Mr-Je - C Servo Amplifier Instruction Manual (Cc-Link Ie Field Network Basic)

General-Purpose AC Servo
MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link IE Field Network Basic) B

Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link IE Field Network Basic)
MODEL
MODEL
CODE
B
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030256ENG-B(1708)MEE Printed in Japan Specifications are subject to change without notice.
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,

CAUTION resulting in medium or slight injury to personnel or may cause physical
damage.
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 .
Indicates what must be done. For example, grounding is indicated by .
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 Instruction Manual, keep it accessible to the operator.
A- 1
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. 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 servo amplifier.
Ground the servo amplifier 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 servo amplifier 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.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier 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 servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the
servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo
amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts
down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker
or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo
amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
When you use a regenerative option with an MR-JE-40C to MR-JE-100C, remove the built-in
regenerative resistor and wiring from the servo amplifier.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
3. To prevent injury, note the following

CAUTION
Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.
Otherwise, an electric shock, fire, injury, 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 servo amplifier 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 cables.
A- 2
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, 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 lead of the built-in regenerative resistor, cables, or connectors when carrying the servo
amplifier. Otherwise, it may drop.
Install the servo amplifier 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. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
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
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with the Instruction Manual.
A- 3
(2) Wiring
CAUTION
Before removing the CNP1 connector of MR-JE-40C to MR-JE-100C, disconnect the lead wires of the
regenerative resistor from the CNP1 connector.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier
output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier 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.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
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 Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM
Control output RA
Control output 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 of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected
restart of the servo amplifier.
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
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
A- 4
CAUTION
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not get close to moving parts during the servo-on status.
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may
occur. Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric
shock, fire, injury, etc. may occur.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and
the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.
To ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.
(5) Corrective actions

CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A- 5
CAUTION
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the emergency stop switch.
brake interlock) turns off.
Servo motor
RA
B U 24 V DC
Electromagnetic brake
To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,
ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before
switching the power on.
(6) Maintenance, inspection and parts replacement

CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
(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 Instruction Manual.
A- 6
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
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 servo amplifier 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
Compliance with global standards

For the compliance with global standards, refer to app. 3 of "MR-JE-_C Servo Amplifier Instruction Manual".
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.

MELSERVO MR-JE-_C Servo Amplifier Instruction Manual SH(NA)030257ENG
MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG
MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode) SH(NA)030254ENG
MELSERVO HG-KN/HG-SN Servo Motor Instruction Manual SH(NA)030135ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
«Cables used for 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 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
A- 7
MEMO
A- 8
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6
1.1 Outline of CC-Link IE Field Network Basic ....................................................................................... 1- 1

1.1.1 Features ..................................................................................................................................... 1- 1
1.2 Function List...................................................................................................................................... 1- 2
1.3 Communication specifications .......................................................................................................... 1- 5
1.3.1 Communication specifications of CC-Link IE Field Network Basic .......................................... 1- 5
1.3.2 SLMP communication specifications ......................................................................................... 1- 6
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2- 1 to 2- 4
2.1 Summary ........................................................................................................................................... 2- 1

2.2 Message format ................................................................................................................................ 2- 1
2.3 Link device ........................................................................................................................................ 2- 2
2.4 Mapping data details of link device ................................................................................................... 2- 3
3. SLMP 3- 1 to 3- 8
3.1 Summary ........................................................................................................................................... 3- 1

3.2 Message format ................................................................................................................................ 3- 2
3.3 Command ......................................................................................................................................... 3- 4
3.4 CiA 402 read/write command ........................................................................................................... 3- 4
3.4.1 SDO Upload (CiA 402 object read) ............................................................................................ 3- 5
3.4.2 SDO Download (CiA 402 object write) ....................................................................................... 3- 5
3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read) ............................. 3- 6
3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write) ........................ 3- 7
3.5 Error codes ....................................................................................................................................... 3- 8
4. STARTUP 4- 1 to 4- 2
4.1 CC-Link IE Field Network Basic initial communication setting ......................................................... 4- 1

4.2 IP address setting ............................................................................................................................. 4- 2
5. PARAMETERS 5- 1 to 5- 8
5.1 List of communication-related parameters ....................................................................................... 5- 1

5.2 Detailed list of communication-related parameters .......................................................................... 5- 3
6. MANUFACTURER FUNCTIONS 6- 1 to 6- 6
6.1 Stroke end......................................................................................................................................... 6- 1

6.2 One-touch tuning .............................................................................................................................. 6- 2
6.3 Machine diagnosis function .............................................................................................................. 6- 4
6.4 Servo amplifier life diagnosis function .............................................................................................. 6- 5
7. OBJECT LIBRARY 7- 1 to 7-44
7.1 Object library list ............................................................................................................................... 7- 1

7.2 Object library details (objects in the 1000s)..................................................................................... 7-17
7.2.1 Writing command to EEP-ROM (1010h) ................................................................................... 7-17
1
7.2.2 Restore default EEP-ROM parameters (1011h) ....................................................................... 7-18
7.2.3 Response message mapping (1A00h) ..................................................................................... 7-19
7.3.1 External input pin status (2C10h) .............................................................................................. 7-20
7.3.2 External output pin status (2C11h) ........................................................................................... 7-21
7.3.3 Input device status (2C12h) ...................................................................................................... 7-21
7.3.4 Control input (2D01h to 2D0Ah) ................................................................................................ 7-23
7.3.5 Control output (2D11h to 2D1Ah) ............................................................................................. 7-28
7.4.1 Control status (6041h)............................................................................................................... 7-34
7.4.2 Quick stop option code (605Ah)................................................................................................ 7-35
7.4.3 Halt option code (605Dh) .......................................................................................................... 7-36
7.4.4 Control mode display (6061h) ................................................................................................... 7-37
7.4.5 Software limit (607Dh)............................................................................................................... 7-37
7.4.6 Polarity (607Eh) ........................................................................................................................ 7-38
7.4.7 Degree (60F2h) ......................................................................................................................... 7-38
7.4.8 Touch probe (60B8h to 60BBh) ................................................................................................ 7-40
7.4.9 Touch probe function setting (60B8h) ....................................................................................... 7-41
7.4.10 Touch probe function status (60B9h) ...................................................................................... 7-42
7.4.11 Rising edge position of touch probe (60BAh) ......................................................................... 7-42
7.4.12 Falling edge position of touch probe (60BBh)......................................................................... 7-42
7.4.13 Supported control mode (6502h) ............................................................................................ 7-43
2
1. FUNCTIONS AND CONFIGURATION
1.1 Outline of CC-Link IE Field Network Basic
CC-Link IE Field Network Basic is a standard Ethernet-based protocol used to perform cyclic communication
by the installed software without using a dedicated ASIC. You can establish a highly flexible system because
CC-Link IE Field Network Basic can be used together with TCP/IP communications.
Up to 64 axes of servo amplifiers (up to 16 axes of servo amplifiers per group) can be monitored by the
controller.
In the profile position mode, positioning operation can be performed based on the position data (target
position) given via the controller.
1.1.1 Features
(1) High-speed communication

High-speed communication can be established by cyclic transmission of not only bit data but also word
data.
The maximum communication speed is 100 Mbps.
(2) General-purpose Ethernet supported

Dedicated control wiring is unnecessary, and Ethernet network can be integrated.
1- 1
1.2 Function List
The following table lists the functions of this servo. For details of the functions, refer to each section
indicated in the detailed explanation field.
Detailed
Function Description
explanation
Position control mode (P)
This servo amplifier is used as a position control servo.
(pulse train input)
Speed control mode (S)
This servo amplifier is used as a speed control servo.
(Analog input/DI input)
Torque control mode (T) "MR-JE-_C
This servo amplifier is used as a torque control servo.
(Analog input) Servo Amplifier
Position/speed control Using an input device, control can be switched between position control and speed Instruction
switching mode (P/S) control. Manual"
Speed/torque control switch Using an input device, control can be switched between speed control and torque
mode (S/T) control.
Torque/position control switch Using an input device, control can be switched between torque control and position
mode (T/P) control.
Profile position mode (pp) The servo amplifier operates in the profile position mode. "MR-JE-_C
Profile velocity mode (pv) The servo amplifier operates in the profile velocity mode. Servo Amplifier
Instruction
Profile torque mode (tq) The servo amplifier operates in the profile torque mode. Manual (Profile
Homing mode (hm) The servo amplifier operates in the home position return mode. Mode)"
"MR-JE-_C
Servo Amplifier
Instruction
Manual" /
Absolute position detection Setting a home position once makes home position return unnecessary at every
"MR-JE-_C
system power-on.
Servo Amplifier
Instruction
Manual (Profile
Mode)"
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
Model adaptive control to the command and a response to the disturbance separately.
Additionally, this function can be disabled. To disable this function, refer to section
7.4 of "MR-JE-C_ Servo Amplifier Instruction Manual".
The touch probe function is available only in the profile mode. When the touch probe
Touch probe function 1 signal turns on, the current position latch function will latch the current position. Section 7.4.8
The latched data can be read with communication commands.
"MR-JE-_C
Servo Amplifier
Command pulse selection Command pulse train form can be selected from among three different types.
Instruction
Manual"
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo
High-resolution encoder
motor compatible with the MELSERVO-JE series.
You can switch gains during rotation and during stop, and can use an
Gain switching function
input device to switch gains during operation.
Advanced vibration
This function suppresses vibration or residual vibration at an arm end.
suppression control II
Machine resonance This filter function (notch filter) decreases the gain of the specific frequency to
"MR-JE-_C
suppression filter suppress the resonance of the mechanical system.
Servo Amplifier
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
Shaft resonance suppression Instruction
driving may generate a mechanical vibration of high frequency. The shaft resonance
filter Manual"
suppression filter suppresses the vibration.
The servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as the servo system response is
Low-pass filter
increased.
1- 2
Detailed
explanation
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator2 installed personal computer and the servo
Machine analyzer function
amplifier.
MR Configurator2 is necessary for this function.
Improves a disturbance response when a response performance cannot be
Robust filter
increased because of a large load to motor inertia ratio, such as a roll feed axis.
Slight vibration suppression
Suppresses vibration of ±1 pulse generated at a servo motor stop.
control
The position control is performed based on a value obtained by multiplying the
position command from the controller by the set electronic gear ratio.
When the position control mode is used, the input pulses can be multiplied by 1/10
Electronic gear
to 4000.
When the profile position mode is used, the position commands can be multiplied by
1/27649 to 8484.
Enables smooth acceleration and deceleration.
S-pattern Set S-pattern acceleration/deceleration time constants with [Pr. PC03].
acceleration/deceleration time As compared with linear acceleration/deceleration, the acceleration/deceleration
constant time will be longer for the S-pattern acceleration/deceleration time constants "MR-JE-_C
regardless of command speed. Servo Amplifier
Automatically adjusts the gain to optimum value if load applied to the servo motor Instruction
Auto tuning Manual"
shaft varies.
Use a regenerative option when the built-in regenerative resistor of the servo
Regenerative option amplifier does not have sufficient regenerative capacity for a large regenerative
power generated.
Alarm history clear Clears alarm histories.
Input signal selection (device ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and
settings) other input device can be assigned to certain pins of the CN3 connector.
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be
(device settings) assigned to certain pins of the CN3 connector.
Output signal (DO) forced Turns on/off the output signals forcibly independently of the servo status.
output Use this function for checking output signal wiring, etc.
Torque limit Limits the servo motor torque.
Speed limit Servo motor speed can be limited to any value.
Voltage is automatically offset to stop the servo motor if it does not come to a stop
Automatic VC offset when VC (Analog speed command) is 0 V.
MR Configurator2 is necessary for this function.
Alarm code output If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code.
Jog operation, positioning operation, motor-less operation, DO forced output, and "MR-JE-_C
Test operation mode program operation Servo Amplifier
MR Configurator2 is necessary for this function. Instruction
Using a personal computer, you can perform the parameter setting, test operation, Manual"
MR Configurator2
monitoring, and others.
Section 6.2
"MR-JE-_C
Gain adjustment is performed just by one click on MR Configurator2.
One-touch tuning Servo Amplifier
This function is available with MR Configurator2 or via a network.
Instruction
Manual"
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function
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 "MR-JE-_C
before and after an alarm for a fixed period of time. You can check the recorded data Servo Amplifier
by clicking the Waveform-Display button in the drive recorder window of MR Instruction
Configurator2. Manual"
Drive recorder function
However, the drive recorder is not available when:
1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
1- 3
Detailed
explanation
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
Servo amplifier life diagnosis
servo amplifier including a capacitor and a relay before they malfunction.
function
This function is available with MR Configurator2 or via a network. (Refer to section
6.4.)
This function calculates the power running energy and the regenerative power from
Power monitoring function the data in the servo amplifier such as speed and current. Power consumption and
others are displayed on MR Configurator2.
From the data in the servo amplifier, this function estimates the friction and
vibrational component of the drive system in the equipment and recognizes an error
Machine diagnosis function in the machine parts, including a ball screw and bearing.
This function is available with MR Configurator2 or via a network. (Refer to section
6.3.)
The Modbus/TCP uses dedicated message frames for the Ethernet communication "MELSERVO
between a client (master) and servers (slaves). The dedicated message frames have MR-JE-_C
functions for reading and writing data, you can set the parameters of servo amplifiers Servo Amplifier
Modbus/TCP
and monitor it by using this function. In the profile mode, driving the servo motor is Instruction
also possible. This function is used with servo amplifiers with software version A3 or Manual
later. (Modbus/TCP)"
CC-Link IE Field Network Basic enables fixed cycle communication between the
CC-Link IE Field Network master and slave stations using a general-purpose Ethernet connector. The
Chapter 2
Basic parameters of servo amplifiers can be set (read/written) and monitored. In the profile
mode, driving the servo motor is also possible.
SLMP (SeamLess Message Protocol) is a protocol to access SLMP-compatible
devices from external devices (such as a personal computer and an HMI) or
SLMP programmable controller CPU via Ethernet. The parameters of servo amplifiers can Chapter 3
be set (read/written) and monitored. In the profile mode, driving the servo motor is
also possible.
Register the range of IP addresses in advance to limit the network devices allowed
IP address filtering function
to be connected to the servo amplifier.
In Ethernet communication (CC-Link IE Field Network Basic, SLMP, or
Modbus/TCP), to limit the network devices to which the operation right is given, set Chapter 5
Operation specification IP
the range of the device IP addresses.
address function
Monitoring/parameter reading can be performed with the network devices having no
operation right.
"MR-JE-_C
Lost motion compensation This function improves the response delay generated when the machine moving Servo Amplifier
function direction is reversed. Instruction
Manual"
Limits travel intervals using LSP (Forward rotation stroke end) and LSN (Reverse
Limit switch
rotation stroke end).
Limits travel intervals by address using parameters.
Software limit Section 7.4.5
Enables the same function with the limit switch by setting parameters.
1- 4
1.3 Communication specifications
1.3.1 Communication specifications of CC-Link IE Field Network Basic

