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MELSERVO MR-JET-10G
Mitsubishi Electric MELSERVO MR-JET-10G Manuals
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Mitsubishi Electric MELSERVO MR-JET-10G manual available for free PDF download: User Manual
Mitsubishi Electric MELSERVO MR-JET-10G User Manual (126 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 9.11 MB
Table of Contents
Section 1
6
Safety Instructions
3
About the Manual
5
U.s. Customary Units
5
Table of Contents
6
Section 2
12
Chapter 1 Summary of Object Dictionary
16
Structure
16
Object Units
17
CHAPTER 2 General Objects
18
Device Type (Obj. 1000H)]
18
[Device Type (Obj. 1000H: 00H)]
18
Error Register (Obj. 1001H)]
18
[Error Register (Obj. 1001H: 00H)]
18
Manufacturer Device Name (Obj. 1008H)]
18
[Manufacturer Device Name (Obj. 1008H: 00H)]
18
Manufacturer Hardware Version (Obj. 1009H)]
19
[Manufacturer Hardware Version (Obj. 1009H: 00H)]
19
Manufacturer Software Version (Obj. 100Ah)]
19
[Manufacturer Software Version (Obj. 100Ah: 00H)]
19
Store Parameters (Obj. 1010H)]
19
[Store Parameters (Obj. 1010H: 00H)]
19
[Save All Parameters (Obj. 1010H: 01H)]
19
Restore Default Parameters (Obj. 1011H)]
20
[Restore Default Parameters (Obj. 1011H: 00H)]
20
[Restore All Default Parameters (Obj. 1011H: 01H)]
20
Identity Object (Obj. 1018H)]
21
[Identity Object (Obj. 1018H: 00H)]
21
[Vendor ID (Obj. 1018H: 01H)]
21
[Product Code (Obj. 1018H: 02H)]
21
[Revision Number (Obj. 1018H: 03H)]
21
[Serial Number (Obj. 1018H: 04H)]
21
Version Number (Obj. 67Feh)]
22
[Version Number (Obj. 67Feh: 00H)]
22
CHAPTER 3 PDO Mapping Objects
23
1St Receive PDO Mapping (Obj. 1600H)]
23
[1St Receive PDO Mapping (Obj. 1600H: 00H)]
23
[Mapped Object 001 (Obj. 1600H: 01H)] - [Mapped Object 032 (Obj. 1600H: 20H)]
24
2Nd Receive PDO Mapping (Obj. 1601H)]
25
[2Nd Receive PDO Mapping (Obj. 1601H: 00H)]
25
[Mapped Object 001 (Obj. 1601H: 01H)] - [Mapped Object 032 (Obj. 1601H: 20H)]
26
3Rd Receive PDO Mapping (Obj. 1602H)]
27
[3Rd Receive PDO Mapping (Obj. 1602H: 00H)]
27
[Mapped Object 001 (Obj. 1602H: 01H)] - [Mapped Object 032 (Obj. 1602H: 20H)]
28
1St Transmit PDO Mapping (Obj. 1A00H)]
29
[1St Transmit PDO Mapping (Obj. 1A00H: 00H)]
29
[Mapped Object 001 (Obj. 1A00H: 01H)] - [Mapped Object 032 (Obj. 1A00H: 20H)]
30
2Nd Transmit PDO Mapping (Obj. 1A01H)]
31
[2Nd Transmit PDO Mapping (Obj. 1A01H: 00H)]
31
[Mapped Object 001 (Obj. 1A01H: 01H)] - [Mapped Object 032 (Obj. 1A01H: 20H)]
32
3Rd Transmit PDO Mapping (Obj. 1A02H)]
33
[3Rd Transmit PDO Mapping (Obj. 1A02H: 00H)]
