMMUNICATION

(12) Load to motor inertia ratio (P11022)

The load to motor inertia ratio is returned.
PNU Sub Access Name Data Type Description Default
11022 0 R Load to motor inertia ratio Unsigned16 Load to motor inertia ratio

PNU Sub Range Units EEP-ROM Parameter

11022 0 0000h to FFFFh 0.01 times Impossible

(13) Bus voltage (P11023)

The bus voltage is returned.
PNU Sub Access Name Data Type Description Default
11023 0 R Bus voltage Unsigned16 Bus voltage

PNU Sub Range Units EEP-ROM Parameter

11023 0 0000h to FFFFh V Impossible

(14) Load-side cumulative feedback pulses (P11024)

The load-side cumulative feedback pulses (load-side encoder unit) are returned.
PNU Sub Access Name Data Type Description Default
Load-side cumulative Load-side cumulative feedback pulses
11024 0 R Integer32
feedback pulses (load-side encoder unit)

PNU Sub Range Units EEP-ROM Parameter

11024 0 80000000h to 7FFFFFFFh pulse Impossible

(15) Load-side droop pulses (P11025)

The load-side droop pulses are returned.
PNU Sub Access Name Data Type Description Default
11025 0 R Load-side droop pulses Integer32 Load-side droop pulses

PNU Sub Range Units EEP-ROM Parameter

11025 0 80000000h to 7FFFFFFFh pulse Impossible

(16) Load-side encoder information 1 Z-phase counter (P11026)

The load-side encoder information 1 is returned.
PNU Sub Access Name Data Type Description Default
Load-side encoder
11026 0 R information 1 Z-phase Integer32 Load-side encoder information 1
counter

PNU Sub Range Units EEP-ROM Parameter

11026 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 132
20．PROFINET COMMUNICATION

(17) Load-side encoder information 2 (P11027)

The load-side encoder information 2 is returned.
PNU Sub Access Name Data Type Description Default
Load-side encoder
11027 0 R Integer32 Load-side encoder information 2
information 2

PNU Sub Range Units EEP-ROM Parameter

11027 0 80000000h to 7FFFFFFFh rev Impossible

(18) Temperature of motor thermistor (P11031)

The temperature of servo motor thermistor is returned.
PNU Sub Access Name Data Type Description Default
Temperature of motor
11031 0 R Integer16 Servo motor thermistor temperature
thermistor

PNU Sub Range Units EEP-ROM Parameter

11031 0 8000h to 7FFFh ˚C Impossible

(19) Motor-side cumu. feedback pulses (before gear) (P11032)

The cumulative feedback pulses are returned.
PNU Sub Access Name Data Type Description Default
Motor-side cumu.
11032 0 R feedback pulses (before Integer32 Cumulative feedback pulses
gear)

PNU Sub Range Units EEP-ROM Parameter

11032 0 80000000h to 7FFFFFFFh pulse Impossible

(20) Electrical angle (P11033)

The electrical angle is returned.
PNU Sub Access Name Data Type Description Default
11033 0 R Electrical angle Integer32 Electrical angle

PNU Sub Range Units EEP-ROM Parameter

11033 0 80000000h to 7FFFFFFFh pulse Impossible

(21) Motor-side/load-side position deviation (P11043)

The servo motor-side/load-side position deviation is returned.
PNU Sub Access Name Data Type Description Default
Motor-side/load-side Servo motor-side/load-side position
11043 0 R Integer32
position deviation deviation

PNU Sub Range Units EEP-ROM Parameter

11043 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 133
20．PROFINET COMMUNICATION

(22) Motor-side/load-side speed deviation (P11044)

The servo motor-side/load-side speed deviation is returned.
PNU Sub Access Name Data Type Description Default
Motor-side/load-side Servo motor-side/load-side speed
11044 0 R Integer32
speed deviation deviation

PNU Sub Range Units EEP-ROM Parameter

11044 0 80000000h to 7FFFFFFFh r/min Impossible

(23) Internal temperature of encoder (P11045)

The internal temperature of encoder is returned.
PNU Sub Access Name Data Type Description Default
Internal temperature of
11045 0 R Integer16 Internal temperature of encoder
encoder

PNU Sub Range Units EEP-ROM Parameter

11045 0 8000h to 7FFFh ˚C Impossible

(24) Settling time (P11046)

The settling time is returned.
PNU Sub Access Name Data Type Description Default
11046 0 R Settling time Integer16 Settling time

PNU Sub Range Units EEP-ROM Parameter

11046 0 8000h to 7FFFh ms Impossible

(25) Oscillation detection frequency (P11047)

The oscillation detection frequency is returned.
PNU Sub Access Name Data Type Description Default
Oscillation detection
11047 0 R Integer16 Oscillation detection frequency
frequency

PNU Sub Range Units EEP-ROM Parameter

11047 0 8000h to 7FFFh Hz Impossible

(26) Number of tough drive operations (P11048)

The number of tough drive operations is returned.
PNU Sub Access Name Data Type Description Default
Number of tough drive
11048 0 R Unsigned16 Number of tough drive operations
operations

PNU Sub Range Units EEP-ROM Parameter

11048 0 0000h to FFFFh number of times Impossible

20 - 134
20．PROFINET COMMUNICATION

(27) Unit power consumption (P11053)

The unit power consumption is returned.
PNU Sub Access Name Data Type Description Default
11053 0 R Unit power consumption Integer16 Unit power consumption

PNU Sub Range Units EEP-ROM Parameter

11053 0 8000h to 7FFFh W Impossible

(28) Unit total power consumption (P11054)

The unit total power consumption is returned.
PNU Sub Access Name Data Type Description Default
Unit total power
11054 0 R Integer32 Unit total power consumption
consumption

PNU Sub Range Units EEP-ROM Parameter

11054 0 80000000h to 7FFFFFFFh Wh Impossible

(29) Current position (P11055)

The current position is returned. In the indexer method, the value is fixed to "0".
PNU Sub Access Name Data Type Description Default
11055 0 R Current position Integer32 Current position

PNU Sub Range Units EEP-ROM Parameter

11055 0 80000000h to 7FFFFFFFh pos units Impossible

(30) Command position (P11056)

The command position is returned. In the indexer method, the value is fixed to "0".
PNU Sub Access Name Data Type Description Default
11056 0 R Command position Integer32 Command position

PNU Sub Range Units EEP-ROM Parameter

11056 0 80000000h to 7FFFFFFFh pos units Impossible

(31) Remaining command distance (P11057)

The command remaining distance is returned.
PNU Sub Access Name Data Type Description Default
Remaining command
11057 0 R Integer32 Command remaining distance
distance

PNU Sub Range Units EEP-ROM Parameter

11057 0 80000000h to 7FFFFFFFh pos units Impossible

20 - 135
20．PROFINET COMMUNICATION

(32) Point table No./Program No./Station position No. (P11058)

Point table No. or station position No. is returned.
PNU Sub Access Name Data Type Description Default
Point table No./Program
11058 0 R Integer16 Point table No./station position No.
No./Station position No.

PNU Sub Range Units EEP-ROM Parameter

11058 0 0000h to 00FFh Impossible

(33) Alarm Monitor 1 Cumulative feedback pulses (P11137)

The cumulative feedback pulses at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 1
Cumulative feedback pulses at alarm
11137 0 R Cumulative feedback Integer32
occurrence
pulses

PNU Sub Range Units EEP-ROM Parameter

11137 0 80000000h to 7FFFFFFFh pulse Impossible

(34) Alarm Monitor 2 Alarm Monitor 2 Servo motor speed (P11138)

The servo motor speed at alarm occurrence is returned.
Unit: [r/min]
PNU Sub Access Name Data Type Description Default
Alarm Monitor 2 Servo
11138 0 R Integer32 Servo motor speed at alarm occurrence
motor speed

PNU Sub Range Units EEP-ROM Parameter

11138 0 80000000h to 7FFFFFFFh Refer to the text. Impossible

(35) Alarm Monitor 3 Droop pulses (P11139)

The droop pulses at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 3 Droop
11139 0 R Integer32 Droop pulses at alarm occurrence
pulses

PNU Sub Range Units EEP-ROM Parameter

11139 0 80000000h to 7FFFFFFFh pulse Impossible

(36) Alarm Monitor 4 Cumulative command pulses (P11140)

The cumulative command pulses (encoder unit) at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 4
Cumulative command pulses (encoder
11140 0 R Cumulative command Integer32
unit) at alarm occurrence
pulses

PNU Sub Range Units EEP-ROM Parameter

11140 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 136
20．PROFINET COMMUNICATION

(37) Alarm Monitor 5 Command pulse frequency (P11141)

The command pulse frequency at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 5
Command pulse frequency at alarm
11141 0 R Command pulse Integer32
occurrence
frequency

PNU Sub Range Units EEP-ROM Parameter

11141 0 80000000h to 7FFFFFFFh kpulse/s Impossible

(38) Alarm Monitor 8 Regenerative load ratio (P11144)

The regenerative load ratio at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 8 Regenerative load ratio at alarm
11144 0 R Unsigned16
Regenerative load ratio occurrence

PNU Sub Range Units EEP-ROM Parameter

11144 0 0000h to FFFFh % Impossible

(39) Alarm Monitor 9 Effective load ratio (P11145)

The effective load ratio at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 9
11145 0 R Unsigned16 Effective load ratio at alarm occurrence
Effective load ratio

PNU Sub Range Units EEP-ROM Parameter

11145 0 0000h to FFFFh % Impossible

(40) Alarm Monitor 10 Peak load ratio (P11146)

The peak load ratio at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 10 Peak
11146 0 R Unsigned16 Peak load ratio at alarm occurrence
load ratio

PNU Sub Range Units EEP-ROM Parameter

11146 0 0000h to FFFFh % Impossible

(41) Alarm Monitor 11 Instantaneous torque (P11147)

The instantaneous torque at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 11
11147 0 R Integer16 Instantaneous torque at alarm occurrence
Instantaneous torque

PNU Sub Range Units EEP-ROM Parameter

11147 0 8000h to 7FFFh % Impossible

20 - 137
20．PROFINET COMMUNICATION

(42) Alarm Monitor 12 Within one-revolution position (P11148)

The position within one-revolution at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 12 Within Position within one-revolution at alarm
11148 0 R Integer32
one-revolution position occurrence

PNU Sub Range Units EEP-ROM Parameter

11148 0 80000000h to 7FFFFFFFh pulse Impossible

(43) Alarm Monitor 13 ABS counter (P11149)

The ABS counter at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 13 ABS
11149 0 R Integer32 ABS counter at alarm occurrence
counter

PNU Sub Range Units EEP-ROM Parameter

11149 0 80000000h to 7FFFFFFFh rev Impossible

(44) Alarm Monitor 14 Load to motor inertia ratio (P11150)

The load to motor inertia ratio at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 14 Load Load to motor inertia ratio at alarm
11150 0 R Unsigned16
to motor inertia ratio occurrence

PNU Sub Range Units EEP-ROM Parameter

11150 0 0000h to FFFFh 0.1times Impossible

(45) Alarm Monitor 15 Bus voltage (P11151)

The bus voltage at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 15 Bus
11151 0 R Integer32 Bus voltage at alarm occurrence
voltage

PNU Sub Range Units EEP-ROM Parameter

11151 0 80000000h to 7FFFFFFFh V Impossible

(46) Alarm Monitor 16 Load-side cumulative feedback pulses (P11152)

The load-side cumulative feedback pulses at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 16
Load-side cumulative feedback pulses at
11152 0 R Load-side cumulative Integer32
alarm occurrence
feedback pulses

PNU Sub Range Units EEP-ROM Parameter

11152 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 138
20．PROFINET COMMUNICATION

(47) Alarm Monitor 17 Load-side droop pulses (P11153)

The load-side droop pulses (load-side encoder unit) at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 17 Load-side droop pulses (load-side encoder
11153 0 R Integer32
Load-side droop pulses unit) at alarm occurrence

PNU Sub Range Units EEP-ROM Parameter

11153 0 80000000h to 7FFFFFFFh pulse Impossible

(48) Alarm Monitor 18 Load-side encoder information 1 Z-phase counter (P11153)

The load-side encoder information 1 at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 18
Load-side encoder Load-side encoder information 1 at alarm
11154 0 R Integer32
information 1 Z-phase occurrence
counter

PNU Sub Range Units EEP-ROM Parameter

11154 0 80000000h to 7FFFFFFFh pulse Impossible

(49) Alarm Monitor 19 Load-side encoder information 2 (P11155)

The load-side encoder information 2 at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 19
Load-side encoder information 2 at alarm
11155 0 R Load-side encoder Integer32
occurrence
information 2

PNU Sub Range Units EEP-ROM Parameter

11155 0 80000000h to 7FFFFFFFh rev Impossible

(50) Alarm Monitor 23 Temperature of motor thermistor (P11159)

The temperature of servo motor thermistor at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 23
Temperature of servo motor thermistor at
11159 0 R Temperature of motor Integer32
alarm occurrence
thermistor

PNU Sub Range Units EEP-ROM Parameter

11159 0 80000000h to 7FFFFFFFh ˚C Impossible

(51) Alarm Monitor 24 Motor-side cumu. feedback pulses (before gear) (P11160)
The cumulative feedback pulses (servo motor-side unit) at alarm occurrence are returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 24
Motor-side cumu. Cumulative feedback pulses (servo
11160 0 R Integer32
feedback pulses (before motor-side unit) at alarm occurrence
gear)

PNU Sub Range Units EEP-ROM Parameter

11160 0 80000000h to 7FFFFFFFh pulse Impossible

20 - 139
20．PROFINET COMMUNICATION

(52) Alarm Monitor 25 Electrical angle (P11161)

The electrical angle at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 25
11161 0 R Integer32 Electrical angle at alarm occurrence
Electrical angle

PNU Sub Range Units EEP-ROM Parameter

11161 0 80000000h to 7FFFFFFFh pulse Impossible

(53) Alarm Monitor 35 Motor-side/load-side position deviation (P11171)

The motor-side/load-side position deviation at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 35
Motor-side/load-side position deviation at
11171 0 R Motor-side/load-side Integer32
alarm occurrence
position deviation