Communication protocol UDP
No. 61450 (cyclic data)
Port No.
No. 61451 (NodeSearch and IPAddressSet dedicated for CC-Link IE Field Network Basic only)
Cyclic data 32 points (64 bytes)
IPv4 range: 0.0.0.1 to 223.255.255.254
IP address Use the same network address for both the master and slave stations.
Default value: 192.168.3.0
Subnet mask Default value: 255.255.255.0
Message format Refer to chapter 2.
Physical layer 1000BASE-T
Communication connector RJ45, 1 port (CN1)
Communication cable CAT5e, shielded twisted pair (4 pair) straight cable
Network topology Star
Variable communication
100 Mbps
speed
Transmission speed between
Max. 100 m
stations
Max. 64 stations (max. number of connections per group: 16 stations)
Number of nodes
Number of usable stations: 1 station per MR-JE-_C servo amplifier
Standard response time
(Note 1)
10 ms
(Link scan time/timeout time
(Note 2, 3))
Note 1. Standard response time refers to the time from when the servo amplifier receives a command from the master station until
when it returns a response to the master station.
2. Calculate the link scan time as follows. Also, use the standard response time for Ns.
MELSEC iQ-R/MELSEC-Q/L: Ls = Ns + Nm
MELSEC iQ-F: Ls = SM + {(Ns + Nm)/SM}
Ls: Link scan time, Ns: Response time of slave station, Nm: Request time of master station, SM: Sequence scan time
3. Check the current link scan time (when all the slave stations are in a normal state) using the CC-Link IE Field Network Basic
diagnosis function. Then, set the timeout time approximately 5 times the link scan time (example: 50 ms when the current link
scan time is 10 ms).
1- 5
1.3.2 SLMP communication specifications

Communication protocol UDP/TCP (Note)
iQSS No. 45237 (NodeSearch and IPAddressSet only)
UDP No. 5010
Port No.
TCP
No. 5012
(Note)
IPv4 range: 0.0.0.0 to 255.255.255.255
IP address Use the same network address for both the master and slave stations.
Default value: 192.168.3.0
Subnet mask Default value: 255.255.255.0
Message format Refer to chapter 3.
Physical layer 1000BASE-T
Communication connector RJ45, 1 port (CN1)
Communication cable CAT5e, shielded twisted pair (4 pair) straight cable
Network topology Star
Variable communication
100 Mbps
speed
Transmission speed between
Max. 100 m
stations
UDP No limit
Maximum number
TCP
of connections 1
(Note)
Note. TCP is supported by servo amplifiers with software version A3 or later.
1- 6
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2.1 Summary
In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations
(servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers)
send back to the master station (controller) is called a response message.
The master station (controller) sends the request message using the directed broadcast to all slave stations
(servo amplifiers). When the servo amplifier receives the request message, it acquires data for own station
and returns the response message to the master station (controller) using the unicast after the servo
amplifier response time. The servo amplifier response time differs depending on the command to send.
Use link devices (RWr, RWw, RX, and RY) for data communications. Sending and receiving the request
message and response message at a constant cycle allow the master station (controller) to perform link
refresh.
The servo amplifier reads the received data as an object library to drive a servo motor and return monitor
data.
Constant cycle
Request message (directed broadcast)
Master station Slave station

(controller) (servo amplifier)
Response message (unicast)
2.2 Message format
The following shows the request message format to be used when the master station (controller) sends a
message, and the response message format to be used when the slave stations (servo amplifiers) return a
message.
Messages are sent by using UDP/IP.
(1) Request message format
IP UDP CCIEF
Ethernet Basic Command, Link device (for 16 stations)
header header header etc. (RY, RWw)
header
(2) Response message format
CCIEF Slave
Ethernet IP UDP station Link device
header header Basic
header header notification (RX, RWr)
information
2- 1
2.3 Link device
In cyclic communication, communication data of the request message and response message is read as
object data (RWwn, RWrn, RYn, RXn) of the servo amplifier. Table 2.1 and 2.2 list initial settings.
The setting of the response message can be changed. When changing it from the initial setting, refer to
section 7.2.3.
Table 2.1 RYn/RXn mapping (supporting the position/speed/torque control mode, profile mode, and home
position return mode)
Master station → Servo amplifier (RYn) Servo amplifier → Master station (RXn)
(Note) (Note)
Device Symbol Remark Device Symbol Remark
Device No. Device No.
RYn0 to RY RXn0 to RX
Not used Not used
(n + 3) E (n + 3) E
Cyclic communication ready
RY (n + 3) F CSR RX (n + 3) F Cyclic communication ready SSR
command
Note. "n" depends on the station No. setting.
2- 2
Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and
home position return mode)
Master station → Servo amplifier (RWwn) Servo amplifier → Master station (RWrn)
(Note) (Note)
Index Device Index Device
Device No. Device No.
Modes of Control mode Modes of
RWwn00 6060 Control mode RWrn00 6061
operation display operation display
RWwn01 6040 Control command Controlword RWrn01
RWwn02 2D01 Control input 1 Control DI 1 RWrn02 6041 Control status Statusword
RWwn03 2D02 Control input 2 Control DI 2 RWrn03 Current position Position actual
6064
RWwn04 2D03 Control input 3 Control DI 3 RWrn04 (command unit) value
RWwn05 Position command RWrn05 Velocity actual
607A Target position 606C Current speed
RWwn06 (pp) RWrn06 value
RWwn07 Speed command RWrn07 Following error
60FF Target velocity 60F4 Droop pulses
RWwn08 (pv) RWrn08 actual value
RWwn09 Torque actual
2D20 Speed limit value (tq) Velocity limit value RWrn09 6077 Current torque
RWwn0A value
Torque command RWrn0A 2D11 Control output 1 Status DO 1
RWwn0B 6071 Target torque
(tq) RWrn0B 2D12 Control output 2 Status DO 2
RWwn0C Command speed RWrn0C 2D13 Control output 3 Status DO 3
6081 Profile velocity
RWwn0D (pp) RWrn0D 2A42 Alarm No. Current alarm 2
RWwn0E Acceleration time Touch probe
6083 Profile acceleration RWrn0E 60B9 Touch probe status
RWwn0F constant (pp, pv) function status
RWwn10 RWrn0F Touch probe 1
Deceleration time Touch probe pos1
6084 Profile deceleration 60BA Position latched at
RWwn11 constant (pp, pv) RWrn10 pos value
the rising edge
RWwn12 Amount of torque RWrn11 Touch probe 1
Touch probe pos1
6087 command change Torque slope 60BB Position latched at
RWwn13 RWrn12 neg value
(per second) (tq) the falling edge
Torque limit value Positive torque RWrn13 External Input
RWwn14 60E0 2C12 Input device status 1
(forward) limit value RWrn14 signal display1
Torque limit value Negative torque RWrn15
RWwn15 60E1
(reverse) limit value RWrn16
RWwn16 RWrn17
Touch probe Touch probe RWrn18
RWwn17 60B8
function setting function RWrn19
Positioning Positioning option RWrn1A
RWwn18 60F2
operation setting code RWrn1B
RWwn19 2D05 Control input 5 Control DI 5 RWrn1C
RWwn1A RWrn1D
RWwn1B RWrn1E
RWwn1C RWrn1F
RWwn1D
RWwn1E
RWwn1F
Note. "n" depends on the station No. setting.
2.4 Mapping data details of link device
Refer to chapter 7.
2- 3
MEMO
2- 4
3. SLMP
3. SLMP
3.1 Summary
POINT
SLMP (UDP) is supported by servo amplifiers with software version A0 or later.
SLMP (TCP) is supported by servo amplifiers with software version A3 or later.
In SLMP (TCP), if connection with a client disconnects during establishment, the
connection may not close and this may cause reconnection failure. In case you
cannot reconnect, cycle the power of the servo amplifier.
SLMP (SeamLess Message Protocol) is a common protocol which allows applications to communicate
seamlessly regardless of different types of networks and network layers. SLMP communications can be
performed for the connection with external devices, such as a programmable controller, a personal
computer, and HMI, that can send and receive messages by using SLMP control procedures. The MR-JE-
_C servo amplifier is compatible only with the binary code. It is not compatible with the ASCII code.
For the compatibility of SLMP with external devices, refer to manuals for external devices.
In SLMP, a command that a master station (external device) sends to slave stations (servo amplifiers) is
called a request message, and a command that the slave stations (servo amplifiers) send back to the master
station (external device) is called a response message.
When the servo amplifier receives the request message, it returns the response message to the external
device after the servo amplifier response time.
The external device cannot send the next request message until it completes receiving the response
message.
Request Request
Master station (external device) message message
Response Response
Slave station (servo amplifier) message message
Servo amplifier response time (Note)
Note. The servo amplifier response time differs depending on the command to send.
3- 1
3. SLMP
3.2 Message format
The following shows the request message format to be used when the master station (external device)
sends a message, and the response message formats to be used when the slave stations (servo amplifiers)
return a message.
(1) Request message format

SLMP
Ethernet IP UDP Request Request
Request Request Request Monitoring Footer
header header header Subheader destination destination destination destination data timer
Request data
network No. station No. module multi-drop length
I/O No. station No.
(2) Response message format

The response message has two different formats for normal completion and abnormal completion.
(a) At normal completion

SLMP
Ethernet IP UDP Request Request
Request Request Response Footer
header header header Subheader destination destination destination destination data End code Response data
I/O No. station No.
(b) At abnormal completion

SLMP
Ethernet IP UDP Request Request Request Request Response
header header header Subheader destination destination destination destination data
I/O No. station No.
SLMP
Request Request
Network No. Station No. Sub Footer
End code (responding (responding destination destination Command
module multi-drop command
station) station)
I/O No. station No.
Error information
3- 2
3. SLMP
Item Size Endian Description

Header This header is for TCP/IP and UDP/IP. Add the header on the external device
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.
Subheader 2 bytes Big At a request: H5000
(QnA compatible 3E At a response: HD000
frame)
Subheader 6 bytes Big At a request: H5400 + Serial number + H0000
(QnA compatible 4E At a response: HD400 + Serial number + H0000
frame)
Request destination 1 bytes Specify the network No. of the access destination. Specify it in hexadecimal.
network No. Store a value of a request message.
Request destination 1 bytes Specify the station number of the access destination. Specify it in
station No. hexadecimal.
Store a value of a request message.
Request destination unit 2 bytes Little Fixed to H03FF
I/O No.
Request destination 1 bytes Fixed to H00
multi-drop station No.
Request data length 2 bytes Little Specify the data length from the monitoring timer to the request data in
hexadecimal.
Example) For 24 bytes: H1800
Monitoring timer 2 bytes Little Set the waiting time until the servo amplifier that had received a request
message from an external device completes read or write processing.
When the servo amplifier cannot return a response message within the
waiting time, the response message will be discarded.
H0000: Waiting until the processing is completed
H0001 to HFFFF (1 to 65535): Waiting time (Unit: 0.25 s)
Request data Variable Little Specify the command, sub command, and data that indicate the request
content.
Command 2 bytes Little Refer to section 3.3.
Sub command 2 bytes Little Refer to section 3.3.
Response data length 2 bytes Little The data length from the end code to the response data (at normal
completion) or error information (at abnormal completion) is stored in
hexadecimal. (Unit: byte)
End code 2 bytes Little The command processing result is stored. 0 is stored at normal completion. An
error code of the servo amplifier is stored at abnormal completion.
Refer to section 3.5 for the error code.
Response data Variable Little The read data and others corresponding to the command are stored at normal
completion.
Error information 9 bytes The network No. (responding station) (1 byte), station No. (responding station)
(1 byte), request destination module I/O No. (2 bytes), and request destination
multi-drop station No. (1 byte) of a station that responds an error are stored at
abnormal completion. Numbers that do not correspond to the content of the
request message may be stored because the information of the station that
responds an error is stored at abnormal completion. The command (2 bytes)
and sub command (2 bytes) in which an error occurs are also stored.
Footer This footer is for TCP/IP and UDP/IP. Add the footer on the external device
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.
3- 3
3. SLMP
3.3 Command
The following table lists applicable commands.