33
[Mapped Object 001 (Obj. 1A02H: 01H)] - [Mapped Object 032 (Obj. 1A02H: 20H)]
34
1St PDO Config (Obj. 1C00H)]
35
[1St PDO Config (Obj. 1C00H: 00H)]
35
[PDO Assignment (Obj. 1C00H: 01H)]
35
[PDO Enable (Obj. 1C00H: 02H)]
35
[Error Handling (Obj. 1C00H: 03H)]
35
[Memory Address (Obj. 1C00H: 04H)]
36
2Nd PDO Config (Obj. 1C01H)]
37
[2Nd PDO Config (Obj. 1C01H: 00H)]
37
[PDO Assignment (Obj. 1C01H: 01H)]
37
[PDO Enable (Obj. 1C01H: 02H)]
37
[Error Handling (Obj. 1C01H: 03H)]
37
[Memory Address (Obj. 1C01H: 04H)]
38
CHAPTER 4 Sync Manager Communication Objects
39
CAN Profile Version (Obj. 1D00H)]
39
[CAN Profile Version (Obj. 1D00H: 00H)]
39
Watchdog Counter DL (Obj. 1D01H)]
39
[Watchdog Counter DL (Obj. 1D01H: 00H)]
39
[Watchdog Counter DL 1 (Obj. 1D01H: 01H)]
39
Watchdog Counter UL (Obj. 1D02H)]
40
[Watchdog Counter UL (Obj. 1D02H: 00H)]
40
[Watchdog Counter UL 1 (Obj. 1D02H: 01H)]
40
CHAPTER 5 Parameter Objects
41
PA01 (Obj. 2001H)] - [PA44 (Obj. 202Ch)]
41
PB01 (Obj. 2081H)] - [PB92 (Obj. 20Dch)]
41
PC01 (Obj. 2101H)] - [PC90 (Obj. 215Ah)]
41
PD01 (Obj. 2181H)] - [PD72 (Obj. 21C8H)]
41
PE01 (Obj. 2201H)] - [PE88 (Obj. 2258H)]
41
PF01 (Obj. 2281H)] - [PF99 (Obj. 22E3H)]
41
PL01 (Obj. 2401H)] - [PL72 (Obj. 2448H)]
41
PT01 (Obj. 2481H)] - [PT90 (Obj. 24Dah)]
41
PN01 (Obj. 2581H)] - [PN32 (Obj. 25A0H)]
41
PV Group Parameters (Obj. 2691H)]
42
[PV Group Parameters (Obj. 2691H: 00H)]
42
[PV01 (Obj. 2691H: 01H)] - [PV32 (Obj. 2691H: 20H)]
42
CHAPTER 6 Alarm Objects
43
Alarm History Newest (Obj. 2A00H)]
43
[Alarm History Newest (Obj. 2A00H: 00H)]
43
[Alarm No. (Obj. 2A00H: 01H)]
43
[Alarm Time (Hour) (Obj. 2A00H: 02H)]
43
[Alarm2 No. (Obj. 2A00H: 03H)]
43
[Alarm Time (Second) (Obj. 2A00H: 04H)]
44
[Alarm Time (Nanosecond) (Obj. 2A00H: 05H)]
44
[Alarm Time (Time Zone) (Obj. 2A00H: 06H)]
44
[Alarm Time (Summer Time) (Obj. 2A00H: 07H)]
44
Alarm History _1 (Obj. 2A01H)] - [Alarm History _15 (Obj. 2A0Fh)]
45
Clear Alarm History (Obj. 2A40H)]
45
[Clear Alarm History (Obj. 2A40H: 00H)]
45
Current Alarm (Obj. 2A41H)]
45
[Current Alarm (Obj. 2A41H: 00H)]
45
Parameter Error Number (Obj. 2A44H)]
45
[Parameter Error Number (Obj. 2A44H: 00H)]
45
Parameter Error List (Obj. 2A45H)]
46
[Parameter Error List (Obj. 2A45H: 00H)]
46
[Parameter Error List 1 (Obj. 2A45H: 01H)] - [Parameter Error List 254 (Obj. 2A45H: Feh)]
46
Reset Alarm (Obj. 2A46H)]
46
[Reset Alarm (Obj. 2A46H: 00H)]
46
Drive Recorder History Newest (Obj. 2A70H)]
47
[Drive Recorder History Newest (Obj. 2A70H: 00H)]
47
[Drive Recorder History Index (Obj. 2A70H: 01H)]