PNU Sub Range Units EEP-ROM Parameter

11171 0 80000000h to 7FFFFFFFh pulse Impossible

(54) Alarm Monitor 36 Motor-side/load-side speed deviation (P11172)

The servo motor-side/load-side speed deviation at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 36
Motor-side/load-side speed deviation at
11172 0 R Motor-side/load-side Integer32
alarm occurrence
speed deviation

PNU Sub Range Units EEP-ROM Parameter

11172 0 80000000h to 7FFFFFFFh r/min Impossible

(55) Alarm Monitor 37 Internal temperature of encoder (P11173)

The internal temperature of encoder at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 37
Internal temperature of encoder at alarm
11173 0 R Internal temperature of Integer32
occurrence
encoder

PNU Sub Range Units EEP-ROM Parameter

11173 0 80000000h to 7FFFFFFFh ˚C Impossible

(56) Alarm Monitor 38 Settling time (P11174)

The settling time at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 38
11174 0 R Integer32 Settling time at alarm occurrence
Settling time

PNU Sub Range Units EEP-ROM Parameter

11174 0 80000000h to 7FFFFFFFh ms Impossible

20 - 140
20．PROFINET COMMUNICATION

(57) Alarm Monitor 39 Oscillation detection frequency (P11175)

The oscillation detection frequency at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 39
Oscillation detection frequency at alarm
11175 0 R Oscillation detection Integer32
occurrence
frequency

PNU Sub Range Units EEP-ROM Parameter

11175 0 80000000h to 7FFFFFFFh Hz Impossible

(58) Alarm Monitor 40 Number of tough drive operations (P11176)

The number of tough drive operations at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 40 Number The number of tough drive operations at
11176 0 R Integer32
of tough drive operations alarm occurrence

PNU Sub Range Units EEP-ROM Parameter

number of
11176 0 80000000h to 7FFFFFFFh Impossible
times

(59) Alarm Monitor 45 Unit power consumption (P11181)

The unit power consumption at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 45 Unit Unit power consumption at alarm
11181 0 R Integer32
power consumption occurrence

PNU Sub Range Units EEP-ROM Parameter

11181 0 80000000h to 7FFFFFFFh W Impossible

(60) Alarm Monitor 46 Unit total power consumption (P11182)

The unit total power consumption at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 46 Unit Unit total power consumption at alarm
11182 0 R Integer32
total power consumption occurrence

PNU Sub Range Units EEP-ROM Parameter

11182 0 80000000h to 7FFFFFFFh Wh Impossible

(61) Alarm Monitor 47 Current position (P11183)

The current position at alarm occurrence is returned. In the indexer method, the value is fixed to "0".
PNU Sub Access Name Data Type Description Default
Alarm Monitor 47
11183 0 R Integer32 Current position at alarm occurrence
Current position

PNU Sub Range Units EEP-ROM Parameter

11183 0 80000000h to 7FFFFFFFh pos units Impossible

20 - 141
20．PROFINET COMMUNICATION

(62) Alarm Monitor 48 Command position (P11184)

The command position at alarm occurrence is returned. In the indexer method, the value is fixed to "0".
PNU Sub Access Name Data Type Description Default
Alarm Monitor 48
11184 0 R Integer32 Command position at alarm occurrence
Command position

PNU Sub Range Units EEP-ROM Parameter

11184 0 80000000h to 7FFFFFFFh pos units Impossible

(63) Alarm Monitor 49 Command remaining distance (P11185)

The command remaining distance at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 49
Command remaining distance at alarm
11185 0 R Command remaining Integer32
occurrence
distance

PNU Sub Range Units EEP-ROM Parameter

11185 0 80000000h to 7FFFFFFFh pos units Impossible

(64) Alarm Monitor 50 Point table No./Program No./Station position No.. (P11186)
Point table No. or station position No. at alarm occurrence is returned.
PNU Sub Access Name Data Type Description Default
Alarm Monitor 50 Point
Point table No./station position No. at
11186 0 R table No./Program Integer16
alarm occurrence
No./Station position No..

PNU Sub Range Units EEP-ROM Parameter

11186 0 00000000h to 000000FFh Impossible

20 - 142
20．PROFINET COMMUNICATION

20.9.3.5 Manufacturer Specific Control Objects

(1) External Output pin display (P11281)
The ON/OFF state of external output pins output from the driver can be read.
PNU Sub Access Name Data Type Description Default
External Output pin
11281 0 R Integer32 External output pin status 1
display1

PNU Sub Range Units EEP-ROM Parameter

11281 0 00000000h to 0000000Fh Impossible

The following shows the detail of External Output pin display1. When the output of the target pin is on, "1"
is returned. When the output of the target pin is off, "0" is returned.
The values in the areas marked with diagonal lines at reading is undefined.
Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin
0 13 8 16 24
1 15 9 17 25
2 9 10 18 26
3 8 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

(2) Machine diagnostic status (P11296)

The current status of machine diagnostic can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
11296 0 R Machine diagnostic status Unsigned16 Machine diagnostic status

PNU Sub Range Units EEP-ROM Parameter

11296 0 Refer to the text. Impossible

20 - 143
20．PROFINET COMMUNICATION

The machine diagnostic status is returned. The description is as follows.

Bit Description
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
0 to 3 4: The change in the servo motor speed may be small for friction estimation. (warning)
5: The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is returned.
When an estimation is completed even though a warning has once occurred, the status changes to Estimation is
completed.
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4 to 7 4: The change in the servo motor speed may be small for friction estimation. (warning)
5: The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time, the smaller number is returned.
When an estimation is completed even though a warning has once occurred, the status changes to Estimation is
completed.
Vibration estimation status
8 to 11 0: During estimation
1: Estimation is completed.
12 to 15 (reserved) The value at reading is undefined.

(3) Static friction torque at forward rotation (P11297)

Static friction torque at forward rotation can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Static friction torque at
11297 0 R Integer16 Static friction torque at forward rotation
forward rotation

PNU Sub Range Units EEP-ROM Parameter

11297 0 Refer to the text. 0.1% Impossible

(4) Dynamic friction torque at forward rotation (at rated speed) (P11298)
Dynamic friction torque at forward rotation (at rated speed) can be obtained. Refer to section 8.9 for
details.
PNU Sub Access Name Data Type Description Default
Dynamic friction torque at
Dynamic friction torque at forward rotation
11298 0 R forward rotation (at rated Integer16
(at rated speed)
speed)

PNU Sub Range Units EEP-ROM Parameter

11298 0 Refer to the text. 0.1% Impossible

20 - 144
20．PROFINET COMMUNICATION

(5) Static friction torque at reverse rotation (P11299)

Static friction torque at reverse rotation can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Static friction torque at
11299 0 R Integer16 Static friction torque at reverse rotation
reverse rotation

PNU Sub Range Units EEP-ROM Parameter

11299 0 Refer to the text. 0.1% Impossible

(6) Dynamic friction torque at reverse rotation (at rated speed) (P11300)
Dynamic friction torque at reverse rotation (at rated speed) can be obtained. Refer to section 8.9 for
details.
PNU Sub Access Name Data Type Description Default
Dynamic friction torque
Dynamic friction torque at reverse rotation
11300 0 R at reverse rotation (at Integer16
(at rated speed)
rated speed)

PNU Sub Range Units EEP-ROM Parameter

11300 0 Refer to the text. 0.1% Impossible

(7) Oscillation frequency during motor stop (P11301)

Vibration frequency at stop/servo-lock can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Oscillation frequency
11301 0 R Integer16 Oscillation frequency during motor stop
during motor stop

PNU Sub Range Units EEP-ROM Parameter

11301 0 Refer to the text. 1 Hz Impossible

(8) Vibration level during motor stop (P11302)

Vibration level at stop/servo-lock can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Vibration level during
11302 0 R Integer16 Vibration level during motor stop
motor stop

PNU Sub Range Units EEP-ROM Parameter

11302 0 Refer to the text. 0.1% Impossible

(9) Oscillation frequency during motor operating (P11303)

Vibration frequency during operation can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Oscillation frequency Oscillation frequency during motor
11303 0 R Integer16
during motor operating operating

PNU Sub Range Units EEP-ROM Parameter

11303 0 Refer to the text. 1 Hz Impossible

20 - 145
20．PROFINET COMMUNICATION

(10) Vibration level during motor operating (P11304)

Vibration level during operation can be obtained. Refer to section 8.9 for details.
PNU Sub Access Name Data Type Description Default
Vibration level during
11304 0 R Integer16 Vibration level during motor operating
motor operating

PNU Sub Range Units EEP-ROM Parameter

11304 0 Refer to the text. 0.1% Impossible

(11) Control DI 1 (P11521)

Set control commands to control the driver. For details, refer to section 5.3.1 (2).
PNU Sub Access Name Data Type Description Default
11521 0 R/W Control DI 1 Unsigned16 Control DI 1

PNU Sub Range Units EEP-ROM Parameter

11521 0 Refer to the text. Impossible

(12) Control DI 2 (P11522)

Set control commands to control the driver. For details, refer to section 5.3.1 (3).
PNU Sub Access Name Data Type Description Default
11522 0 R/W Control DI 2 Unsigned16 Control DI 2

PNU Sub Range Units EEP-ROM Parameter

11522 0 Refer to the text. Impossible

(13) Control DI 3 (P11523)

Set control commands to control the driver. For details, refer to section 5.3.1 (4).
PNU Sub Access Name Data Type Description Default
11523 0 R/W Control DI 3 Unsigned16 Control DI 3

PNU Sub Range Units EEP-ROM Parameter

11523 0 Refer to the text. Impossible

(14) Status DO 1 (P11537)

The servo status is returned. Refer to section 5.3.2 (3) for details.
PNU Sub Access Name Data Type Description Default
11537 0 R Status DO 1 Unsigned16 Status DO 1

PNU Sub Range Units EEP-ROM Parameter

11537 0 Refer to the text. Impossible

(15) Status DO 2 (P11538)

The servo status is returned. Refer to section 5.3.2 (4) for details.
PNU Sub Access Name Data Type Description Default
11538 0 R Status DO 2 Unsigned16 Status DO 2

PNU Sub Range Units EEP-ROM Parameter

11538 0 Refer to the text. Impossible

20 - 146
20．PROFINET COMMUNICATION

(16) Status DO 3 (P11539)

The servo status is returned. Refer to section 5.3.2 (5) for details.
PNU Sub Access Name Data Type Description Default
11539 0 R Status DO 3 Unsigned16 Status DO 3

PNU Sub Range Units EEP-ROM Parameter

11539 0 Refer to the text. Impossible

(17) Status DO 5 (P11541)

The servo status is returned. Refer to section 5.3.2 (6) for details.
PNU Sub Access Name Data Type Description Default
11541 0 R Status DO 5 Unsigned16 Status DO 5

PNU Sub Range Units EEP-ROM Parameter

11541 0 Refer to the text. Impossible

(18) Status DO 7 (P11543)

The servo status is returned. Refer to section 5.3.2 (7) for details.
PNU Sub Access Name Data Type Description Default
11543 0 R Status DO 7 Unsigned16 Status DO 7

PNU Sub Range Units EEP-ROM Parameter

11543 0 Refer to the text. Impossible

(19) Velocity limit value (P11552)

Set the speed limit value for the profile torque mode (tq).
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
11552 0 R/W Velocity limit value Unsigned32 Speed limit value 50000

PNU Sub Range Units EEP-ROM Parameter

11552 0 00000000h to permissible speed Vel units Possible PT67

(20) Motor rated speed (P11560)

The servo motor rated speed is returned.
Unit: [r/min]
PNU Sub Access Name Data Type Description Default
11560 0 R Motor rated speed Unsigned32 Servo motor rated speed

PNU Sub Range Units EEP-ROM Parameter

11560 0 00000000h to FFFFFFFFh r/min Impossible

20 - 147
20．PROFINET COMMUNICATION

(21) Manufacturer Device Name 2 (P11568)

The model name of the _ driver is returned.
PNU Sub Access Name Data Type Description Default
Manufacturer Device
11568 0 R VisibleString Model name of the _ driver
Name 2

PNU Sub Range Units EEP-ROM Parameter

11568 0 Impossible

(22) Manufacturer Hardware Version 2 (P11569)

The hardware version of the _ driver is returned.
PNU Sub Access Name Data Type Description Default
Manufacturer Hardware
11569 0 R VisibleString Hardware version of the _ driver
Version 2

PNU Sub Range Units EEP-ROM Parameter

11569 0 Impossible

(23) Manufacturer Software Version 2 (P11570)

The software version of the _ driver is returned.
PNU Sub Access Name Data Type Description Default
Manufacturer Software
11570 0 R VisibleString Software version of the _ driver
Version 2

PNU Sub Range Units EEP-ROM Parameter

11570 0 Impossible

(24) Serial Number 2 (P11571)

The serial number of the _ driver is returned.
PNU Sub Access Name Data Type Description Default
11571 0 R Serial Number 2 VisibleString Serial number of the _ driver

PNU Sub Range Units EEP-ROM Parameter

11571 0 Impossible

(25) User parameter configuration (P11572)

The parameters whose symbols are preceded by * are not automatically enabled. Writing "1EA5" to this
parameter enables the parameters. This operation can be executed only when the upper side is other
than the RUN state. Refer to section 8.14.1 for details.
PNU Sub Access Name Data Type Description Default
User parameter
11572 0 R/W Unsigned16 Parameter enabling 1
configuration

PNU Sub Range Units EEP-ROM Parameter

11572 0 Refer to the text. Impossible

20 - 148
20．PROFINET COMMUNICATION

(26) Encoder status (P11573)

The encoder status is returned.
PNU Sub Access Name Data Type Description Default
0 R Encoder status1 Array [2] Encoder status 1
11573
1 R Encoder status2 Unsigned32 Encoder status 2

PNU Sub Range Units EEP-ROM Parameter

0 00000000h to 00000001h
11573 Impossible
1 00000000h to 00000007h

The following shows status of Sub 0 and 1.