Sub Detailed
Name Command Description
command explanation
CiA 402 object 4020h 0001h Reads data specified by using the CiA 402 object from the servo Section
read/write amplifier to the external device. 3.4.1
0002h Writes data specified by using the CiA 402 object from the external Section
device to the servo amplifier. 3.4.2
0005h Reads data of consecutive sub commands specified by using the CiA Section
402 object from the servo amplifier to the external device. 3.4.3
0006h Writes data of consecutive sub commands specified by using the CiA Section
402 object from the external device to the servo amplifier. 3.4.4
NodeSearch 0E30h 0000h Detects the server device in the network.
IPAddressSet 0E31h 0000h Sets the IP address of the server device in the network.
Model code read 0101h 0000h Reads the servo amplifier model.
3.4 CiA 402 read/write command
The MR-JE-_C servo amplifier supports the CiA 402 read/write command.
SLMP
Service Sub Description
Command
command
SDO Upload 4020h 0001h Reads data specified by using the CiA 402 object from the servo
amplifier to the external device.
SDO Download 4020h 0002h Writes data specified by using the CiA 402 object from the external
device to the servo amplifier.
SDO Object SubID Block Upload 4020h 0005h Reads data of consecutive sub commands specified by using the CiA
402 object from the servo amplifier to the external device.
SDO Object SubID Block 4020h 0006h Writes data of consecutive sub commands specified by using the CiA
Download 402 object from the external device to the servo amplifier.
3- 4
3. SLMP
3.4.1 SDO Upload (CiA 402 object read)
When the slave stations (servo amplifiers) receive the CiA 402 object read request from the master station
(external device), they return a value of the object corresponding to the specified Index or Sub Index.
(1) Request message (command and the following)

Sub Number of data
Command Sub command Index Reserved
Index value
L H L H L H - - L H
20h 40h 01h 00h Refer to (3) in this section for details.
(2) Response message

(a) At normal completion (end code and the following)
Sub Number of data
End code Index Reserved Read data
Index value
L H L H - - L H L or H (variable)
00h 00h Refer to (3) in this section for details.

The response message is the same as that of 3.2 (2) (b).
(3) Item list

Command 2 bytes Little H4020
Sub command 2 bytes Little H0001
Index 2 bytes Little Specify Index of the object. (Refer to chapter 7.)
For the response message, the value specified in the request message is
stored.
Sub Index 1 bytes Little Specify Sub Index of the object. (Refer to chapter 7.)
stored.
Reserved 1 bytes Fixed to H00
Number of data value 2 bytes Little Read data: Fixed to H00
Read data Variable Little The response data of the object is stored.
3.4.2 SDO Download (CiA 402 object write)
When the slave stations (servo amplifiers) receive the CiA 402 object write request from the master station
(external device), they write a specified value to the object corresponding to the specified Index or Sub
Index.

Sub Number of data
Command Sub command Index Reserved Write data
Index value
L H L H L H - - L H L or H (variable)

Sub Number of data
End code Index Reserved
Index value
L H L H - - L H
3- 5
3. SLMP

(3) Item list

stored.
stored.
Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.
Write data Variable Little Specify the write data of the object.
3.4.3 SDO Object SubID Block Upload (CiA 402 object sub ID continuous read)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous read request from
the master station (external device), they return a value of the object corresponding to the specified Index or
consecutive Sub Index.

Sub Number of data
Command Sub command Index Reserved
Index value
L H L H L H - - L H

Sub Number of data
End code Index Reserved Read data
Index value
L H L H - - L H L or H (variable)

(3) Item list

stored.
stored.
Number of data value 2 bytes Little Read data: Fixed to H00
Read data Variable Little The response data of the object is stored.
3- 6
3. SLMP
3.4.4 SDO Object SubID Block Download (CiA 402 object sub ID continuous write)
When the slave stations (servo amplifiers) receive the CiA 402 object sub ID continuous write request from
the master station (external device), they write a specified value to the object corresponding to the specified
Index or consecutive Sub Index.

Sub Number of data
Command Sub command Index Reserved Write data
Index value
L H L H L H - - L H L or H (variable)

Sub Number of data
End code Index Reserved
Index value
L H L H - - L H

(3) Item list

stored.
stored.
Number of data value 2 bytes Little Write data: Specify the size in hexadecimal.
Write data Variable Little Specify the write data of the object.
3- 7
3. SLMP
3.5 Error codes
The following table lists error codes that are stored in the end code at abnormal completion in SLMP.
Error code Cause
C059h The sub command is specified incorrectly. Or, a command that is not prescribed is received.
C05Ch The request message is incorrect.
C061h The request data length does not correspond to the number of data points.
CCCAh A non-existent Index is specified.
CCD0h Number of data value differs from the prescribed value.
CCD1h Number of data value is greater than the prescribed value.
CCD2h Number of data value is smaller than the prescribed value.
CCD3h A non-existent Sub Index is specified.
CCC8h The Write only object is read.
CCC9h (1) A value is written to the Read only object.
(2) A value is written to an object which is not the Read only object for all AL states but for the present AL state with
Write disabled.
CCC7h (1) A value is written to the object mapped to a response message.
(2) The following writings are performed when the object mapped to a response message is not allowed to be
changed.
A value other than "0" is written to Sub Index0.
A value is written to the corresponding Sub Index 1 to 32.
CCCBh The object that cannot be mapped to response message is written to the object mapped to a response message.
CCCCh The total size of the object mapped to a response message exceeds 64 bytes.
CCD4h A value outside the parameter range was written.
CCD5h A value that is greater than the parameter range is written.
CCD6h A value that is smaller than the parameter range is written.
CCDAh A value is written to a parameter object outside the writing range set in the Parameter block setting.
3- 8
4. STARTUP
4. STARTUP
POINT
Setting [Pr. PN02 Communication error detection time] to several milliseconds
may trigger [AL. 86.1] in the following condition. The power of the servo amplifier
is cycled, or an instantaneous power failure occurs during CC-Link IE Field
Network Basic communication.
Setting [Pr. PN10 Ethernet communication time-out selection] to several
milliseconds may trigger [AL. 86.4] in the following condition. The power of the
servo amplifier is cycled, or an instantaneous power failure occurs during SLMP
communication.
This chapter describes the network setting of the MR-JE-_C servo amplifier. Refer to "MR-JE-_C Servo
Amplifier Instruction Manual" and "MR-JE-_C Servo Amplifier Instruction Manual (Profile Mode)" for other
startup settings.
4.1 CC-Link IE Field Network Basic initial communication setting
Start the cyclic communication in the following procedure.

Network setting
IP address setting [IP address setting]

The initial value is 192.168.3.0. To change the initial value, set it with any of the following
(1) to (3). (Refer to section 4.2.)
(1) Identification number setting rotary switch (SW1/SW2)
(2) Parameter ([Pr. PN11] to [Pr. PN14])
(3) SLMP communication (IP Address Set command)
Subnet mask setting [Subnet mask setting]

The initial value is 255.255.255.0. To change the initial value, set it with either of the
following (1) or (2). (Refer to chapter 5.)
Default gateway setting [Default gateway setting]

The initial value is 192.168.3.1. To change the initial value, set it with either of the
following (1) or (2). (Refer to chapter 5.)
Slave station (servo amplifier) [Slave station (servo amplifier) power cycling]
power cycling The settings of the IP address, subnet mask, and default gateway are reflected.
procedure
Communication start
Master station (controller) [Cyclic communication start]

cyclic communication start Start the cyclic communication of the master station (controller).
Cyclic communication ready [Cyclic communication ready]

Set RY (n + 3) F of the master station (controller) to "01h". For the slave stations (servo
amplifiers), start importing the word device (RWw) and set RX (n + 3) F to "01h".
For the master station (controller), check that RX (n + 3) F is "01h" and read the word
device (RWr).
4- 1
4. STARTUP
4.2 IP address setting
POINT
Use a twisted pair cable with Ethernet Category 5e (1000BASE-T) or higher as
an Ethernet cable. The maximum cable length between nodes is 100 m.
Use a hub with a transmission speed of 100 Mbps or faster when branching the
Ethernet communication using a switching hub.
For the switching hub without the auto-negotiation function, set it to the
transmission speed 100 Mbps and half duplex.
The initial value of the IP address is 192.168.3.0.
The 4th octet can be set to 1 to 255 by using the identification number setting
rotary switch (SW1/SW2).
Cycle the power of the servo amplifier after changing the parameter setting of
the IP address or identification number setting rotary switch (SW1/SW2).
The IP address range of CC-Link IE Field Network Basic is between 0.0.0.0 to
223.255.255.254. Set the IP address within the range.
Set the IP address by using the SLMP command with the identification number setting rotary switch
(SW1/SW2) on the display of the servo amplifier, MR Configurator2, or controller.
When the IP address is changed with the identification number setting rotary switch (SW1/SW2), change it
before powering on the servo amplifier.
The IP address can be changed by specifying a MAC address when the SLMP command (IPAddressSet) is
used. Refer to section 3.3 for details on the command.
The IP address you set can be checked in the system configuration window of MR Configurator 2.
The IP address can be set as follows.
Identification number setting
IP address
rotary switch (SW1/SW2)
1st octet The setting value of [Pr. PN11] is used.
2nd octet The setting value of [Pr. PN12] is used.
00h
3rd octet The setting value of [Pr. PN13] is used.
4th octet The setting value of [Pr. PN14] is used.
01h to FFh 3rd octet The setting value of [Pr. PN13] is used.
The setting value of the identification number setting rotary switch
4th octet
(SW1/SW2) is used.
4- 2
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 servo amplifier.
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 controller, make sure that the identification
No. of the servo amplifier is set correctly. Otherwise, the parameter settings of
another identification No. may be written, possibly causing the servo amplifier to
be an unexpected condition.
5.1 List of communication-related parameters
POINT
To enable a parameter whose symbol is preceded by *, cycle the power after
setting it. However, the time will be longer depending on a setting value of [Pr.
PF25 Instantaneous power failure tough drive - Detection time] when
"instantaneous power failure tough drive selection" is enabled in [Pr. PA20].
The following parameters cannot be used with CC-Link IE Field Network Basic
communication.
[Pr. PN10 Ethernet communication time-out selection]
[Pr. PN23 KeepAlive time]
Initial
No. Symbol Name Unit
value
PN01 For manufacturer setting 0h
PN02 CERT Communication error detection time 1000 ms [ms]
PN04 0000h
PN05 0000h
PN06 0000h
PN07 0000h
PN08 0000h
PN09 1
PN10 EIC Ethernet communication time-out selection 0 [s]
PN11 *IPAD1 IP address setting 1 192
PN15 *SNMK1 Subnet mask setting 1 255
PN19 *DGW1 Default gateway setting 1 192
PN23 *KAA KeepAlive time 3600 [s]
5- 1
5. PARAMETERS
Initial
No. Symbol Name Unit
value
PN24 *IPAF1 IP address filter 1 0
PN28 *IPFR2 IP address filter 2 range setting 256
PN31 *IPOA1 Operation specification IP address 1 0
PN35 *IPOR3 Operation specification IP address 3 range specification 256
PN36 *IPOR4 Operation specification IP address 4 range specification 256
PN38 0000h
PN39 0000h
PN40 0000h
PN41 0000h
PN42 0000h
PN43 0000h
PN44 0000h
PN45 0000h
PN46 0000h
PN47 0000h
PN48 0000h
5- 2
5. PARAMETERS
5.2 Detailed list of communication-related parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN02 Set the time until [AL. 86.1 Network communication error 1] is detected. 1000
CERT Setting "0" will disable the detection of [AL. 86.1 Network communication error 1]. [ms]
Communica-
tion error
detection time Setting range: 0 to 1000
PN10 Set the network number of the servo amplifier. 0
*CONN Set the time until [AL. 86.4 Network communication error 4] is detected. [s]
Ethernet Setting "0" will disable the detection of [AL. 86.4 Network communication error 4].
communica- This parameter is enabled with SLMP.
tion time-out
selection Setting range: 0 to 60
PN11 Set the 1st octet of the IP address in decimal. 192
*IPAD1 Set the IP address assigned by the network administrator.
IP address When SLMP command (IPAdressSet) is received, the setting of the first octet will be
setting 1 written to this parameter.
Refer to table 5.1 for the relation between the setting value of the identification
number setting rotary switch and the parameter setting value.
Setting range: 0 to 255
Table 5.1 Relation between IP address setting and identification number setting rotary switch
Identification number
setting rotary switch IP address
(SW1/SW2)
00h
3rd octet The setting value of [Pr. PN13] is used.
4th octet The setting value of [Pr. PN14] is used.
01h to FFh 3rd octet The setting value of [Pr. PN13] is used.
The setting value of the identification number setting
4th octet
rotary switch (SW1/SW2) is used.
PN12 Set the 2nd octet of the IP address in decimal. 168

IP address When SLMP command (IPAdressSet) is received, the setting of the second octet will
setting 2 be written to this parameter.