47
[Drive Recorder History Alarm Number (Obj. 2A70H: 02H)]
47
[Drive Recorder History Power on Time (Obj. 2A70H: 03H)]
47
[Drive Recorder History Time (Second) (Obj. 2A70H: 04H)]
48
[Drive Recorder History Time (Nanosecond) (Obj. 2A70H: 05H)]
48
[Drive Recorder History (Time Zone) (Obj. 2A70H: 06H)]
48
[Drive Recorder History (Summer Time) (Obj. 2A70H: 07H)]
48
Drive Recorder History_1 (Obj. 2A71H)] - [Drive Recorder History_15 (Obj. 2A7Fh)]
48
CHAPTER 7 Monitor Objects
49
Cumulative Feedback Pulses (Obj. 2B01H)]
49
[Cumulative Feedback Pulses (Obj. 2B01H: 00H)]
49
Servo Motor Speed (Obj. 2B02H)]
49
[Servo Motor Speed (Obj. 2B02H: 00H)]
49
Droop Pulses (Obj. 2B03H)]
49
[Droop Pulses (Obj. 2B03H: 00H)]
49
Cumulative Command Pulses (Obj. 2B04H)]
49
[Cumulative Command Pulses (Obj. 2B04H: 00H)]
49
Command Pulse Frequency (Obj. 2B05H)]
50
[Command Pulse Frequency (Obj. 2B05H: 00H)]
50
Regenerative Load Ratio (Obj. 2B08H)]
50
[Regenerative Load Ratio (Obj. 2B08H: 00H)]
50
Effective Load Ratio (Obj. 2B09H)]
50
[Effective Load Ratio (Obj. 2B09H: 00H)]
50
Peak Load Ratio (Obj. 2B0Ah)]
50
[Peak Load Ratio (Obj. 2B0Ah: 00H)]
50
Instantaneous Torque (Obj. 2B0Bh)]
51
[Instantaneous Torque (Obj. 2B0Bh: 00H)]
51
Within One-Revolution Position (Obj. 2B0Ch)]
51
[Within One-Revolution Position (Obj. 2B0Ch: 00H)]
51
ABS Counter (Obj. 2B0Dh)]
51
[ABS Counter (Obj. 2B0Dh: 00H)]
51
Load Inertia Moment Ratio (Obj. 2B0Eh)]
51
[Load Inertia Moment Ratio (Obj. 2B0Eh: 00H)]
51
Bus Voltage (Obj. 2B0Fh)]
52
[Bus Voltage (Obj. 2B0Fh: 00H)]
52
Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H)]
52
[Motor-Side Cumu. Feedback Pulses (before Gear) (Obj. 2B18H: 00H)]
52
Electrical Angle (Obj. 2B19H)]
52
[Electrical Angle (Obj. 2B19H: 00H)]
52
Internal Temperature of Encoder (Obj. 2B25H)]
52
[Internal Temperature of Encoder (Obj. 2B25H: 00H)]
52
Settling Time (Obj. 2B26H)]
53
[Settling Time (Obj. 2B26H: 00H)]
53
Oscillation Detection Frequency (Obj. 2B27H)]
53
[Oscillation Detection Frequency (Obj. 2B27H: 00H)]
53
Number of Tough Drive Operations (Obj. 2B28H)]
53
[Number of Tough Drive Operations (Obj. 2B28H: 00H)]
53
Internal Temperature of Amplifier (Obj. 2B2Ah)]
53
[Internal Temperature of Amplifier (Obj. 2B2Ah: 00H)]
53
Unit Power Consumption (Obj. 2B2Dh)]
54
[Unit Power Consumption (Obj. 2B2Dh: 00H)]
54
Unit Total Power Consumption (Obj. 2B2Eh)]
54
[Unit Total Power Consumption (Obj. 2B2Eh: 00H)]
54
Error Excessive Alarm Margin (Obj. 2B3Fh)]
54
[Error Excessive Alarm Margin (Obj. 2B3Fh: 00H)]
54
Overload Alarm Margin (Obj. 2B40H)]
54