Sub Description
Encoder status1 This shows load side for the fully closed loop system and shows motor side or operation side
for the others.
Bit 0: Whether the driver is used in an absolute position detection system or not is outputted.
(Incremental system: Off, Absolute position detection system: On)
Encoder status2 (Not supported)

(27) One-touch tuning mode (P11600)

Set this for one-touch tuning mode. Setting this starts one-touch tuning.
PNU Sub Access Name Data Type Description Default
11600 0 R/W One-touch tuning mode Unsigned8 One-touch tuning mode setting

PNU Sub Range Units EEP-ROM Parameter

11600 0 00h to 03h Impossible

The following settings are available.

Setting
Description
value
0 During one-touch tuning stop
1 Basic mode
2 High mode
3 Low mode

(28) One-touch tuning status (P11601)

The one-touch tuning status is returned.
PNU Sub Access Name Data Type Description Default
11601 0 R One-touch tuning status Unsigned8 One-touch tuning status

PNU Sub Range Units EEP-ROM Parameter

11601 0 00h to 64h % Impossible

20 - 149
20．PROFINET COMMUNICATION

(29) One-touch tuning Stop (P11602)

One-touch tuning stop command is issued. Writing "1EA5h" stops one-touch tuning.
PNU Sub Access Name Data Type Description Default
11602 0 W One-touch tuning Stop Unsigned16 Stop of one-touch tuning

PNU Sub Range Units EEP-ROM Parameter

11602 0 0000h, 1EA5h Impossible

(30) One-touch tuning Clear (P11603)

The parameter changed in one-touch tuning is returned to the value before the change.
PNU Sub Access Name Data Type Description Default
The parameter changed in one-touch
11603 0 W One-touch tuning Clear Unsigned16 tuning is returned to the value before the
change.

PNU Sub Range Units EEP-ROM Parameter

11603 0 0000h to 0001h Impossible

The following settings are available.

Setting
Description
value
0000 Restores the initial value.
0001 Restores the value before one-touch tuning.

(31) One-touch tuning Error Code (P11604)

An error code of the one-touch tuning is returned.
PNU Sub Access Name Data Type Description Default
One-touch tuning Error
11604 0 R Unsigned16 One-touch tuning error code
Code

PNU Sub Range Units EEP-ROM Parameter

11604 0 0000h to C00Fh Impossible

The following error codes are available.

Value Description
0000 Finished normally
C000 Tuning canceled
C001 Overshoot exceeded
C002 Servo-off during tuning
C003 Control mode error
C004 Time-out
C005 Inertia estimation failed
C00F One-touch tuning disabled

20 - 150
20．PROFINET COMMUNICATION

(32) Torque limit value 2 (P11627)

The generated torque at a servo motor stop in the indexer method can be limited. Set this parameter to
"0" to generate no torque.
PNU Sub Access Name Data Type Description Default
11627 0 R/W Torque limit value 2 Unsigned16 Torque limit value 2 10000

PNU Sub Range Units EEP-ROM Parameter

Per thousand
11627 0 0000h to 2710h Impossible
of rated torque

20.9.3.6 PDS Control Objects

(1) Error code (P24639)
The latest error No. that occurred after the power on is returned.
PNU Sub Access Name Data Type Description Default
The latest error No. that occurred after the
24639 0 R Error code Unsigned16 0
power on

PNU Sub Range Units EEP-ROM Parameter

24639 0 0000h to FFFFh Impossible

(2) Controlword (P24640)

Set control commands to control the driver. Refer to section 5.3.1 for details.
PNU Sub Access Name Data Type Description Default
24640 0 R/W Controlword Unsigned16 Controlword 0

PNU Sub Range Units EEP-ROM Parameter

24640 0 Refer to the text. Impossible

(3) Statusword (P24641)

The servo status is returned. Refer to section 5.3.2 for details.
PNU Sub Access Name Data Type Description Default
24641 0 R Statusword Unsigned16 Statusword

PNU Sub Range Units EEP-ROM Parameter

24641 0 Refer to the text. Impossible

(4) Quick stop option code (P24666)

Set how to decelerate the servo motor to a stop at Quick Stop reception. Refer to section 8.10 for details.
PNU Sub Access Name Data Type Description Default
How to decelerate the servo motor to a
24666 0 R/W Quick stop option code Integer16 2
stop at Quick Stop reception

PNU Sub Range Units EEP-ROM Parameter

24666 0 0002h to 0002h possible PT68

20 - 151
20．PROFINET COMMUNICATION

(5) Halt option code (P24669)

Set how to decelerate the servo motor to a stop at Halt reception. Refer to section 8.11 for details.
PNU Sub Access Name Data Type Description Default
How to decelerate the servo motor to a
24669 0 R/W Halt option code Integer16 1
stop at Halt reception

PNU Sub Range Units EEP-ROM Parameter

24669 0 0001h to 0001h possible PT68

(6) Modes of operation (P24672)

PNU Sub Access Name Data Type Description Default
24672 0 R/W Modes of operation Integer8 Set the control mode. 0

PNU Sub Range Units EEP-ROM Parameter

24672 0 Refer to the following table. Impossible

Setting
Description
value
0 No mode change/No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
-100 Jog mode (jg)
-101 Point table mode (pt)
-103 Indexer mode (idx)

(7) Modes of operation display (P24673)

PNU Sub Access Name Data Type Description Default
Modes of operation Refer to the
24673 0 R Integer8 The current control mode is returned.
display text.

PNU Sub Range Units EEP-ROM Parameter

24673 0 Refer to the following table. Impossible

Setting
Description
value
0 No mode assigned
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
-100 Jog mode (jg)
-101 Point table mode (pt)
-103 Indexer mode (idx)

20 - 152
20．PROFINET COMMUNICATION

(8) Supported drive modes (P25858)

PNU Sub Access Name Data Type Description Default
Refer to the
25858 0 R Supported drive modes Unsigned32 The supported control mode is returned.
text.

PNU Sub Range Units EEP-ROM Parameter

25858 0 Refer to the following table. Impossible

Bit Description
0 Profile position mode (pp)
2 Profile velocity mode (pv)
3 Profile torque mode (tq)
5 Homing mode (hm)
16 Jog mode (jg)
17 Point table mode (pt)
19 Indexer mode (idx)

20 - 153
20．PROFINET COMMUNICATION

20.9.3.7 Position Control Function Objects

(1) Position actual internal value (P24675)
The current position is returned.
PNU Sub Access Name Data Type Description Default
Position actual internal
24675 0 R Integer32 Current position
value

PNU Sub Range Units EEP-ROM Parameter

24675 0 80000000h to 7FFFFFFFh inc Impossible

(2) Position actual value (P24676)

The current position in the command unit is returned.
In the indexer method, "0" is returned.
PNU Sub Access Name Data Type Description Default
24676 0 R Position actual value Integer32 Current position in the command unit

PNU Sub Range Units EEP-ROM Parameter

24676 0 80000000h to 7FFFFFFFh pos units Impossible

(3) Following error window (P24677)

In the profile position mode (pp), point table mode (pt), Jog mode (jg) and indexer mode (idx), when the
time set with Following error time out (P24678) has elapsed with the number of droop pulses exceeding
the setting value of this object, Bit 13 of Statusword (P24641) turns on. When "FFFFFFFFh" is set, Bit 13
of Statusword (P24641) is always off.
PNU Sub Access Name Data Type Description Default
Position error threshold for judging
24677 0 R/W Following error window Unsigned32 00C00000h
Following error

PNU Sub Range Units EEP-ROM Parameter

24677 0 00000000h to FFFFFFFFh pos units possible PC67/PC68

(4) Following error time out (P24678)

Refer to Following error window (P24677).
PNU Sub Access Name Data Type Description Default

24678 0 R/W Following error time out Unsigned16 Following error judging time 10

PNU Sub Range Units EEP-ROM Parameter

24678 0 0000h to FFFFh ms possible PC69

20 - 154
20．PROFINET COMMUNICATION

(5) Position window (P24679)

In the profile position mode (pp), point table mode (pt) or JOG operation mode (jg), when the time set
with Position windows time (P24680) has elapsed with the number of droop pulses equal to or lower than
the setting value of this object, Bit 10 of Statusword (P24641) is turned on. When "FFFFFFFFh" is set, Bit
10 of Statusword (P24641) is always on.
PNU Sub Access Name Data Type Description Default
Position error threshold for judging Target
24679 0 R/W Position window Unsigned32 100
reached

PNU Sub Range Units EEP-ROM Parameter

24679 0 00000000h to FFFFFFFFh pos units possible PC70

(6) Position window time (P24680)

Refer to Position window (P24679).
PNU Sub Access Name Data Type Description Default
24680 0 R/W Position window time Unsigned16 Target reached judgment time 10

PNU Sub Range Units EEP-ROM Parameter

24680 0 0000h to FFFFh ms Possible PC71

(7) Positioning option code (P24818)

PNU Sub Access Name Data Type Description Default
24818 0 R/W Positioning option code Unsigned16 Positioning option code 0000h

PNU Sub Range Units EEP-ROM Parameter

24818 0 0000h to 00C0h - Possible PT03

Set the profile position mode. The description of this object is as follows.
Bit Description Default
0 to 1 00b: The positioning is performed with the relative position from the internal absolute target position. 00b
01b: The positioning is performed with the relative position from Position demand actual value (P24828). (Not
compatible) (Note)
10b: The positioning is performed with the relative position from Position actual value (P24676). (Not
compatible) (Note)
11b: reserved
2 to 3 00b: A new value of Target position (P24698), Profile velocity (P24705), and Acceleration are promptly 00b
reflected.
01b: The current positioning continues to reach the target position. Then a new setting of Target position
(P24698), Profile velocity (P24705), and Acceleration is reflected. (Not compatible) (Note)
10b: reserved
11b: reserved
4 to 5 Reserved 0
6 to 7 00b: The servo motor rotates to the target position in a direction specified with a sign of the position data. 00b
01b: The servo motor rotates in the address decreasing direction regardless of the sign of the position data.
10b: The servo motor rotates in the address increasing direction regardless of the sign of the position data.
11b: The servo motor rotates from the current position to the target position in the shorter direction. If the
distances from the current position to the target position are the same for CCW and CW, the servo
motor rotates in the CCW direction.
8 to 15 Reserved 0

Note. This is not supported by the driver.

20 - 155
20．PROFINET COMMUNICATION

(8) Following error actual value (P24820)

The droop pulses are returned.
PNU Sub Access Name Data Type Description Default
Following error actual
24820 0 R Integer32 Droop pulses
value

PNU Sub Range Units EEP-ROM Parameter

24820 0 80000000h to 7FFFFFFFh pos units Impossible

(9) Control effort (P24826)

The speed command is returned.
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
24826 0 R Control effort Integer32 Speed command

PNU Sub Range Units EEP-ROM Parameter

24826 0 80000000h to 7FFFFFFFh vel units Impossible

20.9.3.8 Profile Velocity Mode Objects

(1) Velocity demand value (P24683)
The speed command is returned.
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
24683 0 R Velocity demand value Integer32 Speed command

PNU Sub Range Units EEP-ROM Parameter

24683 0 80000000h to 7FFFFFFFh vel units Impossible

(2) Velocity actual value (P24684)

The current speed is returned.
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
24684 0 R Velocity actual value Integer32 Current speed

PNU Sub Range Units EEP-ROM Parameter

24684 0 80000000h to 7FFFFFFFh vel units Impossible

20 - 156
20．PROFINET COMMUNICATION

(3) Velocity window (P24685)

In the profile velocity mode (pv), when the time set with Velocity window time (P24686) has elapsed with
the current speed equal to or lower than the setting value of this parameter, Bit 10 of Statusword
(P24641) is turned on.
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
Speed error threshold for judging Target
24685 0 R/W Velocity window Unsigned16 2000
reached

PNU Sub Range Units EEP-ROM Parameter

24685 0 0000h to FFFFh vel units Possible PC72

(4) Velocity window time (P24686)

Refer to Velocity window (P24685).
PNU Sub Access Name Data Type Description Default
24686 0 R/W Velocity window time Unsigned16 Target reached judgment time 10

PNU Sub Range Units EEP-ROM Parameter

24686 0 0000h to FFFFh ms Possible PC77

(5) Velocity threshold (P24687)

In the profile velocity mode (pv), when the time set with Velocity threshold time (P24688) has elapsed
with the current speed exceeding the setting value of this PROFIdrive parameter, Bit 12 of Statusword
(P24641) is turned off.
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
24687 0 R/W Velocity threshold Unsigned16 Zero speed threshold for judging Speed 5000

PNU Sub Range Units EEP-ROM Parameter

24687 0 0000h to FFFFh vel units Possible PC65

(6) Velocity threshold time (P24688)

Refer to Velocity threshold (P24688).
PNU Sub Access Name Data Type Description Default
24688 0 R/W Velocity threshold time Unsigned16 Speed judgment time 10

PNU Sub Range Units EEP-ROM Parameter

24688 0 0000h to FFFFh ms Possible PC66

(7) Target velocity (P24831)

Set the speed command used in the profile velocity mode (pv).
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default
24831 0 R/W Target velocity Integer32 Speed command 0

PNU Sub Range Units EEP-ROM Parameter

24831 0 80000000h to 7FFFFFFFh vel units Impossible

20 - 157
20．PROFINET COMMUNICATION

20.9.3.9 Profile Torque Mode Objects

(1) Target torque (P24689)
Set the torque command used in the profile torque mode (tq).
PNU Sub Access Name Data Type Description Default
24689 0 R/W Target torque Integer16 Torque command 0

PNU Sub Range Units EEP-ROM Parameter

Per thousand
24689 0 8000h to 7FFFh Impossible
of rated torque

(2) Max torque (P24690)

The maximum torque of the servo motor is returned. The values notified by this PROFIdrive parameter
are the maximum current and feedback value and may not match the maximum torque mentioned in
"Servo Motor Instruction Manual (Vol. 3)".
PNU Sub Access Name Data Type Description Default
24690 0 R/W Max torque Unsigned16 Maximum torque

PNU Sub Range Units EEP-ROM Parameter

Per thousand
24690 0 0000h to FFFFh Impossible
of rated torque

(3) Torque demand (P24692)

The torque command is returned.
PNU Sub Access Name Data Type Description Default
24692 0 R Torque demand Integer16 Torque command

PNU Sub Range Units EEP-ROM Parameter

Per thousand
24692 0 8000h to 7FFFh Impossible
of rated torque

(4) Torque actual value (P24695)