PN13 Set the 3rd octet of the IP address in decimal. 3
IP address When SLMP command (IPAdressSet) is received, the setting of the third octet will
5- 3
5. PARAMETERS
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN14 Set the 4th octet of the IP address in decimal. 0
IP address When SLMP command (IPAdressSet) is received, the setting of the fourth octet will

PN15 Set the 1st octet of the subnet mask in decimal. 255
*SNMK1 Set the subnet mask assigned by the network administrator.
Subnet mask The subnet mask can also be changed simultaneously by the SLMP command
setting 1 (IPAdressSet).

PN16 Set the 2nd octet of the subnet mask in decimal. 255

PN17 Set the 3rd octet of the subnet mask in decimal. 255

PN18 Set the 4th octet of the subnet mask in decimal. 0

PN19 Set the 1st octet of the default gateway in decimal. 192
*DGW1 Set the default gateway assigned by the network administrator.
Default The default gateway can also be changed simultaneously by the SLMP command
gateway (IPAdressSet).
setting 1
PN20 Set the 2nd octet of the default gateway in decimal. 168
setting 2
PN21 Set the 3rd octet of the default gateway in decimal. 3
setting 3
PN22 Set the 4th octet of the default gateway in decimal. 1
setting 4
5- 4
5. PARAMETERS
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN24 Set the 1st octet of the IP address of the network device allowed to be connected in 0
*IPAF1 decimal.
IP address When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.
filter 1
PN25 Set the 2nd octet of the IP address of the network device allowed to be connected in 0
*IPAF2 decimal.
filter 2
PN26 Set the 3rd octet of the IP address of the network device allowed to be connected in 0
*IPAF3 decimal.
filter 3
PN27 Set the 4th octet of the IP address of the network device allowed to be connected in 0
*IPAF4 decimal.
filter 4
PN28 Set a value for the 2nd octet range of the IP address of the network device allowed 256
*IPAF2 to be connected. The range for the IP address of the network device allowed to be
IP address connected is between [Pr. PN25] and [Pr. PN28].
filter 2 range Set a value in decimal.
specification Setting "256" will disable the function.

PN29 Set a value for the 3rd octet range of the IP address of the network device allowed to 256
*IPAF3 be connected. The range for the IP address of the network device allowed to be

PN30 Set a value for the 4th octet range of the IP address of the network device allowed to 256
*IPAF4 be connected. The range for the IP address of the network device allowed to be

PN31 Set the 1st octet of the IP address of the network device allowed to be connected in 0
*IPOA1 decimal.
Operation When [Pr. PN31] to [Pr. PN34] are set to all "0", the function is disabled.
specification
IP address 1 When the function is enabled, the servo amplifier allows the following data 1) to 3) to
be imported only if the IP address of the master station (external device) matches
with the operation specification IP address. If they are mismatched, the data is
discarded.
1) SDO Download (command: 4020h, sub command: 0002h)
2) SDO Object SubID Block Download (command: 4020h, sub command: 0006h)
3) CC-Link IE Field Network Basic request message (RWwn)
Monitoring, parameter setting, and test operation can be executed via Ethernet when
the IP addresses of a personal computer (MR Configurator2) and GOT are within the
range of the operation specification IP address. When out of the range,
communication to the servo amplifier cannot be established.
5- 5
5. PARAMETERS
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN32 Set the 2nd octet of the IP address of the network device allowed to be connected in 0
*IPOA2 decimal.
Operation When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.
specification
discarded.

PN33 Set the 3rd octet of the IP address of the network device allowed to be connected in 0
*IPOA3 decimal.
specification
discarded.

PN34 Set the 4th octet of the IP address of the network device allowed to be connected in 0
*IPOA4 decimal.
specification
discarded.

PN35 Set a value for the 3rd octet range of the IP address of the network device allowed to 256
*IPOR3 be connected.
Operation The range for the IP address of the network device allowed to be connected is
specification between [Pr. PN33] and [Pr. PN35]. Set a value in decimal.
IP address 3 Setting "256" will disable the function.
range
specification Setting range: 0 to 256
5- 6
5. PARAMETERS
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN36 Set a value for the 4th octet range of the IP address of the network device allowed to 256
*IPOA4 be connected.
Operation The range for the IP address of the network device allowed to be connected is
specification between [Pr. PN34] and [Pr. PN36]. Set a value in decimal.
IP address 4 Setting "256" will disable the function.
range
specification Setting range: 0 to 256
5- 7
5. PARAMETERS
MEMO
5- 8
6. MANUFACTURER FUNCTIONS
6.1 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
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).
6- 1
6.2 One-touch tuning
Refer to "MR-JE-_C Servo Amplifier Instruction Manual" for one-touch tuning. Using One-touch tuning mode
(2D50h) allows one-touch tuning from the master station (controller).
(1) Related object

Sub- Data Initial
Index Read/write Name Description
address type value
Setting a value of "1" to "3" starts one-
touch tuning. After one-touch tuning is
completed, the setting value automatically
changes to "0".
2D50h 0 Read/write One-touch tuning mode 1 bytes 0
0: During one-touch tuning stop
1: Basic mode
2: High mode
3: Low mode
Regardless of whether one-touch tuning is
properly completed or not, the setting
2D51h 0 Reading One-touch tuning status 1 bytes 0
value changes to 100% at the completion.
Unit: %
Writing "1EA5h" stops one-touch tuning.
2D52h 0 Writing One-touch tuning Stop 2 bytes 0 Writing a value other than "1EA5h" will
trigger the error code "CCD4h".
The parameter changed in one-touch
tuning can be returned to the value before
the change.
0000h: Restores the initial value.
2D53h 0 Writing One-touch tuning Clear 2 bytes 0
0001h: Restores the value before one-
touch tuning.
The setting value of the restored
parameter is stored to the EEP-ROM.
The following shows the details of the one-
touch tuning error codes.
0000h: Finished normally
C000h: Tuning canceled
C001h: Overshoot exceeded
2D54h 0 Reading One-touch tuning Error Code 2 bytes 0 C002h: Servo-off during tuning
C003h: Control mode error
C004h: Time-out
C005h: Load to motor inertia ratio
misestimated
C00Fh: One-touch tuning disabled
6- 2
(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.
Start
Startup of the system Refer to "MR-JE-_C Servo Amplifier Instruction Manual" and "MR-JE-_C
Servo Amplifier Instruction Manual (Profile Mode)" to start the system.
Operation Rotate the servo motor by a controller. (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 the one-touch tuning is completed normally, the
parameters will be set automatically. Refer to "MR-JE-_C Servo Amplifier
Instruction Manual" for the parameters that are set automatically.
After a tuning error is returned, take the appropriate action according to "MR-
JE-_C Servo Amplifier 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
6- 3
6.3 Machine diagnosis function
This function estimates the friction and vibrational component of the drive system in the equipment based on
the data in the servo amplifier, 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 forward 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
Sub- Data Initial

address type value
2C20h 0 Reading Machine diagnostic status 2 bytes Refer to section 7.1.
Static friction torque at Static friction at forward rotation torque is
2C21h 0 Reading 2 bytes
forward rotation displayed in increments of 0.1%.
Dynamic friction torque at Kinetic friction at forward rotation torque at
2C22h 0 Reading forward rotation (at rated 2 bytes the rated speed is displayed in increments
speed) of 0.1%.
Static friction torque at Static friction at reverse rotation torque is
2C23h 0 Reading 2 bytes
reverse rotation displayed in increments of 0.1%.
Dynamic friction torque at Kinetic friction at reverse rotation torque at
2C24h 0 Reading reverse rotation (at rated 2 bytes the rated speed is displayed in increments
speed) of 0.1%.
Vibration frequency at stop/servo-lock
Oscillation frequency during
2C25h 0 Reading 2 bytes Vibration frequency during stop/servo-lock
motor stop
is displayed in increments of 1 Hz.
Vibration level at stop/servo-lock
Vibration level during motor
2C26h 0 Reading 2 bytes Vibration level during stop/servo-lock is
stop
displayed in increments of 0.1%.
Vibration frequency during operation
Oscillation frequency during
2C27h 0 Reading 2 bytes Vibration frequency during operation is
motor operating
displayed in increments of 1 Hz.
Vibration level during operation
Vibration level during motor
2C28h 0 Reading 2 bytes Vibration level during operation is
operating
displayed in increments of 0.1%.
6- 4
6.4 Servo amplifier 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 servo amplifier. This function gives an indication of the replacement time for parts of the servo
amplifier including a capacitor and a relay before they malfunction. The information of the servo amplifier life
diagnosis function can be obtained with the following objects.
Sub- Data Initial
address type value
The cumulative energization time of the
2C18h 0 Reading Power ON cumulative time 4 bytes
servo amplifier is returned.
The number of on/off times of the inrush
2C19h 0 Reading Inrush relay ON/OFF number 4 bytes
relay of the servo amplifier is returned.
6- 5
MEMO
6- 6
7. OBJECT LIBRARY
7. OBJECT LIBRARY
Each data such as control parameters, command values, and feedback values is handled as an object
composed of an address, object name, data type, access rule, and other elements. The object data can be
exchanged between the master station (controller) and the slave stations (servo amplifiers). The aggregate
of these objects is called object library.
7.1 Object library list