[Overload Alarm Margin (Obj. 2B40H: 00H)]
54
Overshoot Amount (Obj. 2B41H)]
55
[Overshoot Amount (Obj. 2B41H: 00H)]
55
Torque/Thrust Equivalent to Disturbance (Obj. 2B42H)]
55
[Torque/Thrust Equivalent to Disturbance (Obj. 2B42H: 00H)]
55
Unit Power Consumption 2 (Obj. 2B43H)]
55
[Unit Power Consumption 2 (Obj. 2B43H: 00H)]
55
CHAPTER 8 Manufacturer Specific Control Object
56
Drive Recorder Status (Obj. 2C02H)]
56
[Drive Recorder Status (Obj. 2C02H: 00H)]
56
Clear Drive Recorder History (Obj. 2C03H)]
56
[Clear Drive Recorder History (Obj. 2C03H: 00H)]
56
External Output Pin Display (Obj. 2C11H)]
57
[External Output Pin Display (Obj. 2C11H: 00H)]
57
[External Output Pin Display1 (Obj. 2C11H: 01H)]
57
Power on Cumulative Time (Obj. 2C18H)]
57
[Power on Cumulative Time (Obj. 2C18H: 00H)]
57
Number of Inrush Relay On/Off Times (Obj. 2C19H)]
57
[Number of Inrush Relay On/Off Times (Obj. 2C19H: 00H)]
57
Dynamic Relay ON/OFF Number (Obj. 2C1Ah)]
58
[Dynamic Relay ON/OFF Number (Obj. 2C1Ah: 00H)]
58
Machine Diagnostic Status (Obj. 2C20H)]
58
[Machine Diagnostic Status (Obj. 2C20H: 00H)]
58
Static Friction Torque at Forward Rotation (Obj. 2C21H)]
59
[Static Friction Torque at Forward Rotation (Obj. 2C21H: 00H)]
59
Dynamic Friction Torque at Forward Rotation (at Rated Speed) (Obj. 2C22H)]
59
[Encoder ID 1 (Obj. 2D48H: 03H)]
74
[Encoder ID 2 (Obj. 2D48H: 04H)]
75
One-Touch Tuning Mode (Obj. 2D50H)]
75
[One-Touch Tuning Mode (Obj. 2D50H: 00H)]
75
One-Touch Tuning Status (Obj. 2D51H)]
75
[One-Touch Tuning Status (Obj. 2D51H: 00H)]
75
One-Touch Tuning Stop (Obj. 2D52H)]
75
[One-Touch Tuning Stop (Obj. 2D52H: 00H)]
75
One-Touch Tuning Clear (Obj. 2D53H)]
76
[One-Touch Tuning Clear (Obj. 2D53H: 00H)]
76
One-Touch Tuning Error Code (Obj. 2D54H)]
76
[One-Touch Tuning Error Code (Obj. 2D54H: 00H)]
76
CHAPTER 9 PDS Control Objects
77
Controlword (Obj. 6040H)]
77
[Controlword (Obj. 6040H: 00H)]
77
Statusword (Obj. 6041H)]
80
[Statusword (Obj. 6041H: 00H)]
80
Quick Stop Option Code (Obj. 605Ah)]
83
[Quick Stop Option Code (Obj. 605Ah: 00H)]
83
Halt Option Code (Obj. 605Dh)]
84
[Halt Option Code (Obj. 605Dh: 00H)]
84
Modes of Operation (Obj. 6060H)]
85
[Modes of Operation (Obj. 6060H: 00H)]
85
Modes of Operation Display (Obj. 6061H)]
86
[Modes of Operation Display (Obj. 6061H: 00H)]
86
Supported Drive Modes (Obj. 6502H)]
87
[Supported Drive Modes (Obj. 6502H: 00H)]
87
CHAPTER 10 Position Control Function Objects
88
Position Actual Internal Value (Obj. 6063H)]
88
[Position Actual Internal Value (Obj. 6063H: 00H)]
88