The current torque is returned.
PNU Sub Access Name Data Type Description Default
24695 0 R Torque actual value Integer16 Current torque

PNU Sub Range Units EEP-ROM Parameter

Per thousand
24695 0 8000h to 7FFFh Impossible
of rated torque

20 - 158
20．PROFINET COMMUNICATION

(5) Torque slope (P24711)

Set the variation per second of the torque command used in the profile torque mode. When 0 is set, the
setting value is invalid and the torque command is input with step input.
PNU Sub Access Name Data Type Description Default
Variation of the torque command per
24711 0 R/W Torque slope Unsigned32 0000000h
second

PNU Sub Range Units EEP-ROM Parameter

Per thousand
24711 0 0000000h to 00989680h (10000000) of rated torque Possible PT53
per second

(6) Torque profile type (P24712)

Set the torque command pattern. Refer to section 6.5 (1) for details.
PNU Sub Access Name Data Type Description Default
24712 0 R/W Torque profile type Integer16 Torque command pattern 0

PNU Sub Range Units EEP-ROM Parameter

24712 0 0000h to 0000h Impossible

(7) Positive torque limit value (P24800)

You can limit the torque generated by the servo motor. Set the limit value of the torque of the servo motor
in the CCW power running or CW regeneration, in the positive direction power running or negative
direction regeneration. Set this object to 0 to generate no torque.
PNU Sub Access Name Data Type Description Default
24800 0 R/W Positive torque limit value Unsigned16 Forward rotation torque limit 10000

PNU Sub Range Units EEP-ROM Parameter

PA11
Per thousand (POL disabled)
24800 0 0000h to 2710h Possible
of rated torque PA12
(POL enabled)

(8) Negative torque limit value (P24801)

You can limit the torque generated by the servo motor. Set the limit value of the torque of the servo motor
in the CW power running or CCW regeneration, in the negative direction power running or positive
direction regeneration. Set this object to 0 to generate no torque.
PNU Sub Access Name Data Type Description Default
Negative torque limit
24801 0 R/W Unsigned16 Reverse rotation torque limit 10000
value

PNU Sub Range Units EEP-ROM Parameter

PA12
Per thousand (POL disabled)
24801 0 0000h to 2710h Possible
of rated torque PA11
(POL enabled)

20 - 159
20．PROFINET COMMUNICATION

20.9.3.10 Profile Position Mode Objects

(1) Target position (P24698)
Set the position command used in the profile position mode (pp). The settable values vary depending on
the setting of command unit [Pr. PT01] (_ x _ _).
PNU Sub Access Name Data Type Description Default
24698 0 R/W Target position Integer32 Position command

PNU Sub Range Units EEP-ROM Parameter

24698 0 Refer to the text. pos units Impossible

[Pr. PT01] setting Range

_ 0 _ _ (mm) FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 1 _ _ (inch) FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 2 _ _ (degree) FFFA81C0h to 00057E40h (-360000 to 360000)
_ 3_ _ (pulse) FFF0BDC1h to 000F423Fh (-999999 to 999999)

(2) Position range limit (P24699)

PNU Sub Access Name Data Type Description Default
0 R/W Min position range limit Array [2] Minimum value of the position range limit
24699
1 R/W Max position range limit Integer32 Maximum value of the position range limit

PNU Sub Range Units EEP-ROM Parameter

0
24699 Refer to the text. pos units Impossible
1

No value can be written because Position range limit (P24699) is set automatically with the control mode
and [Pr. PT01]. Writing a value will trigger Error No. 02h (Low or high limit exceeded).
Control mode [Pr. PT01] setting Range
_ 0 _ _ (mm) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 1 _ _ (inch) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Profile mode
_ 2 _ _ (degree) 00000000h to 00057E3Fh (0 to 359999)
_ 3 _ _ (pulse) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 0 _ _ (mm) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Point table method _ 1 _ _ (inch) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
_ 3 _ _ (pulse) 80000000h to 7FFFFFFFh (-2147483648 to 2147483647)
Indexer method 0 to set value in [Pr. PT28] -1

20 - 160
20．PROFINET COMMUNICATION

(3) Software position limit (P24701)

Set the range for limiting the command position. Target position (P24698) is limited within the range
between Min position limit (P24701.0) and Max position limit (P24701.1). When the set value of Min
position limit (P24701.0) is equal to or greater than the set value of Max position limit (P24701.1), the
function of Software position limit (P24701) is disabled.
In the indexer method, this function is disabled.
PNU Sub Access Name Data Type Description Default
0 R/W Min position limit Array [2] Lower software position limit
24701 0
1 R/W Max position limit Integer32 Upper software position limit

PNU Sub Range Units EEP-ROM Parameter

0 PT17/PT18
24701 80000000h to 7FFFFFFFh pos units Possible
1 PT15/PT16

(4) Max profile velocity (P24703)

Set the speed limit value for the profile position mode (pp), the profile velocity mode (pv), the jog mode
(jg), and the indexer mode (idx). When a value exceeding this PROFIdrive parameter is set to Target
velocity (P24831) or Profile velocity (P24705), the speed is limited with the value of this PROFIdrive
parameter.
PNU Sub Access Name Data Type Description Default
24703 0 R/W Max profile velocity Unsigned32 Speed limit value 2000000

PNU Sub Range Units EEP-ROM Parameter

24703 0 00000000h to 001E8480h (2000000) vel units Possible PT66

(5) Max motor speed (P24704)

The maximum speed (value of instantaneous permissible speed) of the servo motor is returned.
Operation cannot be performed at a speed exceeding the speed set with this PROFIdrive parameter.
Unit: [r/min]
PNU Sub Access Name Data Type Description Default
24704 0 R/W Max motor speed Unsigned32 Servo motor maximum speed

PNU Sub Range Units EEP-ROM Parameter

Refer to the
24704 0 00000000h to FFFFFFFFh Impossible
text.

(6) Profile velocity (P24705)

Set the command speed in the profile position mode (pp), the jog mode (jg), and the indexer mode (idx).
Set a value within the range between 0 and permissible speed.
Unit: [r/min]
PNU Sub Access Name Data Type Description Default
24705 0 R/W Profile velocity Unsigned32 Speed command 10000

PNU Sub Range Units EEP-ROM Parameter

24705 0 Refer to the text. vel units Possible PT65

20 - 161
20．PROFINET COMMUNICATION

(7) Profile acceleration (P24707)

Set the acceleration time constant in the profile position mode (pp), the profile velocity mode (pv), the jog
mode (jg), and the indexer mode (idx). Set a time for the servo motor to reach the rated speed. The
settable values vary depending on the control mode.
PNU Sub Access Name Data Type Description Default
24707 0 R/W Profile acceleration Unsigned32 Acceleration time constant 0

PNU Sub Range Units EEP-ROM Parameter

24707 0 Refer to the text. ms Possible PT49

Control mode Range

Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000
Jog mode (jg) 0 to 20000
Indexer mode (idx) 0 to 20000

(8) Profile deceleration (P24708)

Set the deceleration time constant in the profile position mode (pp), the profile velocity mode (pv), the jog
mode (jg), and the indexer mode (idx). Set a time for the servo motor to stop from the rated speed. The
settable values vary depending on the control mode.
PNU Sub Access Name Data Type Description Default
24708 0 R/W Profile deceleration Unsigned32 Deceleration time constant 0

PNU Sub Range Units EEP-ROM Parameter

24708 0 Refer to the text. ms Possible PT50

Control mode Range

Profile position mode (pp) 0 to 20000
Profile velocity mode (pv) 0 to 50000
Jog mode (jg) 0 to 20000
Indexer mode (idx) 0 to 20000

(9) Quick stop deceleration (P24709)

Set a deceleration time constant for the Quick stop function. Set a time for the servo motor to stop from
the rated speed. When 0 is set, the operation is performed with 100 ms.
PNU Sub Access Name Data Type Description Default
24709 0 R/W Quick stop deceleration Unsigned32 Deceleration time constant 100

PNU Sub Range Units EEP-ROM Parameter

24709 0 00000000h to 00004E20h (20000) ms Possible PC24

20 - 162
20．PROFINET COMMUNICATION

(10) Motion profile type (P24710)

Set the acceleration/deceleration pattern in the profile position mode (pp). The description is as follows.
PNU Sub Access Name Data Type Description Default
Acceleration/deceleration pattern
24710 0 R/W Motion profile type Integer16 -1
generation

PNU Sub Range Units EEP-ROM Parameter

24710 0 FFFFh to FFFFh Impossible

Acceleration/deceleration type selection

Setting
Description
value
-1 S-pattern
0 Linear ramp (not compatible) (Note)
1 Sin2 ramp (not compatible) (Note)
2 Jerk-free ramp (not compatible) (Note)
3 Jerk-limited ramp (not compatible) (Note)

Note. This is not supported by the driver.

20 - 163
20．PROFINET COMMUNICATION

20.9.3.11 Homing Mode Objects

(1) Home offset (P24700)
The home position is returned. Only reading the value is available. Do not perform writing because doing
so causes an error.
PNU Sub Access Name Data Type Description Default
24700 0 R/W Home offset Integer32 Home position -1

PNU Sub Range Units EEP-ROM Parameter

24700 0 80000000h to 7FFFFFFFh pos units Possible

(2) Homing method (P24728)

Set a home position return type. Refer to section 6.6 (4) for the settable values.
PNU Sub Access Name Data Type Description Default
24728 0 R/W Homing method Integer8 Home position return type 37

PNU Sub Range Units EEP-ROM Parameter

24728 0 D5h (-43) to 25h (37) Possible PT45

(3) Homing speeds (P24729)

Set the servo motor speed at home position return.
Set the servo motor speed at home position return for Speed during search for switch (P24729.0).
Unit: [0.01 r/min]
Set the creep speed after proximity dog at home position return for Speed during search for zero
(P24729.1).
Unit: [0.01 r/min]
PNU Sub Access Name Data Type Description Default

Speed during search for

0 R/W Home position return speed 10000
switch Array [2]
24729
Integer32
Speed during search for
1 R/W Creep speed 1000
zero

PNU Sub Range Units EEP-ROM Parameter

0 PT05
24729 00000000h to permissible speed vel units Possible
1 PT06

(4) Homing acceleration (P24730)

Set the acceleration/deceleration time constants at home position return. Set a time for the servo motor
to reach the rated speed.
PNU Sub Access Name Data Type Description Default
Home position return
24730 0 R/W Homing acceleration Integer32 0
acceleration/deceleration time constant

PNU Sub Range Units EEP-ROM Parameter

24730 0 00000000h to 00004E20h (20000) ms Possible PT56

20 - 164
20．PROFINET COMMUNICATION

(5) Supported homing method (P24803)

The supported home position return type is returned.
(a) Profile mode/point table method
PNU Sub Access Name Data Type Description Default
1st supported homing
0 R 1st supported homing method 37
method
2nd supported homing
1 R 2nd supported homing method 35
method
3rd supported homing
2 R 3rd supported homing method 34
method
4th supported homing
3 R 4th supported homing method 33
method
5th supported homing
4 R 5th supported homing method 28
method
6th supported homing
5 R 6th supported homing method 27
method
7th supported homing
6 R 7th supported homing method 24
method
8th supported homing
7 R 8th supported homing method 23
method
9th supported homing
8 R 9th supported homing method 22
method
10th supported homing
9 R 10th supported homing method 21
method
11th supported homing
10 R 11th supported homing method 20
method
12th supported homing
11 R 12th supported homing method 19
method
13th supported homing
12 R 13th supported homing method 12
method
14th supported homing
13 R 14th supported homing method 11
method Array [39]
24803
15th supported homing Integer8
14 R 15th supported homing method 8
method
16th supported homing
15 R 16th supported homing method 7
method
17th supported homing
16 R 17th supported homing method 6
method
18th supported homing
17 R 18th supported homing method 5
method
19th supported homing
18 R 19th supported homing method 4
method
20th supported homing
19 R 20th supported homing method 3
method
21st supported homing
20 R 21st supported homing method -1
method
22nd supported homing
21 R 22nd supported homing method -2
method
23rd supported homing
22 R 23rd supported homing method -3
method
24th supported homing
23 R 24th supported homing method -4
method
25th supported homing
24 R 25th supported homing method -6
method
26th supported homing
25 R 26th supported homing method -7
method
27th supported homing
26 R 27th supported homing method -8
method
28th supported homing
27 R 28th supported homing method -9
method

20 - 165
20．PROFINET COMMUNICATION

PNU Sub Access Name Data Type Description Default

29th supported homing
28 R 29th supported homing method -10
method
30th supported homing
29 R 30th supported homing method -11
method
31st supported homing
30 R 31st supported homing method -33
method
32nd supported homing
31 R 32nd supported homing method -34
method
33rd supported homing
32 R 33rd supported homing method -36
method
34th supported homing
24803 33 R 34th supported homing method -38
method Array [39]
35th supported homing Integer8
34 R 35th supported homing method -39
method
36th supported homing
35 R 36th supported homing method -40
method
37th supported homing
36 R 37th supported homing method -41
method
38th supported homing
37 R 38th supported homing method -42
method
39th supported homing
38 R 39th supported homing method -43
method

PNU Sub Range Units EEP-ROM Parameter

0 25h (37)
1 23h (35)
2 22h (34)
3 21h (33)
4 1Ch (28)
5 1Bh (27)
6 18h (24)
7 17h (23)
8 16h (22)
9 15h (21)
10 14h (20)
11 13h (19)
12 0Ch (12)
13 0Bh (11)
14 08h (8)
15 07h (7)
24803 Impossible
16 06h (6)
17 05h (5)
18 04h (4)
19 03h (3)
20 FFh (-1)
21 FEh (-2)
22 FDh (-3)
23 FCh (-4)
24 FAh (-6)
25 F9h (-7)
26 F8h (-8)
27 F7h (-9)
28 F6h (-10)
29 F5h (-11)
30 DFh (-33)
31 DEh (-34)