Saved
Sub Data Read/ Variable Para-
Index Name and function Initial value Range Unit to EEP-
Index type write mapping meter
ROM
1000 0 Supported profile information (Device Type) 4 Reading Impos- 00020192h 00020192h
The servo drive defined with the CiA 402 profile is bytes sible (fixed)
indicated.
1001 0 Alarm information (Error Register) 1 Reading Impos- 00h
The error occurrence is returned. bytes sible to
Bit 0: Turns on when an alarm has occurred. 01h
Bit 1 to Bit 7: Unused
1008 0 Servo amplifier model (Manufacturer Device Character Reading Impos-
Name) string sible
The model name of the servo amplifier is
returned.
1009 0 Hardware version (Manufacturer Hardware Character Reading Impos-
Version) string sible
The hardware version of the network module is
returned.
100A 0 Servo amplifier software version (Manufacturer Character Reading Impos-
Software Version) string sible
The software version of the servo amplifier is
returned.
1010 0 Writing command to EEP-ROM (Store 1 Reading Impos- 1 01h
parameters) bytes sible
The number of entries is returned.
1 Saving all parameters (Save all parameters) 4 Read/ Impos- 00000001h
[Writing] bytes write sible
Writing "save" (= 65766173h) saves all the objects
which can be stored in the EEP-ROM.
[Reading]
Bit 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.)
Bit 1: 0: The parameter is not automatically saved.
1011 0 Restoring default EEP-ROM parameters (Restore 1 Reading Impos- 1 01h (fixed)
default parameters) bytes sible
1 Restoring all default parameters (Restore all 4 Read/ Impos- 00000001h
default parameters) bytes write sible
The parameter of the servo amplifier can be
rewritten with the factory setting.
When "64616F6Ch" (= reverse order of ASCII
code of "load") is written to Restore all default
parameters (1011h: 1) and the power is cycled,
the parameter is initialized.
1018 0 Device information (Identity Object) 1 Reading Impos- 4 04h (fixed)
The number of entries is returned. bytes sible
1 Vendor ID (Vendor ID) 4 Reading Impos- 00000002h 00000002h
The vendor ID of a servo amplifier is returned. bytes sible (fixed)
2 Product number (Product Code) 4 Reading Impos- 00001003h 00001003h
The servo amplifier serial number is returned. bytes sible (fixed)
3 Revision number (Revision Number) 4 Reading Impos- 00000000h
The revision number of a servo amplifier is bytes sible to
returned. FFFFFFFFh
4 Serial number (Serial Number) 4 Reading Impos- 00000000h 00000000h
The serial number of the network module is bytes sible to
returned. FFFFFFFFh
7- 1
7. OBJECT LIBRARY
Saved
ROM
1A00 0 Response message mapping (Transmit PDO 1 Read/ Impos- 15 00h to 20h
Mapping) bytes write sible (32)
The number of objects to be mapped is set.
1 Response message mappings 1 to 32 (Mapped 4 Read/ Impos- 60610008h 00000000h
to Object 001 to 032) bytes write sible to
32 The object to be mapped is set. FFFFFFFFh
Bit 0 to Bit 7: Length of the object to be mapped
(Bit unit)
Bit 8 to Bit 15: Sub Index of the object to be
mapped
Bit 16 to Bit 31: Index of the object to be mapped
2001 0 PA01 to PA32 4 Read/ Impos- PA01
to The values of the basic setting parameters ([Pr. bytes write sible to
2021 PA_ _ ]) can be obtained and set. PA32
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2081 0 PB01 to PB64 4 Read/ Impos- PB01
to The values of the gain/filter setting parameters bytes write sible to
20C0 ([Pr. PB_ _ ]) can be obtained and set. PB64
2101 0 PC01 to PC80 4 Read/ Impos- PC01
to The values of the extension setting parameters bytes write sible to
2150 ([Pr. PC_ _ ]) can be obtained and set. PC80
2181 0 PD01 to PD48 4 Read/ Impos- PD01
to The values of the I/O setting parameters ([Pr. bytes write sible to
21B0 PD_ _ ]) can be obtained and set. PD48
2201 0 PE01 to PE64 4 Read/ Impos- PE01
to The values of the extension setting 2 parameters bytes write sible to
2240 ([Pr. PE_ _ ]) can be obtained and set. PE64
2281 0 PF01 to PF48 4 Read/ Impos- PF01
to The values of the extension setting 3 parameters bytes write sible to
22B0 ([Pr. PF_ _ ]) can be obtained and set. PF48
2481 0 PT01 to PT80 4 Read/ Impos- PT01
to The values of the positioning control parameters bytes write sible to
24D0 ([Pr. PT_ _ ]) can be obtained and set. PT80
Instruction Manual (Profile Mode)."
2581 0 PN01 to PN48 4 Read/ Impos- PN01
to The values of the network setting parameters bytes write sible to
25B0 ([Pr. PN_ _ ]) can be obtained and set. PN48
Refer to chapter 5 for details.
7- 2
7. OBJECT LIBRARY
Saved
ROM
2A00 0 Alarm history 0 to Alarm history 15 (Alarm history 1 Read Impos- 3 03h (fixed)
to newest) bytes sible
2A0F The number of entries in the latest alarm of the
alarm history is returned.
1 Alarm No. (Alarm No.) 4 Reading Impos- 0 00000000h
The number of the alarm that has occurred is bytes sible to
returned. FFFFFFFFh
The description is as follows.
Bit 0 to Bit 15: Alarm detail number
Bit 16 to Bit 31: Alarm number
When no history exists, "0" is returned.
2 Alarm occurrence time (Alarm time (Hour)) 4 Reading Impos- 0 00000000h hour
Alarm occurrence time is returned. bytes sible to
When no history exists, "0" is returned. FFFFFFFFh
3 Alarm 2 No. (Alarm2 No.) 2 Reading Impos- 0 0000h to
The number of the alarm that has occurred is bytes sible FFFFh
returned.
The description is as follows.
When no history exists, "0" is returned.
2A40 0 Alarm history clear (Clear alarm history) 2 Writing Impos-
Writing "1EA5h" clears the alarm history. bytes sible
2A41 0 Current alarm (Current alarm) 4 Reading Possible 00000000h
The number of the current alarm is returned. bytes to
When no alarm has occurred, "00000000h" is FFFFFFFFh
returned.
2A42 0 Current alarm 2 (Current alarm 2) 2 Reading Possible 0000h to
The number of the current alarm is returned. bytes FFFFh
When no alarm has occurred, "0000h" is returned.
2A44 0 Number of parameter errors (Parameter error 2 Reading Impos- 0000h to
number) bytes sible 01F4h
When [AL. 37 Parameter error] has occurred, the (500)
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.
2A45 0 Parameter error No. (Parameter error list) 1 Reading Impos- 20h 20h (32)
When [AL. 37 Parameter error] has occurred, the bytes sible (32) (fixed)
number of entries of the parameter which causes
the error is returned.
1 Parameter error No. 1 to 32 (Parameter error list 1 2 Reading Impos- 0 0000h to
to to 32) bytes sible FFFFh
32 When [AL. 37 Parameter error] has occurred, the
1st to 32nd numbers of the parameter which
causes the alarm is returned.
Bit 0 to Bit 7: Parameter number
Bit 8 to Bit 15: Parameter group number
00: [Pr. PA _ _ ]
01: [Pr. PB _ _ ]
02: [Pr. PC _ _ ]
03: [Pr. PD _ _ ]
04: [Pr. PE _ _ ]
05: [Pr. PF _ _ ]
06: Parameter for manufacturer setting
0A: Parameter for manufacturer setting
0B: Parameter for manufacturer setting
0C: [Pr. PT _ _ ]
0E: [Pr. PN _ _ ]
7- 3
7. OBJECT LIBRARY
Saved
ROM
2A46 0 Alarm reset (Reset alarm) 2 Writing Impos- 0 0000h to
Writing the value "1EA5h" resets an alarm. bytes sible FFFFh
Any value other than "1EA5h" is ignored.
2B01 0 Cumulative feedback pulses (Cumulative 4 Read/ Possible 80000000h pulse
feedback pulses) bytes write to
The cumulative feedback pulses are returned. 7FFFFFFFh
Writing "00001EA5h" clears the cumulative
feedback pulses.
2B02 0 Servo motor speed (Servo motor speed) 4 Reading Possible 80000000h r/min
The servo motor speed is returned. bytes to
7FFFFFFFh
2B03 0 Droop pulses (Droop pulses) 4 Reading Possible 80000000h pulse
The droop pulses (encoder unit) are returned. bytes to
7FFFFFFFh
2B04 0 Cumulative command pulses (Cumulative 4 Reading Possible 80000000h pulse
command pulses) bytes to
The cumulative command pulses are returned. 7FFFFFFFh
2B05 0 Command pulse frequency (Command pulse 4 Reading Possible 80000000h kpulse/s
frequency) bytes to
The command pulse frequency is returned. 7FFFFFFFh
2B06 0 Analog speed command voltage (Analog speed 2 Read Possible 8000h to V
command voltage) bytes 7FFFh
The analog speed command voltage is returned.
2B07 0 Analog torque limit voltage/Analog torque 2 Reading Possible 8000h to V
command voltage (Analog torque limit bytes 7FFFh
voltage/Analog torque command voltage)
The analog torque limit voltage/analog torque
command voltage is returned.
2B08 0 Regenerative load ratio (Regenerative load ratio) 2 Reading Possible 0000h to %
The regenerative load ratio is returned. bytes FFFFh
2B09 0 Effective load ratio (Effective load ratio) 2 Reading Possible 0000h to %
The effective load ratio is returned. bytes FFFFh
2B0A 0 Peak load ratio (Peak load ratio) 2 Reading Possible 0000h to %
The peak load ratio is returned. bytes FFFFh
2B0B 0 Instantaneous torque (Instantaneous torque) 2 Reading Possible 8000h to %
The instantaneous torque is returned. bytes 7FFFh
2B0C 0 Position within one-revolution (Within one- 4 Reading Possible 80000000h pulse
revolution position) bytes to
The position within one-revolution is returned. 7FFFFFFFh
2B0D 0 Multi-revolution counter (ABS counter) 4 Reading Possible 80000000h rev
Returns the multi-revolution counter. bytes to
7FFFFFFFh
2B0E 0 Load to motor inertia ratio (Load to motor inertia 2 Reading Possible 0000h to 0.01
ratio) bytes FFFFh times
The load to motor inertia ratio is returned.
2B0F 0 Bus voltage (Bus voltage) 2 Reading Possible 0000h to V
The bus voltage is returned. bytes FFFFh
2B16 0 F/B cumulative value of A/B-phase output pulse 4 Read Possible 80000000h pulse
(Cumulative encoder out pulses) bytes to
The feedback cumulative value of A/B-phase 7FFFFFFFh
output pulse is returned.
2B25 0 Internal temperature of encoder (Internal 2 Reading Possible 8000h to °C
temperature of encoder) bytes 7FFFh
The internal temperature of encoder is returned.
2B26 0 Settling time (Settling time) 2 Reading Possible 8000h to ms
The settling time is returned. 1 7FFFh
bytes
2B27 0 Oscillation detection frequency (Oscillation 2 Reading Possible 8000h to Hz
detection frequency) bytes 7FFFh
The oscillation detection frequency is returned.
2B28 0 Number of tough drive operations (Number of 2 Reading Possible 0000h to times
tough drive operations) bytes FFFFh
The number of tough drive operations is returned.
2B2A 0 Internal temperature of amplifier (Internal 2 Reading Possible 8000h to °C
temperature of amplifier) bytes 7FFFh
The internal temperature of amplifier is returned.
7- 4
7. OBJECT LIBRARY
Saved
ROM
2B2D 0 Unit power consumption (Unit power 2 Reading Possible 8000h to W
consumption) bytes 7FFFh
The unit power consumption is returned.
2B2E 0 Unit total power consumption (Unit total power 4 Reading Possible 80000000h Wh
consumption) bytes to
The unit total power consumption is returned. 7FFFFFFFh
2B2F 0 Current position (Current position) 4 Reading Possible 80000000h
The current position is returned. bytes to
7FFFFFFFh
2B30 0 Command position (Command position) 4 Reading Possible 80000000h
The command position is returned. bytes to
7FFFFFFFh
2B31 0 Command remaining distance (Command 4 Read Possible 80000000h
remaining distance) bytes to
The command remaining distance is returned. 7FFFFFFFh
2B81 0 Cumulative feedback pulses at alarm occurrence 4 Reading Possible 80000000h pulse
(Alarm Monitor 1 Cumulative feedback pulses) bytes to
The cumulative feedback pulses at alarm 7FFFFFFFh
occurrence are returned.
2B82 0 Servo motor speed at alarm occurrence (Alarm 4 Reading Possible 80000000h r/min
Monitor 2 Servo motor speed) bytes to
The servo motor speed at alarm occurrence is 7FFFFFFFh
returned.
2B83 0 Droop pulses at alarm occurrence (Alarm Monitor 4 Reading Possible 80000000h pulse
3 Droop pulses) bytes to
The droop pulses at alarm occurrence are 7FFFFFFFh
returned.
2B84 0 Cumulative command pulses at alarm occurrence 4 Reading Possible 80000000h pulse
(Alarm Monitor 4 Cumulative command pulses) bytes to
The cumulative command pulses (encoder unit) 7FFFFFFFh
at alarm occurrence are returned.
2B85 0 Command pulse frequency at alarm occurrence 4 Reading Possible 80000000h kpulse/s
(Alarm Monitor 5 Command pulse frequency) bytes to
The command pulse frequency at alarm 7FFFFFFFh
occurrence is returned.
2B86 0 Analog speed command voltage at alarm 2 Reading Possible 8000h to V
occurrence bytes 7FFFh
(Alarm Monitor 6 Analog speed command voltage)
The analog speed command voltage at alarm
2B87 0 Analog torque limit voltage/ 2 Reading Possible 8000h to V
Analog torque command voltage at alarm bytes 7FFFh
occurrence (Alarm Monitor 7 Analog torque limit
voltage/
Analog torque command voltage)
The analog torque limit voltage/analog torque
command voltage at alarm occurrence is returned.
2B88 0 Regenerative load ratio at alarm occurrence 2 Reading Possible 0000h to %
(Alarm Monitor 8 Regenerative load ratio) bytes FFFFh
The regenerative load ratio at alarm occurrence is
returned.
2B89 0 Effective load ratio at alarm occurrence (Alarm 2 Reading Possible 0000h to %
Monitor 9 Effective load ratio) bytes FFFFh
The effective load ratio at alarm occurrence is
returned.
2B8A 0 Peak load ratio at alarm occurrence (Alarm 2 Reading Possible 0000h to %
Monitor 10 Peak load ratio) bytes FFFFh
The peak load ratio at alarm occurrence is
returned.
2B8B 0 Instantaneous torque at alarm occurrence (Alarm 2 Reading Possible 8000h to %
Monitor 11 Instantaneous torque) bytes 7FFFh
The instantaneous torque at alarm occurrence is
returned.
2B8C 0 Position within one-revolution at alarm 4 Reading Possible 80000000h pulse
occurrence (Alarm Monitor 12 Within one- bytes to
revolution position) 7FFFFFFFh
The position within one-revolution at alarm
7- 5
7. OBJECT LIBRARY
Saved
ROM
2B8D 0 Multi-revolution counter at alarm occurrence 4 Reading Possible 80000000h rev
(Alarm Monitor 13 ABS counter) bytes to
The ABS counter at alarm occurrence is returned. 7FFFFFFFh
2B8E 0 Load to motor inertia ratio at alarm occurrence 2 Reading Possible 0000h to 0.01
(Alarm Monitor 14 Load to motor inertia ratio) bytes FFFFh times
The load to motor inertia ratio at alarm occurrence
is returned.
2B8F 0 Bus voltage at alarm occurrence (Alarm Monitor 2 Reading Possible 0000h to V
15 Bus voltage) bytes FFFFh
The bus voltage at alarm occurrence is returned.
2B96 0 F/B cumulative value of A/B-phase output pulse at 4 Reading Possible 80000000h pulse
alarm occurrence (Alarm Monitor 22 Cumulative bytes to
encoder out pulses) 7FFFFFFFh
The feedback cumulative value of A/B-phase
output pulse at alarm occurrence is returned.
2BA5 0 Internal temperature of encoder at alarm 2 Reading Possible 8000h to °C
occurrence (Alarm Monitor 37 Internal temperature bytes 7FFFh
of encoder)
The internal temperature of encoder at alarm
2BA6 0 Settling time at alarm occurrence (Alarm Monitor 2 Reading Possible 8000h to ms
38 Settling time) bytes 7FFFh
The settling time at alarm occurrence is returned.
2BA7 0 Oscillation detection frequency at alarm 2 Reading Possible 8000h to Hz
occurrence (Alarm Monitor 39 Oscillation detection bytes 7FFFh
frequency)
The oscillation detection frequency at alarm
2BA8 0 Number of tough drive operations at alarm 2 Reading Possible 0000h to times
occurrence (Alarm Monitor 40 Number of tough bytes FFFFh
drive operations)
The number of tough drive operations at alarm
2BAA 0 Internal temperature of amplifier at alarm 2 Reading Possible 8000h to °C
occurrence (Alarm Monitor 42 Internal bytes 7FFFh
temperature of amplifier)
The internal temperature of amplifier at alarm
2BAD 0 Unit power consumption at alarm occurrence 2 Reading Possible 8000h to W
(Alarm Monitor 45 Unit power consumption) bytes 7FFFh
The unit power consumption at alarm occurrence
is returned.
2BAE 0 Unit total power consumption at alarm occurrence 4 Reading Possible 80000000h Wh
(Alarm Monitor 46 Unit total power consumption) bytes to
The unit total power consumption at alarm 7FFFFFFFh
2BAF 0 Current position at alarm occurrence (Alarm 4 Reading Possible 80000000h
Monitor 47 Current position) bytes to
The current position at alarm occurrence is 7FFFFFFFh
returned.
2BB0 0 Command position at alarm occurrence (Alarm 4 Reading Possible 80000000h
Monitor 48 Command position) bytes to
The command position at alarm occurrence is 7FFFFFFFh
returned.
2BB1 0 Command remaining distance at alarm 4 Reading Possible 80000000h
occurrence (Alarm Monitor 49 Command bytes to
remaining distance) 7FFFFFFFh
The command remaining distance at alarm
2C10 0 External input pin status (External Input pin 1 Reading Impos- 1 01h (fixed)
display) bytes sible
The number of entries in external input pin status
is returned.
1 External input pin status 1 (External Input pin 4 Reading Possible 00000000h
display1) bytes to
The external input pin status is returned. FFFFFFFFh
7- 6
7. OBJECT LIBRARY
Saved
ROM
2C11 0 External output pin status (External Output pin 1 Read Impos- 1 01h (fixed)
display) bytes sible
The number of entries in external output pin
status is returned.
1 External output pin status 1 (External Output pin 4 Reading Possible 00000000h
display1) bytes to
The external input pin status is returned. FFFFFFFFh
2C12 0 Input device status (External Input signal display) 1 Reading Impos- 4 04h (fixed)
The number of entries in input device status is bytes sible
returned.
1 Input device status 1 (External Input signal 4 Reading Possible 00000000h
display1) bytes to
The input device status 1 is returned. FFFFFFFFh
display2) bytes to
display3) bytes to
display4) bytes to
2C18 0 Power ON cumulative time (Power ON cumulative 4 Reading Impos- 0 00000000h hour
time) bytes sible to
The cumulative time after power on of the servo FFFFFFFFh
amplifier is returned.
2C19 0 Number of inrush relay ON/OFF times (Number 4 Reading Impos- 0 00000000h times
of inrush relay on/off times) bytes sible to
The number of on/off times of the inrush relay of FFFFFFFFh
the servo amplifier is returned.
7- 7
7. OBJECT LIBRARY
Saved
ROM
2C20 0 Machine diagnostic status (Machine diagnostic 2 Reading Impos- 0 0000h to
status) bytes sible FFFFh
[Bit 0 to Bit 3: Friction estimation status at forward
rotation]
0: Normal (Friction is being estimated.)
1: Normal (Estimation is completed.)
2: Warning (The servo motor may rotate in one
direction too frequently.)
3: Warning (The servo motor speed may too slow
for friction estimation.)
4: Warning (The change in the servo motor
speed may be small for friction estimation.)
5: Warning (The acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (The operation time may not be
enough.)
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.
[Bit 4 to Bit 7: Friction estimation status at reverse