Position Actual Value (Obj. 6064H)]
88
[Position Actual Value (Obj. 6064H: 00H)]
88
Following Error Window (Obj. 6065H)]
88
[Following Error Window (Obj. 6065H: 00H)]
88
Following Error Time out (Obj. 6066H)]
88
[Following Error Time out (Obj. 6066H: 00H)]
88
Position Window (Obj. 6067H)]
89
[Position Window (Obj. 6067H: 00H)]
89
Position Window Time (Obj. 6068H)]
89
[Position Window Time (Obj. 6068H: 00H)]
89
Positioning Option Code (Obj. 60F2H)]
90
[Positioning Option Code (Obj. 60F2H: 00H)]
90
Following Error Actual Value (Obj. 60F4H)]
90
[Following Error Actual Value (Obj. 60F4H: 00H)]
90
Control Effort (Obj. 60Fah)]
91
[Control Effort (Obj. 60Fah: 00H)]
91
CHAPTER 11 Profile Velocity Mode Objects
92
Velocity Demand Value (Obj. 606Bh)]
92
[Velocity Demand Value (Obj. 606Bh: 00H)]
92
Velocity Actual Value (Obj. 606Ch)]
92
[Velocity Actual Value (Obj. 606Ch: 00H)]
92
Velocity Window (Obj. 606Dh)]
93
[Velocity Window (Obj. 606Dh: 00H)]
93
Velocity Window Time (Obj. 606Eh)]
93
[Velocity Window Time (Obj. 606Eh: 00H)]
93
Velocity Threshold (Obj. 606Fh)]
93
[Velocity Threshold (Obj. 606Fh: 00H)]
93
Velocity Threshold Time (Obj. 6070H)]
94
[Velocity Threshold Time (Obj. 6070H: 00H)]
94
Target Velocity (Obj. 60Ffh)]
94
[Target Velocity (Obj. 60Ffh: 00H)]
94
CHAPTER 12 Profile Torque Mode Objects
95
Target Torque (Obj. 6071H)]
95
[Target Torque (Obj. 6071H: 00H)]
95
Max Torque (Obj. 6072H)]
95
[Max Torque (Obj. 6072H: 00H)]
95
Torque Demand Value (Obj. 6074H)]
95
[Torque Demand Value (Obj. 6074H: 00H)]
95
Torque Actual Value (Obj. 6077H)]
95
[Torque Actual Value (Obj. 6077H: 00H)]
95
Current Actual Value (Obj. 6078H)]
96
[Current Actual Value (Obj. 6078H: 00H)]
96
Torque Slope (Obj. 6087H)]
96
[Torque Slope (Obj. 6087H: 00H)]
96
Torque Profile Type (Obj. 6088H)]
96
[Torque Profile Type (Obj. 6088H: 00H)]
96
Positive Torque Limit Value (Obj. 60E0H)]
97
[Positive Torque Limit Value (Obj. 60E0H: 00H)]
97
Negative Torque Limit Value (Obj. 60E1H)]
97
[Negative Torque Limit Value (Obj. 60E1H: 00H)]
97
CHAPTER 13 Profile Position Mode Objects
98
Target Position (Obj. 607Ah)]
98
[Target Position (Obj. 607Ah: 00H)]
98
Position Range Limit (Obj. 607Bh)]
99
[Position Range Limit (Obj. 607Bh: 00H)]
99
[Min Position Range Limit (Obj. 607Bh: 01H)]
99
[Max Position Range Limit (Obj. 607Bh: 02H)]
99
Software Position Limit (Obj. 607Dh)]
100
[Software Position Limit (Obj. 607Dh: 00H)]
100
[Min Position Limit (Obj. 607Dh: 01H)]
100
[Max Position Limit (Obj. 607Dh: 02H)]
100
Max Profile Velocity (Obj. 607Fh)]
101
[Max Profile Velocity (Obj. 607Fh: 00H)]