20 - 166
20．PROFINET COMMUNICATION

PNU Sub Range Units EEP-ROM Parameter

32 DCh (-36)
33 DAh (-38)
34 D9h (-39)
24803 35 D8h (-40) Impossible
36 D7h (-41)
37 D6h (-42)
38 D5h (-43)

(b) Indexer method

PNU Sub Access Name Data Type Description Default
1st supported homing
0 R 1st supported homing method 37
method
2nd supported homing
1 R 2nd supported homing method 35
method
3rd supported homing Array [5]
24803 2 R 3rd supported homing method -1
method Integer8
4th supported homing
3 R 4th supported homing method -3
method
5th supported homing
4 R 5th supported homing method -33
method

PNU Sub Range Units EEP-ROM Parameter

0 25h (37)
1 23h (35)
24803 2 FFh (-1) Impossible
3 FDh (-3)
4 DFh (-33)

20 - 167
20．PROFINET COMMUNICATION

20.9.3.12 Point Table Mode Objects

(1) Target point table (P11616)
In the point table mode (pt), specify the point table No. to execute. In the indexer mode (idx), set the next
station No to execute. The settable values vary depending on the control mode.
PNU Sub Access Name Data Type Description Default
11616 0 R/W Target point table Integer16 Refer to the text. 0

PNU Sub Range Units EEP-ROM Parameter

11616 0 Refer to the text. Impossible

Control mode Range

Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

(2) Point demand value (P11624)

In the point table mode (pt), the currently specified point table No. is returned. In the indexer mode (idx),
the currently specified next station No. is returned. The returned values vary depending on the control
mode.
PNU Sub Access Name Data Type Description Default
11624 0 R Point demand value Integer16 Refer to the text. 0

PNU Sub Range Units EEP-ROM Parameter

11624 0 Refer to the text. Impossible

Control mode Range

Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

(3) Point actual value (P11625)

In the point table mode (pt), the completed point table No. is returned. In the indexer mode (idx), the
completed station No. is returned. The returned values vary depending on the control mode.
PNU Sub Access Name Data Type Description Default
11625 0 R Point actual value Integer16 Refer to the text. 0

PNU Sub Range Units EEP-ROM Parameter

11625 0 Refer to the text. Impossible

Control mode Range

Point table mode (pt) FFFFh to 00FFh (-1 to 255)
Indexer mode (idx) 0000h to 00FEh (0 to 254)

20 - 168
20．PROFINET COMMUNICATION

(4) Point table (P10241 to P10495)

Register the positioning data to the point table.
PNU Sub Access Name Data Type Description Default
0 R/W Point data Integer32 Position data 0
1 R/W Speed Integer32 Speed 0
10241 2 R/W Acceleration Integer32 Acceleration time constant 0
to 3 R/W Deceleration Integer32 Deceleration time constant 0
10495 4 R/W Dwell Integer32 Dwell 0
5 R/W Auxiliary Integer32 Auxiliary function 0
6 R/W M code Integer32 M code 0

PNU Sub Range Units EEP-ROM Parameter

0 Refer to the text. pos units
1 00000000h to instantaneous permissible speed vel units
2 00000000h to 00004E20h (0 to 20000) ms
10241
3 00000000h to 00004E20h (0 to 20000) ms
to Possible
10495 4 00000000h to 00004E20h (0 to 20000) ms
00000000h to 00000003h, 00000008h to 0000000Bh
5
(0 to 3, 8 to 11)
6 00000000h to 00000063h (0 to 99)

The settable values in Point data vary depending on the setting of [Pr. PT01].
PT01 Range
_ 0 _ _ [mm] FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 1 _ _ [inch] FFF0BDC1h to 000F423Fh (-999999 to 999999)
_ 3 _ _ [pulse] FFF0BDC1h to 000F423Fh (-999999 to 999999)

When "1"or "3" is set in Auxiliary of the point table No. 255, bit 6 in the Point table error factor (P10819: 1)
turns on and an error occurs. The following shows the description of the values to be set in Auxiliary.
Setting
Point table command method Description
value
0 Absolute value command Automatic operation for a selected point table is performed.
method Automatic continuous operation is performed to the next point table without a
1
stop.
Automatic continuous operation is performed without a stop to the point table
8
selected at start-up.
Automatic continuous operation is performed without stopping a point table No.
9
1.
2 Incremental value command Automatic operation for a selected point table is performed.
method Automatic continuous operation is performed to the next point table without a
3
stop.
Automatic continuous operation is performed to the point table selected at the
10
start.
Automatic continuous operation is performed without stopping a point table No.
11
1.

20 - 169
20．PROFINET COMMUNICATION

(5) Point table error (P10819)

The point table No. in which a point table error has occurred is returned with Point table error No.
(P10819: 1). The error factor of the corresponding point table in which a point table error has occurred is
returned with Point table error factor (P10819: 2).
PNU Sub Access Name Data Type Description Default
0 R Point table error No. Unsigned32 Point table error number 0
10819
1 R Point table error factor Unsigned32 Point table error factor 0

PNU Sub Range Units EEP-ROM Parameter

0 00000000h to 000000FFh (0 to 255)
10819 Impossible
1 00000000h to 000000FDh

The following shows the details of the error factor.

Bit Description
0 0: No error
1: Target position error
1 reserved
2 0: No error
1: Speed error
3 0: No error
1: Acceleration time constant error
4 0: No error
1: Deceleration time constant error
5 0: No error
1: Dwell time error
6 0: No error
1: Auxiliary function error
7 0: No error
1: M code error
8 to 31 reserved

(6) M code actual value (P11626)

The completed M code of the point table is returned. In the indexer method, "0" is returned.
PNU Sub Access Name Data Type Description Default
11626 0 R M code actual value Unsigned8 Completed M code of the point table 0

PNU Sub Range Units EEP-ROM Parameter

11626 0 00h to 63h (0 to 99) Impossible

20 - 170
20．PROFINET COMMUNICATION

20.9.3.13 Factor Group Objects

(1) Polarity (P24702)
The rotation direction selection can be set. Only 00h, C0h, or E0h can be set. Values other than 00h,
C0h, and E0h cannot be set.
Refer to section 8.5 for details.
PNU Sub Access Name Data Type Description Default
24702 0 R/W Polarity Unsigned8 Rotation direction 0

PNU Sub Range Units EEP-ROM Parameter

PA14 (bit 6, 7)
24702 0 Refer to the text. Possible
PC29 (bit 5)

(2) Position encoder resolution (P24719)

Encoder resolution is returned with Encoder increments (P24719.0).
PNU Sub Access Name Data Type Description Default
0 R/W Encoder increments Array [2] Encoder increments
24719
1 R/W Motor revolutions Unsigned32 Motor revolutions 1

PNU Sub Range Units EEP-ROM Parameter

0 00000000h to FFFFFFFFh inc
24719 Impossible
1 00000001h to 00000001h rev

(3) Gear ratio (P24721)

Set the electronic gear. Refer to [Pr. PA06] for the settable values. In the cyclic synchronous mode,
always set "1" for Motor revolutions (P24721.0) and Shaft revolutions (P24721.1).
PNU Sub Access Name Data Type Description Default
0 R/W Motor revolutions Array [2] Motor revolutions
24721 1
1 R/W Shaft revolutions Unsigned32 Shaft revolutions

PNU Sub Range Units EEP-ROM Parameter

0 PA06
24721 00000001h to 00FFFFFFh (16777215) rev Possible
1 PA07

(4) Feed constant (P24722)

Travel distance per revolution of output shaft is set. Refer to the section of each control mode for details.
PNU Sub Access Name Data Type Description Default
0 R/W Feed Array [2] Travel distance setting
24722
1 R/W Shaft revolutions Unsigned32 Number of servo motor shaft revolutions 1

PNU Sub Range Units EEP-ROM Parameter

0 pos units
24722 Refer to the text. Impossible
1 rev

20 - 171
20．PROFINET COMMUNICATION

(5) SI unit position (P24744)

The SI position unit is returned.
SI unit position (P24744) is set automatically with the control mode, [Pr. PT01] and [Pr. PT03].
In the indexer method, "00000000h" is returned.
PNU Sub Access Name Data Type Description Default
24744 0 R/W SI unit position Unsigned32 SI position unit 0

PNU Sub Range Units EEP-ROM Parameter

24744 0 Refer to the following table. pos units Impossible -

[Pr. PT01] setting [Pr. PT03] setting Value

0 (× 1) FA010000h (0.001 mm)
1 (× 10) FB010000h (0.01 mm)
_ 0 _ _ (mm)
2 (× 100) FC010000h (0.1 mm)
3 (× 1000) FD010000h (1 mm)
0 (× 1) FCC00000h (0.0001 inch)
1 (× 10) FDC00000h (0.001 inch)
_ 1 _ _ (inch)
2 (× 100) FEC00000h (0.01 inch)
3 (× 1000) FFC00000h (0.1 inch)
_ 2 _ _ (degree) FD410000h (0.001 degree)
_ 3 _ _ (pulse) 00000000h (1 pulse)

(6) SI unit velocity (P24745)

The SI unit velocity is returned.
PNU Sub Access Name Data Type Description Default
24745 0 R/W SI unit velocity Unsigned32 SI unit velocity 0

PNU Sub Range Units EEP-ROM Parameter

FB010300h (0.01 mm/s),
24745 0 vel units Impossible
FEB44700h (0.01 r/min)

20 - 172
20．PROFINET COMMUNICATION

20.9.3.14 Optional application FE Objects

(1) Digital inputs (P24829)
The on/off status of the DI signal is returned.
PNU Sub Access Name Data Type Description Default
24829 0 R Digital inputs Unsigned32 DI signal status

PNU Sub Range Units EEP-ROM Parameter

24829 0 00000000h to 037E0007h Impossible

Status LSP/LSN
Input device
Reading reading output
changing
Bit connector Initial device selection reversing Description
parameter
pin No. parameter parameter
(Note 2)
(Note 3) (Note 4)
Negative limit switch
[Pr. PA14] = 0
0: LSN (Reverse rotation stroke end) off
0 PC76 1: LSN (Reverse rotation stroke end) on
[Pr. PA14] = 1
0: LSP (Forward rotation stroke end) off
1: LSP (Forward rotation stroke end) on
Positive limit switch
[Pr. PA14] = 0
0: LSP (Forward rotation stroke end) off
1 PC76 1: LSP (Forward rotation stroke end) on
[Pr. PA14] = 1
0: LSN (Reverse rotation stroke end) off
1: LSN (Reverse rotation stroke end) on
home switch
2 0: DOG (Proximity dog) off
1: DOG (Proximity dog) on
3 to 16 (reserved) (Note 6)
DI1
PC76
17 CN3-2 LSP PD03 PC79 0: Off
(Note 5)
1: On
DI2
PC76
18 CN3-12 LSN PD04 PC79 0: Off
(Note 5)
1: On
DI3
PC76
19 CN3-19 DOG PD05 PC79 0: Off
(Note 5)
1: On
DI4
20 CN3-10 TPR1 PC79 0: TPR1 (Touch probe 1) off
1: TPR1 (Touch probe 1) on
DI5
21 CN3-1 TPR2 PC79 0: TPR1 (Touch probe 2) off
1: TPR1 (Touch probe 2) on
EM2/EM1
22 CN3-20 EM2 PA04 PC79 0: Off
1: On
23 (reserved) (Note 6)
Safe torque off 1
24 CN8-4 0: STO1 off
1: STO1 on
Safe torque off 2
25 CN8-5 0: STO2 off
1: STO2 on
26 to 31 (reserved) (Note 6)

20 - 173
20．PROFINET COMMUNICATION

2. You can change input devices of the pin with this parameter setting. When [Pr. PD03] to [Pr. PD05] are set to "_ _ 0 0", the
ON/OFF state of each pin is returned.
3. With this parameter setting, you can specify whether the ON/OFF states of the input devices are returned or the ON/OFF
states of the pins are returned.
4. You can reverse the output with this parameter setting.
5. This parameter is available when [Pr. PC79] is set to "0" (the ON/OFF states of the input devices are returned) while LSP or
LSN is assigned to each pin.
6. The values in bit 3 to 16, 23 and 26 to 31 at reading are undefined.

(2) Digital outputs (P24830)

Set the ON/OFF states of the output devices connected to the driver.
PNU Sub Access Name Data Type Description Default
0 R/W Physical outputs ON/OFF setting of the DO signal 0
24830 Unsigned32
1 R/W Bit mask Mask settings of the DO signal 0

PNU Sub Range Units EEP-ROM Parameter

0
24830 00000000h to 000E0000h Impossible
1

(a) Physical outputs (P24830: 1)

Bit Description
0 to 16 (reserved) (Note)
17 DO1
0: DOA (General-purpose output A) off
1: DOA (General-purpose output A) on
When using this bit, assign DOA (General-purpose output A) to CN3-9, CN3-13 or CN3-15 pin in [Pr. PD07] to [Pr. PD09].
18 DO2
0: DOB (General-purpose output B) off
1: DOB (General-purpose output B) on
When using this bit, assign DOB (General-purpose output B) to CN3-9, CN3-13 or CN3-15 pin in [Pr. PD07] to [Pr. PD09].
19 DO3
0: DOC (General-purpose output C) off
1: DOC (General-purpose output C) on
When using this bit, assign DOC (General-purpose output C) to CN3-9, CN3-13 or CN3-15 pin in [Pr. PD07] to [Pr. PD09].
20 to 31 (reserved) (Note)

Note. The values in bit 0 to 16 and 20 to 31 at reading are undefined.

20 - 174
20．PROFINET COMMUNICATION

(b) Bit mask (P24830: 2)

Bit Description
0 to 16 (reserved) (Note)
17 DO1
0: DOA (General-purpose output A) disabled
1: DOA (General-purpose output A) enabled
When this bit is set to "0", bit 17 of the Physical outputs is always "0".
18 DO2
0: DOB (General-purpose output B) disabled
1: DOB (General-purpose output B) enabled
When this bit is set to "0", bit 18 of the Physical outputs is always "0".
19 DO3
0: DOC (General-purpose output C) disabled
1: DOC (General-purpose output C) enabled
When this bit is set to "0", bit 19 of the Physical outputs is always "0".
20 to 31 (reserved) (Note)

Note. The values in bit 0 to 16 and 20 to 31 at reading are undefined.