rotation]
0: Normal (Friction is being estimated.)
1: Normal (Estimation is completed.)
2: Warning (The servo motor may rotate in one
direction too frequently.)
3: Warning (The servo motor speed may too slow
for friction estimation.)
4: Warning (The change in the servo motor
speed may be small for friction estimation.)
5: Warning (The acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (The operation time may not be
enough.)
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.
[Bit 8 to Bit 11: Vibration estimation status]

0: During estimation
1: Estimation is completed.
[Bit 12 to Bit 15: reserved]

The value at reading is undefined.
2C21 0 Static friction torque at forward rotation (Static 2 Reading Impos- 0 8000h to 0.1
friction torque at forward rotation) bytes sible 7FFFh %
Coulomb friction at forward rotation torque is
returned in increments of 0.1%.
2C22 0 Dynamic friction torque at forward rotation (at 2 Reading Impos- 0 8000h to 0.1
rated speed) (Dynamic friction torque at forward bytes sible 7FFFh %
rotation (at rated speed))
Friction torque at forward rotation torque at rated
speed is returned in increments of 0.1%.
2C23 0 Static friction torque at reverse rotation (Static 2 Reading Impos- 0 8000h to 0.1
friction torque at reverse rotation) bytes sible 7FFFh %
Coulomb friction at reverse rotation torque is
returned in increments of 0.1%.
7- 8
7. OBJECT LIBRARY
Saved
ROM
2C24 0 Dynamic friction torque at reverse rotation (at 2 Reading Impos- 0 8000h to 0.1
rated speed) bytes sible 7FFFh %
(Dynamic friction torque at reverse rotation (at
rated speed))
Friction torque at reverse rotation torque at rated
speed is returned in increments of 0.1%.
2C25 0 Vibration frequency during stop/servo-lock 2 Reading Impos- 0 8000h to Hz
(Oscillation frequency during motor stop) bytes sible 7FFFh
Vibration frequency during stop/servo-lock is
returned in increments of 1 Hz.
2C26 0 Vibration level during stop/servo-lock (Vibration 2 Reading Impos- 0 8000h to 0.1
level during motor stop) bytes sible 7FFFh %
Vibration level during stop/servo-lock is returned in
increments of 0.1%.
2C27 0 Vibration frequency during operation (Oscillation 2 Reading Impos- 0 8000h to Hz
frequency during motor operating) bytes sible 7FFFh
Vibration frequency during operation is returned
in increments of 1 Hz.
2C28 0 Vibration level during operation (Vibration level 2 Reading Impos- 0 8000h to 0.1
during motor operating) bytes sible 7FFFh %
Vibration level during operation is returned in
increments of 0.1%.
2D01 0 Control input 1 to Control input 10 (Control DI 1 to 2 Read/ Possible 0 0000h to
to Control DI 10) bytes write FFFFh
2D0A The on/off status of input device can be read. The
on/off status of input device can also be set.
2D11 0 Control output 1 to Control output 10 (Status DO 2 Reading Possible 0000h to
to 1 to Status DO 10) bytes FFFFh
2D1A The on/off status of output device can be read.
2D20 0 Speed limit value (Velocity limit value) 4 Read/ Possible 50000 00000000h 0.01 PT52
The speed limit value is set. bytes write to r/min
permissible
instantane-
ous speed
2D28 0 Servo motor rated speed (Motor rated speed) 4 Reading Impos- 00000000h r/min
The servo motor rated speed is returned. bytes sible to
FFFFFFFFh
2D29 0 Servo motor maximum speed (Motor max speed) 4 Reading Impos- 00000000h r/min
The servo motor maximum speed is returned. bytes sible to
FFFFFFFFh
2D30 0 Device name (character string) (Manufacturer Character Reading Impos-
Device Name 2) string sible
The model name of the servo amplifier is returned.
The description is the same as that of
Manufacturer Device Name (1008h).
2D31 0 Hardware version (character string) (Manufacturer Character Reading Impos-
Hardware Version 2) string sible
The hardware version of the servo amplifier is
returned.
2D32 0 Software version (character string) (Manufacturer Character Reading Impos-
Software Version 2) string sible
The software version of the servo amplifier is
returned.
2D33 0 Serial No. (character string) (Serial Number 2) Character Reading Impos-
The servo amplifier serial number is returned. string sible
2D35 0 Encoder status display (Encoder status) 1 Reading Impos- 1 01h (fixed)
1 Encoder status 1 (Encoder status1) 4 Reading Impos- 00000000h
The encoder status is returned. bytes sible to
Bit 0: Whether the servo amplifier is used in an 00000001h
absolute position detection system or not is
returned.
0 = Incremental system
1 = Absolute position detection system
Bit 1 to Bit 31: Reserved
7- 9
7. OBJECT LIBRARY
Saved
ROM
2D42 0 Maximum value of multi-revolution counter (Max 4 Reading Impos- 00000000h rev
ABS counter) bytes sible to
The maximum value of the multi-revolution FFFFFFFFh
counter is displayed.
2D50 0 One-touch tuning command (One-touch tuning 1 Read/ Impos- 0 00h to 03h
mode) bytes write sible
Setting a value of "1" to "3" starts one-touch
tuning. After one-touch tuning is completed, the
setting value automatically changes to "0".
1: Basic setting
2: High setting
3: Low setting
2D51 0 One-touch tuning status (One-touch tuning 1 Read Impos- 0 00h to 64h %
status) bytes sible
The one-touch tuning progress is returned.
2D52 0 Stop of one-touch tuning (One-touch tuning Stop) 2 Writing Impos- 0 0000h/
Writing "1EA5h" can stop one-touch tuning. Any bytes sible 1EA5h
value other than "1EA5h" is ignored.
2D53 0 Returning parameters changed in one-touch 2 Writing Impos- 0 0000h to
tuning (One-touch tuning Clear) bytes sible 0001h
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.
0000: Restores the default value
0001: Restores the value before one-touch tuning.
2D54 0 One-touch tuning error code (One-touch tuning 2 Reading Impos- 0 0000h to
Error Code) bytes sible C00Fh
An error code of the one-touch tuning is returned.
The description of the error codes is as follows.
0000: Finished normally
C000: Tuning canceled
C001: Overshoot exceeded
C002: Servo-off during tuning
C003: Control mode error
C004: Time-out
C005: Load to motor inertia ratio misestimated
C00F: One-touch tuning disabled
603F 0 Latest error No. display (Error code) 2 Reading Possible 0 0000h to
The latest error No. that occurred after the power bytes FFFFh
on is returned. The error number is as follows.
1000h: Generic error
6040 0 Control command (Controlword) 2 Read/ Possible 0 0000h to
Set control commands to control the servo bytes write FFFFh
amplifier.
Bit 0: switch on
Bit 1: enable voltage
Bit 2: quick stop
Bit 3: enable operation
Bit 4 to Bit 6: operation mode specific
Bit 7: fault reset
Bit 8: halt
Bit 9: operation mode specific
Bit 10 to Bit 14: reserved
Bit 15: operation mode specific
7 - 10
7. OBJECT LIBRARY
Saved
ROM
6041 0 Control status (Statusword) 2 Reading Possible 0000h to
The current control status can be checked. bytes FFFFh
Bit 0: ready to switch on
Bit 1: switched on
Bit 2: operation enabled
Bit 3: fault
Bit 4: voltage enabled
Bit 5: quick stop
Bit 6: switch disabled
Bit 7: warning
Bit 8: reserved
Bit 9: remote
Bit 10: target reached
Bit 11: internal limit active
Bit 12 to Bit 13: operation mode specific
Bit 14 to Bit 15: reserved
605A 0 Quick stop option code 2 Read/ Impos- 2 0002h PT69
The operation method of deceleration to a stop bytes write sible (fixed)
can be specified.
605D 0 Halt option code 2 Read/ Impos- 1 0001h PT69
Set how to decelerate the servo motor to a stop bytes write sible (fixed)
at Halt reception.
6060 0 Control mode (Modes of operation) 1 Read/ Possible 0 80h to 7Fh
Set the control mode. bytes write
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
6061 0 Control mode display (Modes of operation 1 Reading Possible -20 80h to 7Fh
display) bytes
The current control mode is returned.
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
6063 0 Current position (absolute position) [ENC unit] 4 Reading Possible 80000000h pulse
(Position actual internal value) bytes to
The current position is returned. 7FFFFFFFh
6064 0 Current position (Position actual value) 4 Reading Possible 80000000h pos
The current position in the command unit on the bytes to units
basis of the home position is returned. When the 7FFFFFFFh
home position is not set, the current position in
the command unit on the basis of the zero point
of the encoder is returned.
6065 0 Error excessive width (Following error window) 4 Read/ Possible 12582912 00000000h pos PC75/
In the profile position mode (pp), when the time set bytes write to units PC76
with Following error time out (6066h) has elapsed FFFFFFFFh
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.
6066 0 Error excessive detection time (Following error 2 Read/ Possible 10 0000h to ms PC77
time out) bytes write FFFFh
Refer to Following error window (6065h).
7 - 11
7. OBJECT LIBRARY
Saved
ROM
6067 0 Permissible error range (Position window) 4 Read/ Possible 100 00000000h pos PT65
In the profile position mode (pp), when the time set bytes write to units
with Position windows time (6068h) has elapsed 0000FFFEh/
with the number of droop pulses equal to or lower FFFFFFFFh
than the setting value of this object, Bit 10 of
Statusword (6041h) is turned on.
[Setting range] This setting value is limited to the
range of 00000000h to 0000FFFEh. When
"FFFFFFFFh" is set, Position window is disabled
as an exception.
6068 0 Permissible error judgment time (Position window 2 Read/ Possible 10 0000h to ms PT66
time) bytes write FFFFh
Refer to Position window (6067h).
606B 0 Command speed (Velocity demand value) 4 Reading Possible 0 80000000h 0.01
The speed command is returned. bytes to r/min
7FFFFFFFh
606C 0 Current speed (Velocity actual value) 4 Reading Possible 80000000h 0.01
The current speed is returned. bytes to r/min
7FFFFFFFh
606D 0 Speed reached judgment width (Velocity window) 2 Read/ Possible 2000 0000h to 0.01 PT67
In the profile velocity mode (pv), when the time set bytes write FFFFh r/min
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.
606E 0 Speed reached judgment time (Velocity window 2 Read/ Possible 10 0000h to ms PT68
Refer to Velocity window (606Dh).
606F 0 Zero speed (Velocity threshold) 2 Read/ Possible 5000 0000h to 0.01 PT63
In the profile velocity mode (pv), when the time set bytes write FFFFh r/min
with Velocity threshold time (6070h) has elapsed
with the current speed exceeding the setting value
of this object, Bit 12 of Statusword (6041h) is
turned off.
6070 0 Zero speed judgment time (Velocity threshold 2 Read/ Possible 10 0000h to ms PT64
Refer to Velocity threshold (606Fh).
6071 0 Command torque (Target torque) 2 Read/ Possible 0 8000h to 0.1
Set the torque command used in the profile torque bytes write 7FFFh %
mode (tq).
6072 0 Maximum torque (nominal value) (Max torque) 2 Read/ Possible 0000h to 0.1
The maximum torque of the servo motor is bytes write FFFFh %
returned. The value matches with the maximum
torque listed in "HG-KN_/HG-SN_ Servo Motor
6074 0 Internal torque command (Torque demand value) 2 Read Possible 0 8000h to 0.1