101
Max Motor Speed (Obj. 6080H)]
101
[Max Motor Speed (Obj. 6080H: 00H)]
101
Profile Velocity (Obj. 6081H)]
102
[Profile Velocity (Obj. 6081H: 00H)]
102
Profile Acceleration (Obj. 6083H)]
102
[Profile Acceleration (Obj. 6083H: 00H)]
102
Profile Deceleration (Obj. 6084H)]
103
[Profile Deceleration (Obj. 6084H: 00H)]
103
Quick Stop Deceleration (Obj. 6085H)]
103
[Quick Stop Deceleration (Obj. 6085H: 00H)]
103
Motion Profile Type (Obj. 6086H)]
104
[Motion Profile Type (Obj. 6086H: 00H)]
104
CHAPTER 14 Homing Mode Objects
105
Home Offset (Obj. 607Ch)]
105
[Home Offset (Obj. 607Ch: 00H)]
105
Homing Method (Obj. 6098H)]
105
[Homing Method (Obj. 6098H: 00H)]
105
Homing Speeds (Obj. 6099H)]
106
[Homing Speeds (Obj. 6099H: 00H)]
106
[Speed During Search for Switch (Obj. 6099H: 01H)]
106
[Speed During Search for Zero (Obj. 6099H: 02H)]
106
Homing Acceleration (Obj. 609Ah)]
107
[Homing Acceleration (Obj. 609Ah: 00H)]
107
Supported Homing Method (Obj. 60E3H)]
107
[Supported Homing Method (Obj. 60E3H: 00H)]
107
[1St Supported Homing Method (Obj. 60E3H: 01H)] - [41St Supported Homing Method (Obj. 60E3H: 29H)]
108
CHAPTER 15 Factor Group Objects
109
Polarity (Obj. 607Eh)]
109
[Polarity (Obj. 607Eh: 00H)]
109
Position Encoder Resolution (Obj. 608Fh)]
110
[Position Encoder Resolution (Obj. 608Fh: 00H)]
110
[Encoder Increments (Obj. 608Fh: 01H)]
110
[Motor Revolutions (Obj. 608Fh: 02H)]
110
Gear Ratio (Obj. 6091H)]
111
[Gear Ratio (Obj. 6091H: 00H)]
111
[Motor Revolutions (Obj. 6091H: 01H)]
111
[Shaft Revolutions (Obj. 6091H: 02H)]
111
Feed Constant (Obj. 6092H)]
112
[Feed Constant (Obj. 6092H: 00H)]
112
[Feed (Obj. 6092H: 01H)]
112
[Shaft Revolutions (Obj. 6092H: 02H)]
112
Unit Position (Obj. 60A8H)]
112
[SI Unit Position (Obj. 60A8H: 00H)]
112
Unit Velocity (Obj. 60A9H)]
113
[SI Unit Velocity (Obj. 60A9H: 00H)]
113
Unit Acceleration (Obj. 60Aah)]
113
[SI Unit Acceleration (Obj. 60Aah: 00H)]
113
CHAPTER 16 Optional Application FE Objects
114
Digital Inputs (Obj. 60Fdh)]
114
[Digital Inputs (Obj. 60Fdh: 00H)]
114
Digital Outputs (Obj. 60Feh)]
118
[Digital Outputs (Obj. 60Feh: 00H)]
118
[Physical Outputs (Obj. 60Feh: 01H)]
118
[Bitmask (Obj. 60Feh: 02H)]
119
CHAPTER 17 Cyclic Synchronous Position Mode Objects
120
Position Offset (Obj. 60B0H)]
120
[Position Offset (Obj. 60B0H: 00H)]
120
Velocity Offset (Obj. 60B1H)]
120
[Velocity Offset (Obj. 60B1H: 00H)]
120
Torque Offset (Obj. 60B2H)]
120
[Torque Offset (Obj. 60B2H: 00H)]
120
Revisions
122
Warranty
123
Trademarks
124
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