20.9.3.15 Touch Probe Function Objects

(1) Details of Touch probe function (P24760)
Set the command for the touch probe function. Refer to section 8.6 (2) for details.
PNU Sub Access Name Data Type Description Default
Settings such as enabling/disabling of the
24760 0 R/W Touch probe function Unsigned16 0
touch probe function and trigger conditions

PNU Sub Range Units EEP-ROM Parameter

24760 0 0000h to FFFFh Impossible

(2) Touch probe status (P24761)

The status of the touch probe function is returned. Refer to section 8.6 (3) for details.
PNU Sub Access Name Data Type Description Default
Status information of the touch probe
24761 0 R Touch probe status Unsigned16
function

PNU Sub Range Units EEP-ROM Parameter

24761 0 0000h to FFFFh Impossible

(3) Touch probe pos1 pos value (P24762)

The position latched at the rising edge of touch probe 1 is returned.
PNU Sub Access Name Data Type Description Default
Touch probe pos1 pos Shows the rising edge position of Touch
24762 0 R Integer32 0
value probe 1. (command unit)

PNU Sub Range Units EEP-ROM Parameter

24762 0 80000000h to 7FFFFFFFh pos units Impossible

20 - 175
20．PROFINET COMMUNICATION

(4) Touch probe pos1 neg value (P24763)

The position latched at the falling edge of touch probe 1 is returned.
PNU Sub Access Name Data Type Description Default
Touch probe pos1 neg Shows the falling edge position of Touch
24763 0 R Integer32 0
value probe 1. (command unit)

PNU Sub Range Units EEP-ROM Parameter

24763 0 80000000h to 7FFFFFFFh pos units Impossible

(5) Touch probe pos2 pos value (P24764)

The position latched at the rising edge of touch probe 2 is returned.
PNU Sub Access Name Data Type Description Default
Touch probe pos2 pos Lower software Shows the rising edge position of Touch
24764 0 R 0
value position limit probe 2. (command unit)

PNU Sub Range Units EEP-ROM Parameter

24764 0 80000000h to 7FFFFFFFh pos units Impossible

(6) Touch probe pos2 neg value (P24765) (Drive Configuration Object)
The position latched at the falling edge of touch probe 2 is returned.
PNU Sub Access Name Data Type Description Default
Touch probe pos2 neg Lower software Shows the falling edge position of Touch
24765 0 Get 0
value position limit probe 2. (command unit)

PNU Sub Range Units EEP-ROM Parameter

24765 0 80000000h to 7FFFFFFFh pos units Impossible

20 - 176
APPENDIX

App. 1 Peripheral equipment manufacturer (for reference) ..................................................................... 2

App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of
Dangerous Goods ......................................................................................................................................... 2
App. 3 Symbol for the new EU Battery Directive ..................................................................................... 4
App. 4 Compliance with global standards ................................................................................................. 5
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function) .......................................................... 5
App. 4.2 About safety .............................................................................................................................. 5
App. 4.2.1 Professional engineer ......................................................................................................... 5
App. 4.2.2 Applications of the devices ................................................................................................ 5
App. 4.2.3 Correct use .......................................................................................................................... 5
App. 4.2.4 General cautions for safety protection and protective measures .................................... 8
App. 4.2.5 Residual risk ....................................................................................................................... 8
App. 4.2.6 Disposal............................................................................................................................... 8
App. 4.2.7 Lithium battery transportation ......................................................................................... 9
App. 4.3 Mounting/dismounting ............................................................................................................. 9
App. 4.4 Electrical Installation and configuration diagram ............................................................... 10
App. 4.5 Signal ....................................................................................................................................... 11
App. 4.5.1 Signal ................................................................................................................................ 11
App. 4.5.2 I/O device .......................................................................................................................... 11
App. 4.6 Maintenance and service ........................................................................................................ 12
App. 4.6.1 Inspection items ............................................................................................................... 12
App. 4.6.2 Parts having service lives ................................................................................................ 13
App. 4.7 Transportation and storage .................................................................................................... 14
App. 4.8 Technical data ......................................................................................................................... 15
App. 4.8.1 LECSN2-T□ driver.......................................................................................................... 15
App. 4.8.2 Driver dimensions ............................................................................................................ 15
App. 4.8.3 Mounting hole................................................................................................................... 15
App. 4.9 Check list for user documentation ......................................................................................... 16
App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation ............................................... 16
App. 5.1 Terms related to safety ........................................................................................................... 16
App. 5.1.1 Stop function for IEC/EN 61800-5-2 ............................................................................... 16
App. 5.1.2 Emergency operation for IEC/EN 60204-1 ..................................................................... 16
App. 5.2 Cautions................................................................................................................................... 17
App. 5.3 Residual risk ........................................................................................................................... 17
App. 7 Analog monitor .............................................................................................................................. 18
App. 8 Encoder output pulse setting method .......................................................................................... 21
App .9 Recommended parameter values for each actuator .................................................................... 22

App. - 1
APPENDIX

App. 1 Peripheral equipment manufacturer (for reference)

Names given in the table are as of December 2017.
Manufacturer Reference
NEC TOKIN NEC TOKIN Corporation
Kitagawa Industries Kitagawa Industries Co., Ltd.
JST J.S.T. Mfg. Co., Ltd.
Junkosha Purchase from Toa Electric Industry Co. Ltd.,
Nagoya Branch
3M Sumitomo 3M Ltd.
SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity Ltd. Company
TDK TDK Corporation
Molex Molex
Toho Technology Toho Technology Corp. Kyoto factory

App. 2 Handling of AC driver batteries for the United Nations Recommendations on the
Transport of Dangerous Goods

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose
AC servo batteries.
The above change will not affect the function and performance of the product.

(1) Target model

Lithium Mass of
Option model Type Remark
content battery
Assembled batteries with more than 0.3 grams of
LEC-MR- Assembled lithium content must be handled as dangerous
1.20 g 34 g
BAT6V1SET-A battery (Two) goods (Class 9) depending on packaging
requirements.

(2) Purpose
Safer transportation of lithium metal batteries.

(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on
the revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and
IATA Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal
batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are
classified as UN3091.

App. - 2
APPENDIX

(a) Transportation of lithium metal batteries alone

Packaging requirement Classification Main requirement
Less than eight cells per package with
less than one gram of lithium content The package must pass a 1.2 m drop test, and the
Less than two assembled batteries per UN3090 PI968 Section II handling label with battery illustration (size: 120 ×
package with less than two grams of 110 mm) must be attached on the package.
lithium content
More than eight cells per package with The package must pass a 1.2 m drop test, and the
less than one gram of lithium content handling label with battery illustration (size: 120 ×
More than two assembled batteries per UN3090 PI968 Section IB 110 mm) must be attached on the package.
package with less than two grams of The Class 9 hazard label must be attached or
lithium content others to comply with dangerous goods (Class 9).
Cells with more than one gram of lithium The package must be compliant with Class 9
content Packages, and the Class 9 hazard label must be
UN3090 PI968 Section IA
Assembled batteries with more than two attached or others to comply with dangerous
grams of lithium content goods (Class 9).

(b) Transportation of lithium metal batteries packed with or contained in equipment

1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.
Batteries are classified into either Section II/Section I depending on the lithium
content/packaging requirements.

2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Batteries are classified into either Section II/Section I depending on the lithium
content/packaging requirements.
The special handling may be unnecessary depending on the number of batteries and gross
mass per package.

* Place for UN number (s)

** Place for telephone number for additional
information
Fig. app. 1 Example of label with battery Fig. app. 2 Example of label with battery
illustration illustration
(Available until December 31, 2018) (Available from January 1, 2017)

The handling label shown in Fig. app. 1 has been changed to the one shown in Fig. app. 2 in
accordance with the IATA Dangerous Goods Regulations 58th Edition (effective January 1, 2017).
However, the label shown in Fig. app. 1 may be used until December 31, 2018 (for two years as an
interim measure).

(4) Details of the package change

The following caution is added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."

App. - 3
APPENDIX

(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (Fig. app. 1) must be attached to the
package of battery. In addition, attaching it to the outer package containing several packages of
batteries is also required. When the content of a package must be handled as dangerous goods
(Class 9), the Shipper's Declaration for Dangerous Goods is required, and the package must be
compliant with Class 9 Packages. Documentations like the handling label in the specified design and
the Shipper's Declaration for Dangerous Goods are required for transportation. Please attach the
documentations to the packages and the outer package.

The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.

App. 3 Symbol for the new EU Battery Directive

Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo
battery is explained here.

Note. This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex
II.
Product is designed and manufactured with high quality materials and components which can be recycled
and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately
from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration.
This will be indicated as follows.
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and accumulators. Please,
dispose of batteries and accumulators correctly at your local community waste collection/recycling center.
Please, help us to conserve the environment we live in!

App. - 4
 APPENDIX

App. 4 Compliance with global standards

App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.)
The LECSN2-T□ drivers have the STO function. The STO function shuts down energy to servo motors,
thus removing torque. This function electronically cuts off power supply in the driver.

App. 4.2 About safety

This chapter explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.

App. 4.2.1 Professional engineer

Only professional engineers should mount LECSN2-T□ drivers.
Here, professional engineers should meet the all conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can
avoid risk based on past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating
manuals for the protective devices (e.g. light curtain) connected to the safety control system.

App. 4.2.2 Applications of the devices

IEC/EN 61800-5-1, IEC/EN 61800-3, IEC/EN 60204-1
ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO)
LECSN2-T□ drivers can be used with the MR-D30 functional safety unit of Mitsubishi Electric Corporation,
MR-J3-D05 safety logic unit of Mitsubishi Electric Corporation, or safety PLCs.

App. 4.2.3 Correct use

Use the LECSN2-T□ drivers within specifications. Refer to section 1.3 for specifications such as voltage,
temperature, etc. SMC Co. accepts no claims for liability if the equipment is used in any other way or if
modifications are made to the device, even in the context of mounting and installation.

If you need to get close to the moving parts of the machine for inspection or
others, ensure safety by confirming the power off, etc. Otherwise, it may cause an
WARNING accident.
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and
terminals immediately after power off.

(1) Peripheral device and power wiring

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14

(a) Power Wiring (local wiring and crimping tool)

Use only copper wires or copper bus bars for wiring. The following table shows the stranded wire
sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.

75 ˚C / 60 ˚C stranded wire [AWG]

Driver L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 1)
LECSN□-T5/ LECSN□-T7/ LECSN□-T8/ LECSN2-T9 14/14 14/14 14/14 14/14
Note 1. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output
of the drivers.

App. - 5
 APPENDIX

(b) Selection example of MCCB and fuse

Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table.
The T class fuses and molded-case circuit breakers in the table are selected examples based
on rated I/O of the drivers. When you select a smaller capacity servo motor to connect it to the
driver, you can also use smaller capacity T class fuses or molded-case circuit breaker than
ones in the table.

Driver (100 V class) (Scheduled release product) Molded-case circuit breaker (120 V AC) Fuse (300 V)
LECSN1-T5/ LECSN1-T7/ LECSN1-T8 NV50-SVFU-15A (50 A frame 15 A) 20 A

Driver Molded-case circuit breaker (240 V AC)

Fuse (300 V)
(Note 1) (Note 2)
LECSN2-T5/ LECSN2-T7/ LECSN2-T8/ LECSN2-T9 (S) NF50-SVFU-5A (50 A frame 5 A) 10 A

Note 1. “(S)” means 1-phase 200 V AC power input and “(T)” means 3-phase 200 V AC power input in the table.

(c) Power supply

This driver can be supplied from star-connected supply with grounded neutral point of overvoltage
category III (overvoltage category II for 1-phase drivers) set forth in IEC/EN 60664-1. For the
interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O
terminals.
(d) Grounding
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
driver to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the
same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
This product can cause a DC current in the protective earthing conductor. To protect
direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can
be used for the power supply side of the product.

PE
terminals PE
terminals

App. - 6
APPENDIX

(2) EU compliance
The EC directives were issued to standardize the regulations of the EU countries and ensure
smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the
manufacturer with the EC directives, and this marking also applies to machines and equipment
incorporating servos.
(a) EMC requirement
LECSN2-T□ drivers comply with category C3 in accordance with EN 61800-3. As for I/O wires
(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 10
m), use shielded wires and ground the shields. Install an EMC filter and surge protector on the
primary side for input and output of LECSN□-T□ drivers. The following shows recommended
products.

EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series
Surge protector: Okaya Electric Industries RSPD series
Line noise filter: Mitsubishi Electric FR-BLF

LECSN2-T□ drivers are not intended to be used on a low-voltage public network which supplies
domestic premises; radio frequency interference is expected if used on such a network. The
installer shall provide a guide for Installation and use, including recommended mitigation devices.
To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend
that the power interface cable be segregated from signal cables.
Use the DC power supply installed with the drivers in the same cabinet. Do not connect the
other electric devices to the DC power supply.

(3) USA/Canada compliance

This driver is designed in compliance with UL 508C and CSA C22.2 No. 14.

(a)Installation
The minimum cabinet size is 150% of each LECSN2-T□ driver's volume. Also, design the
cabinet so that the ambient temperature in the cabinet is 55 °C or less. The driver must be
installed in the metal cabinet. Additionally, mount the driver on a cabinet that the protective
earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the
units should be used in open type (UL 50) and overvoltage category shown in table in app.
4.8.1. The driver needs to be installed at or below pollution degree 2. For connection, use
copper wires.
(b) Short-circuit current rating (SCCR)
Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum.

App. - 7
APPENDIX

(c) Overload protection characteristics

The LECSN2-T□ drivers have solid-state servo motor overload protection. (It is set on the basis
(full load current) of 120% rated current of the driver.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.
Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper
connection.

(e) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the
Canada Electrical Code and any applicable provincial codes.

App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the LECSN2-T□ drivers.

(1) For safety components and installing systems, only qualified personnel and professional engineers
should perform.

(2) When mounting, installing, and using the LECSN2-T□ driver, always observe standards and directives
applicable in the country.

(3) The item about noises of the test notices in the manuals should be observed.

App. 4.2.5 Residual risk

(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.

(3) If the upper and lower power module in the driver are shorted and damaged simultaneously, the servo
motor may make a half revolution at a maximum.

(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which
these components are installed. Only trained engineers should install and operate the equipment.
(ISO 13849-1 Table F.1 No. 5)

(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1
No. 1)

(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).