The torque command is returned. bytes 7FFFh %
6077 0 Current torque (Torque actual value) 2 Reading Possible 8000h to 0.1
The current torque is returned. The read data is bytes 7FFFh %
in the unit of 0.1%.
607A 0 Position command (absolute/incremental) (Target 4 Read/ Possible 0 80000000h pos
position) bytes write to units
In the profile position mode (pp), the range is 7FFFFFFFh
limited depending on the unit.
[Setting range]
degree: -360000 to 360000
Other than degree: -999999 to 999999
607B 0 Command value limit (Position range limit) 1 Reading Impos- 2 00h to 02h
7 - 12
7. OBJECT LIBRARY
Saved
ROM
607B 1 Command value limit (lower limit) (Min position 4 Read/ Possible 00000000h 80000000h pos
range limit) bytes write (degree) to units
Set the range for limiting the command position 80000000h 7FFFFFFFh
(lower limit value). The settable values vary (pulse)
depending on the setting of [Pr. PT01].
[Pr. PT01] = _ 2 _ _ (degree): 00000000h to
00057E3Fh (0 to 359999)
[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to
7FFFFFFFh (-2147483648 to 2147483647)
2 Command value limit (upper limit) (Max position 4 Read/ Possible 00057E3Fh 80000000h pos
range limit) bytes write (degree) to units
Set the range for limiting the command position 7FFFFFFFh 7FFFFFFFh
(upper limit value). The settable values vary (pulse)
depending on the setting of [Pr. PT01].
[Pr. PT01] = _ 2 _ _ (degree): 00000000h to
00057E3Fh (0 to 359999)
[Pr. PT01] = _ 3 _ _ (pulse): 80000000h to
7FFFFFFFh (-2147483648 to 2147483647)
607C 0 Home position (Home offset) 4 Read/ Possible 0 80000000h pos
The home position is returned. Only reading the bytes write to units
value is available. 7FFFFFFFh
Do not perform writing because doing so causes
an error.
607D 0 Software limit (Software position limit) 1 Reading Impos- 2 02h (fixed)
Set the range for limiting the command position. bytes sible
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.
1 Stroke limit - (Min position limit) 4 Read/ Possible 0 80000000h pos PT17/
The stroke limit value in the reverse direction is bytes write to units PT18
returned in units of commands. 7FFFFFFFh
2 Stroke limit + (Max position limit) 4 Read/ Possible 0 80000000h pos PT15/
The stroke limit value in the forward direction is bytes write to units PT16
returned in units of commands. 7FFFFFFFh
607E 0 Rotation direction selection (Polarity) 1 Read/ Possible 00h 00h to FFh PA14/
The rotation direction selection can be set. bytes write PC29
Bit 7: position polarity
Bit 6: velocity polarity
Bit 5: torque polarity
Turn on or off both bit 6 and bit 7 to set the
rotation direction to position commands and speed
commands. Turn on or off all of bit 5 to bit 7 to set
the rotation direction to torque commands.
607F 0 Maximum speed command (Max profile velocity) 4 Read/ Possible 2000000 00000000h 0.01 PT51
Set the maximum speed command for the profile bytes write to r/min
position mode (pp) and profile velocity mode (pv). 001E8480h
When a value exceeding this object is set to (2000000)
Target velocity (60FFh) or Profile velocity (6081h),
the speed is limited with the value of this object.
6080 0 Servo motor maximum speed (Max motor speed) 4 Read/ Possible 00000000h r/min
The maximum speed of the servo motor is bytes write to
returned. Operation cannot be performed at a FFFFFFFFh
speed exceeding the speed set with this object.
6081 0 Command speed (Profile velocity) 4 Read/ Possible 10000 00000000h 0.01 PT50
The current speed command value can be read. bytes write to r/min
The speed command value can also be set. Set a permissible
value in units of 0.01 r/min. instantane-
ous speed
6083 0 Acceleration time constant (Profile acceleration) 4 Read/ Possible 0 00000000h ms PC01
The current acceleration time constant can be bytes write to
read. FFFFFFFFh
The acceleration time constant can also be set.
Set the length of time until the servo motor
accelerates to the rated speed in units of ms.
7 - 13
7. OBJECT LIBRARY
Saved
ROM
6084 0 Deceleration time constant (Profile deceleration) 4 Read/ Possible 0 00000000h ms PC02
The current deceleration time constant can be bytes write to
read. FFFFFFFFh
The deceleration time constant can also be set.
Set the length of time until the servo motor
decelerates from the rated speed to a stop in units
of ms.
6085 0 Deceleration time constant at Quick stop 4 Read/ Possible 100 00000000h ms PC51
command (Quick stop deceleration) bytes write to
Set a deceleration time constant for the Quick stop FFFFFFFFh
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.
[Range] Limited within the range of 0 to 20000.
When "0" is set, the operation is performed with
100 ms. The operation depends on the
specification of [Pr. PC51].
6086 0 Acceleration/deceleration pattern (Motion profile 2 Read/ Possible -1 FFFFh (-1)
type) bytes write (fixed)
Set the acceleration/deceleration pattern in the
profile position mode (pp). The description is as
follows.
-1: S-pattern
For this object, "-1" is always returned.
Values other than "-1" cannot be set.
6087 0 Torque slope 4 Read/ Possible 0 00000000h 0.1% PT49
Set the variation per second of the torque bytes write to
command used in the profile torque mode. When 00989680h
"0" is set, the setting value is invalid and the
torque command is input with step input.
[Range] Limited within the range of 0 to
10000000.
When "0" is set, the setting value is invalid (step
input).
6088 0 Torque command pattern (Torque profile type) 2 Read/ Possible 0 0000h
Set the torque command pattern. bytes write (fixed)
0: Linear interpolation method
Values other than 0 cannot be set.
608F 0 Encoder information (Position encoder resolution) 1 Reading Impos- 2 02h (fixed) pulse/
The number of entries is returned. bytes sible rev
1 Encoder resolution (Encoder increments) 4 Read/ Possible 00000000h pulse
The encoder resolution is returned. bytes write to
FFFFFFFFh
2 Number of revolutions of the servo motor (fixed to 4 Read/ Possible 1 00000001h rev
1 rev) (Motor revolutions) bytes write to
The fixed value "1" is returned. 00000001h
6091 0 Servo motor shaft gear ratio (Gear ratio) 1 Reading Impos- 2 02h (fixed)
1 Number of revolutions of the servo motor axis 4 Read/ Possible 1 00000001h rev PA06
(electronic gear numerator) (Motor revolutions) bytes write to
Set the numerator of the electronic gear. Refer to 00FFFFFFh
[Pr. PA06] for the settable values. (16777215)
2 Number of revolutions of the drive axis (electronic 4 Read/ Possible 1 00000001h rev PA07
gear denominator) (Shaft revolutions) bytes write to
Set the numerator of the electronic gear. Refer to 00FFFFFFh
[Pr. PA07] for the settable values. (16777215)
6092 0 Travel distance per revolution of the drive axis 1 Reading Impos- 2 02h (fixed)
(Feed constant) bytes sible
Electronic gear expression: Travel
distance/Number of revolutions of the drive axis
7 - 14
7. OBJECT LIBRARY
Saved
ROM
6092 1 Travel distance (Feed) 4 Read/ Possible 360000 00000001h pos
The value is set automatically according to the bytes write (degree)/ to units
[Pr. PT01] setting. Encoder FFFFFFFFh
Setting in [Pr. PT01]: resolution
_ 2 _ _ (degree) 360000 (pulse)
_ 3 _ _ (pulse) Encoder resolution
2 Number of revolutions of the drive axis (fixed to 1 4 Read/ Possible 1 00000001h rev PT01
rev) (Shaft revolutions) bytes write to
No value can be written as it is automatically set 00000001h
with [Pr. PT01]. If a value is written, this setting is
disabled.
6098 0 Home position return types (Homing method) 1 Read/ Possible 37 D5h (-43) PT45
Set a home position return type. bytes write to 27h (39)
6099 0 Home position return speed (Homing speeds) 1 Reading Impos- 2 02h (fixed)
1 Home position return speed (Speed during 4 Read/ Possible 10000 0 to 0.01 PT05
search for switch) bytes write permissible r/min
Set the servo motor speed at home position instantane-
return. ous speed
2 Creep speed (Speed during search for zero) 4 Read/ Possible 1000 0 to 0.01 PT06
Set a creep speed after proximity dog at home bytes write permissible r/min
position return. instantane-
ous speed
609A 0 Set acceleration/deceleration time constant at 4 Read/ Possible 0 00000000h ms PT61/
home position return. (Homing acceleration) bytes write to PT62
Set the acceleration/deceleration time constants 00004E20h
at home position return. Set a time for the servo (20000)
motor to reach the rated speed.
60A8 0 SI unit position 4 Read/ Impos- FD410000h 00000000h
SI unit position (60A8h) is set automatically with bytes write sible (degree) to
[Pr. PT01]. 00000000h FFFFFFFFh
The following shows the data structure. (pulse)
[Bit 0 to Bit 7: Reserved]
[Bit 8 to Bit 15: Denominator]
"00" means "Dimensionless".
[Bit 16 to Bit 23: Numerator]
"41" means "degree", and "00" means
"Dimensionless".
[Bit 24 to Bit 31: Prefix]
"FD" means "milli", and "00" means "none".
60A9 0 SI unit velocity (SI unit velocity) 4 Read/ Impos- FEB44700h FEB44700h
The SI unit velocity is returned. bytes write sible (0.01 r/min)
FEB44700h: 0.01 r/min
60B8 0 Touch probe function setting (Touch probe 2 Read/ Possible 0 0000h to
function) bytes write FFFFh
Set the command for the touch probe function.
60B9 0 Status of the touch probe function (Touch probe 2 Reading Possible 0 0000h to
status) bytes FFFFh
The status of the touch probe function is
returned.
60BA 0 Rising edge position of touch probe (Touch probe 4 Reading Possible 0 80000000h pos
pos1 pos value) bytes to units
The position latched at the rising edge of touch 7FFFFFFFh
probe 1 is returned.
60BB 0 Falling edge position of touch probe (Touch 4 Reading Possible 0 80000000h pos
probe pos1 neg value) bytes to units
The position latched at the falling edge of touch 7FFFFFFFh
probe 1 is returned.
60E0 0 Forward rotation torque limit (Positive torque limit 2 Read/ Possible 10000 0000h to 0.1% PA11/
value) bytes write 2710h (PA12)
The forward rotation torque limit can be read. (10000)
The forward rotation torque limit can also be set.
Set a forward torque limit value in units of 0.1%.
7 - 15
7. OBJECT LIBRARY
Saved
ROM
60E1 0 Reverse rotation torque limit (Negative torque 2 Read/ Possible 10000 0000h to 0.1% PA12/
limit value) bytes write 2710h (PA11)
The reverse rotation torque limit can be read. (10000)
The reverse rotation torque limit can also be set.
Set a reverse torque limit value in units of 0.1%.
60E3 0 Supported homing method (Supported homing 1 Reading Impos- 39 00h to FFh
method) bytes sible
The number of supported homing methods is
returned.
60E3 1 Number specification of supported homing 1 Reading Impos- 37 80h to 7Fh
to methods (1st to 39th) (1st supported homing bytes sible
39 method)
Set the number of the supported home position
return type.
60F2 0 Profile position mode setting (Positioning option 2 Read/ Possible 0000h 0000h to
code) bytes write 00C0h
Set the profile position mode.
Bit 1 to Bit 3 always notify "0". Setting a value
other than "0" will cause an error.
[Bit 1/Bit 0: relative option]