(7) Keep the required clearance/creepage distance depending on voltage you use.

App. 4.2.6 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable
country-specific waste disposal regulations. (Example: European Waste 16 02 14)

App. - 8
APPENDIX

App. 4.2.7 Lithium battery transportation

To transport lithium batteries, take actions to comply with the instructions and regulations such as the
United Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime
Organization (IMO).
The batteries are assembled batteries from two batteries (lithium metal battery CR17335A) which are not
subject to the dangerous goods (Class 9) of the UN Recommendations.

App. 4.3 Mounting/dismounting

Installation direction and clearances

The devices must be installed in the specified direction. Not doing so may cause a
malfunction.
CAUTION Mount the driver on a cabinet which meets IP54 in the correct vertical direction to
maintain pollution degree 2.

Cabinet Top Cabinet

40 mm
or more 80 mm or longer
for w iring
Servo amplifier

10 mm Driver 10 mm Driver
Servo amplifier
or more or more

40mm
or more
(Note)

Bottom

App. - 9
APPENDIX

App. 4.4 Electrical Installation and configuration diagram

Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
WARNING damages to the product before starting the installation or wiring.

The installation complies with IEC/EN 60204-1. The voltage supply to machines
must be 20 ms or more of tolerance against instantaneous power failure as
specified in IEC/EN 60204-1.
CAUTION Connecting a servo motor for different axis to U, V, W, or CN2_ of the driver may
cause a malfunction.
Securely connect the cables in the specified method and tighten them with the
specified torque. Otherwise, the servo motor may operate unexpectedly.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

(1) 3-phase input for LECSN2-T□ 1-axis driver

ServoDriver
amplifier
(3-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse C
D
N-
L11
L21 CN8
Pow er STO
supply (Note 1) CN1
(3-phase MCCB Controller
400 V AC) or fuse CN2 Encoder cable
PE
Transformer (Note 3)
(star-connected) U/V/W/PE
Cabinet side
To protective equipment Machine side
(Thermal signal) (Note 2) Servo motor
Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. Please use a thermal sensor, etc. for thermal protection of the servo motor.

(2) 1-phase input for LECSN2-T□ 1-axis driver

ServoDriver
amplifier
(1-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse (Note 2) C
D
N-
L11
L21 CN8
Pow er STO
supply (Note 1) CN1
(3-phase MCCB Controller
(Note 2) or fuse
400 V AC) CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
To protective equipment Machine side
(Thermal signal) (Note 3) Servo motor
Encoder

Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. When using a 100 V class driver, step down the power supply voltage to 100 V
and connect the main circuit power supply lines to L1 and L2. For 1-phase 200 V
AC drivers, connect the lines to L1 and L3.

App. - 10
APPENDIX

The connectors described by rectangles are safely separated from the main circuits described by circles.
The connected motors will be limited as follows.

(1) Servo motor series LE-□-□

(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)

App. 4.5 Signal

App. 4.5.1 Signal
The following shows LECSN2-T5 signals as a typical example. For other drivers, refer to each driver
instruction manual.

STO I/O signal CN3

connector
1 11
CN8 2 12
TPR2 LG
2 1 LSP LSN
3 13
4 14
DOCOM MBR
4 3 MO1 MO2
5 15
STO1 STOCOM
6 16
DICOM ALM
6 5
LA LAR
TOFB1 STO2 7 17
8 18
8 7 LB LBR
TOFCOM TOFB2 LZ LZR
9 19
10 20
INP DOG
TPR1 EM2

App. 4.5.2 I/O device

Input device
Symbol Device Connector Pin No.
EM2 Forced stop 2 CN3 20
STOCOM Common terminal for input signals STO1/STO2 3
STO1 STO1 state input CN8 4
STO2 STO2 state input 5

Output device
Symbol Device Connector Pin No.
TOFCOM Common terminal for monitor output signal in STO state 8
TOFB1 Monitor output signal in STO1 state CN8 6
TOFB2 Monitor output signal in STO2 state 7

Power supply
Symbol Device Connector Pin No.
DICOM Digital I/F power supply input 5, 10
DOCOM Digital I/F common CN3 3
SD Shield Plate

App. - 11
APPENDIX

App. 4.6 Maintenance and service

To avoid an electric shock, only qualified personnel should attempt inspections.

WARNING

Do not perform insulation resistance test on the driver. Otherwise, it may cause a
CAUTION malfunction.
Do not disassemble and/or repair the equipment on customer side.

App. 4.6.1 Inspection items

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.
Tightening torque [N•m]
Driver
PE
LECSN□-T5 / LECSN□-T7 / LECSN□-T8 / LECSN2-T9 1.2

(2) Check servo motor bearings, lock section, etc. for unusual noise.

(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.

(4) Check that the connectors are securely connected to the servo motor.

(5) Check that the wires are not coming out from the connector.

(6) Check for dust accumulation on the driver.

(7) Check for unusual noise generated from the driver.

(8) Check the servo motor shaft and coupling for connection.

(9) Make sure that the emergency stop circuit operates properly suchi that an operation can be
stopped immediately and a power is shut off by the emergency stop switch.

App. - 12
 APPENDIX

App. 4.6.2 Parts having service lives

Service life of the following parts is listed below. However, the service life varies depending on operation
and environment.

Part name Life guideline

Smoothing capacitor 10 years (Note 3)
Number of power-on,
forced stop and PC or PLC...etc forced stop times: 100 000
Relay
times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years) (Note 4)
Approximately 20,000 hours (equipment power supply: off,
Battery backup time (Note 1)
ambient temperature: 20 °C)
Battery life (Note 2) 5 years from date of manufacture

Note 1. The time is for using LEC-MR-BAT6V1SET-A. For details and other battery backup time, refer to chapter 12.2.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of
the connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation
in air-conditioned environment (ambient temperature of 40 °C or less.

App. - 13
 APPENDIX

App. 4.7 Transportation and storage

Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.
Do not carry the driver by the front cover during transportation. The product
may fall.
For detailed information on transportation and handling of the battery, refer to
CAUTION app. 2 and app. 3.
Install the product in a load-bearing place of driver and servo motor in
accordance with the manual.
Do not get on or put heavy load on the equipment.
Do not hold the cables, or connectors when carrying the driver. Otherwise, it
may drop.

When you keep or use it, please fulfill the following environment.
Item Environment
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Ambient
Transportation (Note) [°C] -20 to 65 Class 2K4 (IEC/EN 60721-3-2)
temperature
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient Operation,
5% to 90 %RH
humidity transportation, storage
10 Hz to 57 Hz with constant amplitude of 0.075 mm
Test condition 57 Hz to 150 Hz with constant acceleration of 9.8 m/s2 to IEC/EN 61800-5-1
Vibration (Test Fc of IEC 60068-2-6)
load Operation 5.9 m/s2
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP20 (IEC/EN 60529), Terminal block IP00
IP rating
Open type (UL 50)
Operation, storage Max. 2000 m above sea level
Altitude
Transportation Max. 10000 m above sea level

Note. In regular transport packaging

App. - 14
 APPENDIX

App. 4.8 Technical data

App. 4.8.1 LECSN2-T□ driver

Item LECSN2-T5 / LECSN2-T7 / LECSN2-T8 / LECSN2-T9

Main circuit (line voltage) 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
Power
Control circuit (line voltage) 1-phase 200 V AC to 240 V AC, 50/60 Hz (Note 2)
supply
Interface (SELV) 24 V DC (required current capacity: LECSN2-T□, 300 mA)
Control method Sine-wave PWM control, current control method
Safety observation function (STO) EN ISO 13849-1 Category 3 PL e, IEC 61508 SIL 3,
IEC/EN 61800-5-2 (Note 3) EN 62061 SIL CL 3, and EN 61800-5-2
Mean time to dangerous failure MTTFd ≥ 100 [years]
Effectiveness of fault monitoring of a system or
DC = Medium, 97.6 [%]
subsystem
Average probability of dangerous failures per hour PFH = 6.4 × 10-9 [1/h]
Mission time TM = 20 [years]
Response performance 8 ms or less (STO input off → energy shut off)
Pollution degree 2 (IEC/EN 60664-1)
1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1),
Overvoltage category
3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1)
Protective class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA

App. 4.8.2 Driver dimensions

Variable dimension [mm]

Driver Mass [kg]
W H D

H
LECSN□-T5 / LECSN□-T7/
50 168 161 1.0
LECSN□-T8

W D
LECSN2-T9 60 168 191 1.4

App. 4.8.3 Mounting hole

Screw
a1 Variable dimensions [mm]
Driver size
c a a1 b c d e
d1
e
LECSN□-T5 / LECSN□-T7/
b 6 6 156 ± 0.5 6 M5
LECSN□-T8

c LECSN2-T9
a d 12 12 156 ± 0.5 6 42 ± 0.3 M5

App. - 15
 APPENDIX

App. 4.9 Check list for user documentation

LECS installation checklist for manufacturer/installer

The following items must be satisfied by the initial test operation at least. The manufacturer/installer must
be responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional
engineers.

App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation

App. 5.1 Terms related to safety
App. 5.1.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)
This function is integrated into the LECSN□-T□ series drivers.
The STO function shuts down energy to servo motors, thus removing torque. This function
electronically cuts off power supply in drivers for LECSN□-T□ series drivers.
The purpose of this safety function is as follows.
1)Uncontrolled stop according to stop category 0 of IEC/EN 60204-1

2) Preventing unexpected start-up

(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed
after the servo motor starts decelerating. The delay time can be set with MR-J3-D05 of Mitsubishi
Electric Corporation.
The purpose of this safety function is as follows. This function is available by using an LECSN□-
T□ series driver with MR-J3-D05 of Mitsubishi Electric Corporation.

Controlled stop according to stop category 1 of IEC/EN 60204-1

App. 5.1.2 Emergency operation for IEC/EN 60204-1

(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)
Emergency stop must override all other functions and actuation in all operation modes. Power to
the machine driving part which may cause a hazardous state must be either removed immediately
(stop category 0) or must be controlled to stop such hazardous state as soon as possible (stop
category 1). Restart must not be allowed even after the cause of the emergency state has been
removed.

(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned
safety standards.

App. - 16
APPENDIX

App. 5.2 Cautions

The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair or service the machines in which
these components are installed.
They must be familiar with all applicable local safety regulations and laws in which machines with these
components are installed, particularly the standards and guidelines mentioned in this Instruction
Manual and the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and
IEC/EN 60204-1.
The staff responsible for this work must be given express permission from the company to perform
start-up, programming, configuration, and maintenance of the machine in accordance with the safety
standards.

mproper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.

Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the driver
from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis,
additional safety measures, such as locks or counter-weights must be used.

App. 5.3 Residual risk

Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO/EMG function. SMC Co. is not liable for any damages or injuries
caused by the residual risks.

(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and
commissioning of the safety related system. The system, as a whole, must pass safety standards
certification.

(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo
motor will stop with the dynamic brake or freewheeling.

(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.

(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.

(5) Safety is not assured until safety-related components of the system are completely installed or
adjusted.

(6) When replacing a driver etc. or MR-J3-D05 of Mitsubishi Electric Corporation, confirm that the new
equipment is exactly the same as those being replaced. Once installed, be sure to verify the
performance of the functions before commissioning the system.

App. - 17
APPENDIX

(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.

(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level,
malfunction checks should be performed at least once per year.

(9) If the upper and lower power module in the driver are shorted and damaged simultaneously, the servo
motor may make a half revolution at a maximum.

App. 7 Analog monitor

POINT
A voltage of analog monitor output may be irregular at power-on.

The servo status can be output to two channels in terms of voltage.

(1) Setting
Change the following digits of [Pr. PC09] and [Pr. PC10].
[Pr. PC09]

0 0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)

[Pr. PC10]

0 0
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)

[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages.
Setting value is -999 mV to 999 mV.
Parameter Description Setting range [mV]
PC11 This is used to set the offset voltage of MO1 (Analog monitor 1).
-999 to 999
PC12 This is used to set the offset voltage of MO2 (Analog monitor 2).

App. - 18
 APPENDIX

(2) Setting
The driver is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the torque to
MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC09] and [Pr.
PC10] value.
Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed 01 Torque/Thrust (Note 7) Pow er running in
CCW direction CCW direction
8 [V] 8 [V]

Maximum speed Maximum torque

0 Maximum speed 0 Maximum torque

-8 [V] -8 [V]
CW direction Pow er running in
CW direction

02 Servo motor speed 03 Torque/Thrust (Note 7) Pow er running in Pow er running in

8 [V] CW direction CCW direction
CW direction CCW direction 8 [V]

Maximum speed 0 Maximum speed

Maxi mum torque 0 Maxi mum torque

04 Current command CCW direction 05 Speed command CCW direction

8 [V] 8 [V]
(Note 7) (Note 3)
Maximum current command
(Maximum torque command) Maximum speed

0 0 Maximum speed
Maximum current command
(Maximum torque command)

-8 [V] -8 [V]
CW direction CW direction

06 Servo motor-side droop CCW direction 07 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/100 pulses) 100 [pulse] (±10 V/1000 pulses) 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

08 Servo motor-side droop CCW direction 09 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/10000 pulses) 10000 [pulse] (±10 V/100000 pulses) 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

App. - 19
 APPENDIX

Setting Setting
Output item Description Output item Description
value value
0D Bus voltage (Note 4) 0E Speed command 2 CCW direction
8 [V]
(Note 3)
8 [V]
Maximum speed

0 Maximum speed
0 400 [V]
-8 [V]
CW direction

10 Load-side droop pulses CCW direction 11 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 5, 6) (Note 3, 5, 6)
(±10 V/100 pulses) (±10 V/1000 pulses)
100 [pulse] 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

12 Load-side droop pulses CCW direction 13 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 5, 6) (Note 3, 5, 6)
(±10 V/10000 pulses) (±10 V/100000 pulses)
10000 [pulse] 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

14 Load-side droop pulses CCW direction 15 Motor-side/load-side CCW direction

10 [V] 10 [V]
(Note 3, 5, 6) position deviation
(±10 V/1 Mpulses) (Note 3, 5, 6)
1 [Mpulse] (±10 V/100000 pulses) 100000 [pulse]
0 1 [Mpulse] 0 100000 [pulse]

-10 [V] -10 [V]

CW direction CW direction

16 Servo motor-side/load- CCW direction 17 Internal temperature of 10 [V]

8 [V]
side speed deviation encoder (±10 V/
±128 °C)
-128 [°C]
Maximum speed
0 128 [°C]
0 Maximum speed

-10 [V]
-8 [V]
CW direction

Note 1. Encoder pulse unit.

2. Available in position mode
3. This cannot be used in the torque mode.
5. This cannot be used in the velocity mode.
7. For details on the value of the maximum current command (maximum torque) for ±8 V, refer to app. 7.3.

App. - 20
APPENDIX

(3) Values of the maximum current command when the analog monitor is at the maximum/minimum
voltage

Values of the maximum current command when the analog monitor is at the maximum/minimum voltage
are listed.
The current command (torque) outputs the maximum current command (maximum torque) at ±8 V. The
maximum current command may not match the rated current/maximum current ratio since it is created
from the torque current in the driver.

Maximum current command

Servo motor LE-□-□ Driver/drive unit
(maximum torque) [%]
T6 LECSN□-T5 373
T7 LECSN□-T7 387
T8 LECSN□-T8 383
T9 LECSN2-T9 367

App. 8 Encoder output pulse setting method

For details of "Encoder output pulse setting selection" in [Pr. PC03], refer to the following table.
Setting value Servo motor
__0_ Set the output pulses per revolution with [Pr. PA15 Encoder output pulses].
(Output pulse
setting) Output pulse = a value set in [Pr. PA15] [pulse/rev]

Selecting "Load side encoder (_ 1 _ _)" of "Encoder selection for encoder output pulse" in [Pr. PC19] triggers [AL.
37 Parameter error].
_ _1 _ Set the dividing ratio to the resolution per servo motor revolution with [Pr. PA15 Encoder output pulses].
(Dividing ratio
setting) Resolution per revolution
Output pulse = [pulse/rev]
[Pr. PA15] setting

__3_ Set the A-phase/B-phase pulse electronic gear with [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder
(A-phase/B- output pulses 2].
phase pulse
electronic [Pr. PA15] setting
gear setting) Output pulse = the servo motor resolution per revolution × [pulse/rev]
[Pr. PA16] setting

__4_ [AL. 37 Parameter error] occurs.

(A/B-phase
pulse through
output
setting)

App. - 21
APPENDIX

App .9 Recommended parameter values for each actuator

Please change the parameter values according to the customer application. See section 5 of the
“LECSN2-T□ Operation Manual” for details.
Recommended Parameter Values [LEF]
LEFS25 LEFS32 LEFS40
Series Lead symbol H A B H A B H A B
Lead 20 12 6 24 16 8 30 20 10
Para Initial
Parameter *1,*2 Recommended Value
No value

Electronic gear numerator *3. PA06 1 4194304

Electronic gear denominator *3. PA07 1 20000 12000 6000 24000 16000 8000 30000 20000 10000
Command mode selection *3 PT01 0300 0000
Feel length multiplication (STM)
PT03 0000 0000 ((<1000 stroke)/0001 (>1000 stroke)
(Multiplier)
Home position return method PT45 37 -36 (Home position return direction: Motor side, Stopper type)
Home position return Speed (rpm) PT05 100 90 150 300 75 113 225 60 90 180
Stopper type home position return
PT10 100 200
stopper time (msec)
Stopper type home position return
PT11 15 24
torque limit value (%)
Home position return acceleration
PT56 0 1000 600 300 1200 800 400 1500 1000 500
time constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)
Rotation direction selection *4 PA14 0 1 (+：Counter motors side)
Load to motor inertia moment ratio PB06 7 7
Function selection E-3 PE41 0000 0000
Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].
*4. When the motor mounting position is right side parallel (LEFS*R) or left side parallel (LEFS*L), the
rotation direction selection is 0(+: Counter motors side).

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+2mm] to [actuator stroke +2mm].

App. - 22
APPENDIX

LEFB25 LEFB25U LEFB32 LEFB32U LEFB40 LEFB40U

Series Lead symbol S
Lead 54
Para Initial
Parameter *1,*2 Recommended value
No value

Electronic gear numerator *3. PA06 1 4194304

Electronic gear denominator *3. PA07 1 54000
Command mode selection *3 PT01 0300 0000
Feel length multiplication (STM)
PT03 0000 0000 (<1000 stroke)/0001 (>1000 stroke)
(Multiplier)
Home position return method PT45 37 -36 (Home position return direction: Motor side, Stopper type)
Home position return Speed (rpm) PT05 100 33
Stopper type home position return
PT10 100 200
stopper time (msec)
Stopper type home position return torque
PT11 15 24
limit value (%)
Home position return acceleration
PT56 0 2700
time constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)
1 (+： 0 (+： 1 (+： 0 (+： 1 (+：
0 (+：
Counter Counter Counter Counter Counter
Rotation direction selection PA14 0 Counter
motors motors motors motors motors
motors side)
side) side) side) side) side)
★ Load to motor inertia moment ratio PB06 7 50
★Function selection E-3 PE41 0000 0001(Robust filter enabled)
★ Parameter setting required.
Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+3mm] to [actuator stroke +3mm].

App. - 23
APPENDIX

Recommended Parameter Values [LEJ]

LEJS40 LEJS63 LEJB40 LEJB63
Series Lead symbol H A B H A B T
Lead 24 16 8 30 20 10 27 42
Para. Initial
Parameter *1,*2 Recommended value
No value
Electronic gear numerator *3. PA06 1 4194304
Electronic gear denominator *3. PA07 1 24000 16000 8000 30000 20000 10000 27000 42000
Command mode selection *3 PT01 0300 0000
Feel length multiplication (STM)
PT03 0000 0000 (<1000 stroke)/0001 (>1000 stroke)
(Multiplier)
Home position return method PT45 37 -36 (Home position return direction: Motor side, Stopper type)
Home position return Speed
PT05 100 75 113 225 60 90 180 133 86
(rpm)
Stopper type home position
PT10 100 200
return stopper time (msec)
Stopper type home position
PT11 15 24
return torque limit value (%)
Home position return
acceleration time constant PT56 0 1200 800 400 1500 1000 500 1350 2100
(msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)/0003 (LEC-MR-RB-12)
1 0
Rotation direction selection PA14 0
(+：Counter motors side) (+：Counter motors side)
★Load to motor inertia moment
PB06 7 7 50
ratio
0001(Robust filter
★Function selection E-3 PE41 0000 0000
enabled)
★ Parameter setting required.
Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+2mm] to [actuator stroke +2mm].

App. - 24
APPENDIX

LEJS100
Series Lead symbol H A B
Lead 50 25 10
Initial
Parameter *1,*2 Para. No Recommended value
value
Electronic gear
PA06 1 4194304
numerator *3.
Electronic gear
PA07 1 50000 25000 10000
denominator *3.
Command mode
PT01 0300 0000
selection *3
Feel length multiplication
PT03 0000 0000 ((<1000 stroke)/0001 (>1000 stroke)
(STM) (Multiplier)
Home position return
PT45 37 -36 (Home position return direction: Motor side, Stopper type)
method
Home position return
PT05 100 36 72 180
Speed (rpm)
Stopper type home
position return stopper PT10 100 200
time (msec)
Stopper type home
position return torque PT11 15 24
limit value (%)
Home position return
acceleration time PT56 0 2500 1250 500
constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)/0003 (LEC-MR-RB-12)
Rotation direction
PA14 0 1 (+：Counter motors side)
selection
Load to motor inertia
PB06 7 7
moment ratio
Function selection E-3 PE41 0000 0001(Robust filter enabled)
：Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+7mm] to [actuator stroke +7mm].

App. - 25
APPENDIX

Recommended Parameter Values [LEY]

LEY25/LEYG25 LEY25D/LEYG25D LEY32/LEYG32 LEY32D/LEYG32D
Series Lead symbol A B C A B C A B C A B C
Lead 12 6 3 12 6 3 20 10 5 16 8 4
Para. Initial
Parameter *1,*2 Recommended value
No value
Electronic gear numerator *3. PA06 1 4194304
Electronic gear denominator *3. PA07 1 12000 6000 3000 12000 6000 3000 20000 10000 5000 16000 8000 4000
Command mode selection *3 PT01 0300 0000
Feel length multiplication (STM)
PT03 0000 0000 (<1000 stroke)/0001 (>1000 stroke)
(Multiplier)
Home position return method PT45 37 -36 (Home position return direction: Motor side, Stopper type)
Home position return
PT05 100 150 300 600 150 300 600 90 180 360 112 225 450
Speed (rpm)
Stopper type home position return
PT10 100 200
stopper time (msec)
Stopper type home position return
PT11 15 24
torque limit value (%)
Home position return acceleration
PT56 0 600 300 150 600 300 150 1000 500 250 800 400 200
time constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)
0 1 0 1
Rotation direction selection *4 PA14 0 (+：Counter motors (+：Counter motors (+：Counter motors (+：Counter motors
side) side ) side) side )
Load to motor inertia moment ratio PB06 7 7
Function selection E-3 PE41 0000 0000
Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].
*4. When the motor mounting position is right side parallel (LEY*R) or left side parallel (LEY*L), the rotation
direction selection is 0(+: Counter motors side).

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+2mm] to [actuator stroke +2mm].

App. - 26
APPENDIX

LEY63 LEY63D
Lead symbol A B C L A B C
Series Lead 5(2.86)
(Including pulley 20 10 5 (Pulley 20 10 5
ratio) ratio 4/7)
Initial
Parameter *1,*2 Para. No Recommended value
value
Electronic gear numerator *3. PA06 1 4194304 1835008 4194304
Electronic gear denominator
PA07 1 20000 10000 5000 1250 20000 10000 5000
*3.
Command mode selection *3 PT01 0300 0000

Feel length multiplication

PT03 0000 0000 (<1000 stroke)/0001 (>1000 stroke)
(STM) (Multiplier)

Home position return method PT45 37 -36 (Home position return direction: Motor side, Stopper type)
Home position return
PT05 100 90 180 360 629 90 180 360
Speed (rpm)
Stopper type home position
return PT10 100 200
stopper time (msec)
Stopper type home position
PT11 15 24
return torque limit value (%)
Home position return
acceleration time constant PT56 0 1000 500 250 143 1000 500 250
(msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)/0003 (LEC-MR-RB-12)
0 1
Rotation direction selection *4 PA14 0
(+：Counter motors side) (+：Counter motors side )
Load to motor inertia moment
ratio PB06 7 7
Function selection E-3 PE41 0000 0000
Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].
*4. When the motor mounting position is right side parallel (LEY*R) or left side parallel (LEY*L), the rotation
direction selection is 0(+: Counter motors side).

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+4mm] to [actuator stroke +4mm].

App. - 27
APPENDIX

LEY100D
Lead symbol B D L
Series
Lead 10(3.3) 10(2)
10
(Including pulley ratio) (Pulley ratio 1/3) (Pulley ratio 1/5)
Initial
Parameter *1,*2 Para. No Recommended value
value
Electronic gear
PA06 1 4194304 12582912 4194304
numerator *3.
Electronic gear
PA07 1 10000 10000 2000
denominator *3.
Command mode
PT01 0300 0000
selection *3
Feel length multiplication
PT03 0000 0000 ((<1000 stroke)/0001 (>1000 stroke)
(STM) (Multiplier)
Home position return
PT45 37 -36 (Home position return direction: Motor side, Stopper type)
method
Home position return
PT05 100 180 545 900
Speed (rpm)
Stopper type home
position return PT10 100 200
stopper time (msec)
Stopper type home
position return torque PT11 15 24
limit value (%)
Home position return
acceleration time PT56 0 500 166 100
constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)/0003 (LEC-MR-RB-12)
Rotation direction
PA14 0 1 (+：Counter motors side)
selection
Load to motor inertia
moment ratio PB06 7 7
Function selection E-3 PE41 0000 0001(Robust filter enabled)
： Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+5mm] to [actuator stroke +5mm].

App. - 28
APPENDIX

Recommended Parameter Values [LESYH]

LESYH16 LESYH16D LESYH25 LESYH25D
Lead symbol A B A B A B A B
16(20) 8(10)
Series
Lead (Pulley (Pulley
10 6 10 6 16 8
(Including pulley ratio) ratio ratio
5/4) 5/4)
Initial
Parameter *1,*2 Para. No Recommended value
value
Electronic gear
PA06 1 4194304
numerator *3.
Electronic gear
PA07 1 10000 6000 10000 6000 20000 10000 16000 8000
denominator *3.
Command mode
PT01 0300 0000
selection *3
Feel length multiplication
PT03 0000 0000 ((<1000 stroke)/0001 (>1000 stroke)
(STM) (Multiplier)
Home position return
PT45 37 -36 (Home position return direction: Motor side, Stopper type)
method
Home position return
PT05 100 180 300 180 300 90 180 112 225
Speed (rpm)
Stopper type home
position return PT10 100 200
stopper time (msec)
Stopper type home
position return torque PT11 15 24
limit value (%)
Home position return
acceleration time PT56 0 500 300 500 300 1000 500 800 400
constant (msec)
Regenerative option PA02 0000 0000 (Non)/0002 (LEC-MR-RB-032)
0 1 0 1
Rotation direction
PA14 0 (+：Counter (+：Counter (+：Counter (+：Counter
selection *4
motors side) motors side ) motors side) motors side )
Load to motor inertia
moment ratio PB06 7 7
Function selection E-3 PE41 0000 0000
： Differs to initial value

*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece.
Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Minimum actuator travel distance of 1[μm].
*4. When the motor mounting position is right side parallel (LESYH*R) or left side parallel (LESYH*L), the
rotation direction selection is 0(+: Counter motors side).

When the stopper type home position return is used and the actuator end is set to
the home position, please pay attention to the actuator movable range when
commanding the position to prevent collision with both ends of the actuator due to
CAUTION overshoot.
When the origin (0 mm) is set at the actuator end, the movable range of this
actuator is from [+2mm] to [actuator stroke +2mm].

App. - 29
 Revision history

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN

Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL https://www.smcworld.com

Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2021 SMC Corporation All Rights Reserved