How to handle the relative position command
during pp is specified.
00: The positioning is performed with the relative
position from the internal absolute target
position.
[Bit 3/Bit 2: change immediately option]

The operation of when change set immediately
(control word Bit 5) is 1 during pp is specified.
00: Normal pp mode operation (New Target
position, profile velocity, acceleration, and
others are reflected immediately.)
[Bit 7/Bit 6: rotary axis direction option]

Specify the operation of the rotation axis during
pp and pt.
00: The servo motor rotates to the target position
in a direction specified with a sign of the
position data.
01: The servo motor rotates in the address
decreasing direction regardless of the sign of
the position data.
10: The servo motor rotates in the address
increasing direction regardless of the sign of
the position data.
11: 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.
60F4 0 Droop pulses [command unit] (Following error 4 Read Possible 80000000h pos
actual value) bytes to units
The droop pulses are returned. 7FFFFFFFh
60FA 0 Speed command (Control effort) 4 Read Possible 0 80000000h 0.01
The speed command is returned. bytes to r/min
7FFFFFFFh
60FF 0 Command speed (Target velocity) 4 Read/ Possible 0 80000000h 0.01
Set the speed command used in the profile bytes write to r/min
velocity mode (pv). 7FFFFFFFh
6502 0 Supported control mode (Supported drive modes) 4 Reading Possible 0000002Dh 0000002Dh
The supported control mode is returned. bytes to
Bit 0: Profile position mode (pp) 0000002Dh
Bit 2: Profile velocity mode (pv)
Bit 3: Profile torque mode (tq)
Bit 5: Homing mode (hm)
7 - 16
7. OBJECT LIBRARY
7.2 Object library details (objects in the 1000s)
POINT
This section describes the objects in the 1000s. Refer to section 7.1 for details
on the objects not listed here.
7.2.1 Writing command to EEP-ROM (1010h)
POINT
Before shutting off the power after executing the writing command to EEP-ROM
(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 the writing command to EEP-ROM (Store Parameters) (1010h) to store the
object in the EEP-ROM of the servo amplifier.
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 the writing command to EEP-ROM (Store Parameters) (1010h).
Executing the writing command to EEP-ROM (Store Parameters) (1010h) takes about a maximum of 10 s
because all parameters are written at the same time. Be careful not to shut off the power during writing.
Sub Data Read/
Index Name
Index type write
Number of entries (Number of
0 1 bytes Reading
entries)
Saving all parameters (Save all Read/
1 4 bytes
Writing command to EEP- parameters) write
1010h 2 ROM (Store parameters)
3
For manufacturer setting
4
5
Parameter setting values can be saved in EEP-ROM.
7 - 17
7. OBJECT LIBRARY
(1) Usage
This object can read the availability of each Sub Index. The following table shows the returned values of
each item.
Sub
Item Saved parameter Returned value
Index
0 01h
entries)
Saving all parameters (Save
1 Index: 2001h to 27FFh 00000001h (available)
all parameters)
2
3
4
5
Select the items to be saved in EEP-ROM using this object. At this time, set "00h" or "01h" for Number of
entries.
To save servo amplifier parameters in EEP-ROM, configure required settings following the table below.
When bit 1 (EEP-ROM write completed) of the control output (2D11h) is "1", saving data in EEP-ROM
has been completed.
Writing a value other than "65766173h" and "00000000h" to each item results in an error.
Sub Write to EEP-ROM
Item Setting value
Index Parameter
Number of entries (Number of 01h
0
entries)
00000000h Disabled
Saving all parameters (Save
1 65766173h ("save") Enabled
all parameters)
Other than above Error
2
3
4
5
7.2.2 Restore default EEP-ROM parameters (1011h)

Sub Data Read/
Index Name
Index type write
0 1 bytes Reading
entries)
Restoring all default parameters Read/
1 Restoring default EEP-ROM 4 bytes
(Restore all default parameters) write
1011h 2 parameters (Restore default
parameters)
3
4
5
The parameter of the servo amplifier can be rewritten with the factory setting.
When "64616F6Ch" (= reverse order of ASCII code of "load") is written to Restore all default parameters
(1011h: 1) and the power in cycled, the parameter is initialized.
7 - 18
7. OBJECT LIBRARY
7.2.3 Response message mapping (1A00h)
(1) Object list

Sub Data Read/
Index Name
Index type write
0 1 bytes
entries)
Response message mapping 1
1
(Mapped Object 001)
Response message mapping Read/
1A00h
(Transmit PDO Mapping) write
4 bytes
Response message mapping

32
32 (Mapped Object 032)
The object to be registered with response messages can be set. Set the number of objects to be
registered with Transmit PDO Mapping (1A00h: 0). Set the objects to be registered with 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).
Name bit Detail name Description
Set the Index for the object to be mapped.
16 to 31 Index of object to be mapped
To set the object as unassigned (gap), set "0".
Sub Index of object to be Set the Sub Index for the object to be mapped.
Response message 8 to 15
mapped To set the object as unassigned (gap), set "0".
mappings 1 to 32 (Mapped
Objects 001 to 032) Set the size of the object to be mapped in units of bits. For
example, set "16" for 2 bytes.
0 to 7 Size of object to be mapped
To set the object as unassigned (gap), set the size in units
of bits.
Refer to the description about RWrn in section 2.3 Link device for details on the initial values.
(2) Usage
Change the response message mapping in the following procedure.
Stop the CC-Link IE Field Network Basic communication. (RY (n + 3) F = 00h)
Initialize the number of entries for response message mapping by the SLMP. (Index: 1A00h, Sub: 0 = 0 (the number of entries = 0))
Set the response message mapping by the SLMP. (Index: 1A00h, Sub: 1 to 32)
Set the number of entries for response message mapping by the SLMP. (Index: 1A00h, Sub: 0 = n (the number of entries = n))
Start the CC-Link IE Field Network Basic communication. (RY (n + 3) F = 01h)
7 - 19
7. OBJECT LIBRARY
(3) Setting precautions

(a) The response message mapping can be set while the CC-Link IE Field Network Basic
communication is being stopped (RX (n + 3) F = 00h).
(b) Map the objects in the order of Sub Index 1 to 32 regardless of the object size. The necessary
number of RWr devices is reserved automatically.
(c) Keep the total size of the objects to be mapped within 64 bytes.
(d) Gaps can be inserted by setting objects to be mapped with Index of 0 and Sub Index of 0. Set the
gap size in units of bits for the objects to be mapped.
(e) The arrangement changed by the response message mapping is not saved. The arrangement needs
to be set every time the power of the servo amplifier is cycled.
POINT
7.3.1 External input pin status (2C10h)

Sub Data Read/
Index Name
Index type write
0 1 bytes Reading
External input pin status entries)
2C10h
(External Input pin display) External input pin status 1
1 4 bytes Reading
(External Input pin display1)
The ON/OFF state of the external input pins input to the servo amplifier can be read.
(1) Usage
Read the ON/OFF state of external input pins using this object. At this time, "02h" is returned to Number
of entries.
External Input pin display1 displays the input pin status of the MR-JE-_C servo amplifier. The following
table shows the details. When the input of the target pin is on, "1" is returned. When the input of the
target pin is off, "0" is returned. The values in the areas marked with diagonal lines are indefinite.
Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin
0 3 8 16 24
1 4 9 17 25
2 1 10 18 26
3 2 11 19 27
4 8 12 20 28
5 21 13 21 29
6 6 14 22 30
7 19 15 23 31
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7. OBJECT LIBRARY
7.3.2 External output pin status (2C11h)

Sub Data Read/
Index Name
Index type write
0 1 bytes Reading
External output pin status entries)
2C11h
(External Output pin display) External output pin status 1
1 4 bytes Reading
(External Output pin display1)
The ON/OFF state of external output pins output from the servo amplifier can be read.
(1) Usage
Read the ON/OFF state of external output pins using this object. At this time, "02h" is returned to
Number of entries.
External Output pin display1 displays the output pin status of the MR-JE-_C servo amplifier. The
following table shows the details. 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 are
indefinite.
Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin Bit CN3 connector pin
0 14 8 16 24
1 22 9 17 25
2 16 10 18 26
3 11 19 27
4 12 20 28
5 15 13 21 29
6 14 22 30
7 15 23 31
7.3.3 Input device status (2C12h)

Sub Data Read/
Index Name
Index type write
0 1 bytes
entries)
Input device status 1 (External
1 4 bytes
Input signal display1)
Input device status (External Input device status 2 (External
2C12h 2 4 bytes Reading
Input signal display) Input signal display2)
Input device status 3 (External
3 4 bytes
Input signal display3)
Input device status 4
4 4 bytes
(External Input signal display4)
The current input device status can be read.
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7. OBJECT LIBRARY
(1) Usage
External Input signal display1 (Input device status 1) to External Input signal display4 (Input device
status 4) display the ON/OFF state of each input device of the MR-JE-_C servo amplifier. The following
table shows the details. When the input of the target device is on, "1" is returned. When the input of the
target device is off, "0" is returned. The values in the areas marked with diagonal lines are indefinite.
Input device abbreviation (Note)
Bit
Input device status 1 Input device status 2 Input device status 3 Input device status 4
0 SON (Servo-on)
LSP (Forward rotation stroke
1
end)
LSN (Reverse rotation stroke
2
end)
TL (External torque limit
3
selection)
TL1 (Internal torque limit
4
selection)
5 PC (Proportional control)
6 RES (Reset)
7 CR (Clear)
8 SP1 (Speed selection 1)
9 SP2 (Speed selection 2) DOG (Proximity dog)
10 SP3 (Speed selection 3)
ST1/RS2 (Forward rotation
11 start/reverse rotation
selection)
ST2/RS1 (Reverse rotation
12 start/forward rotation
selection)
CM1 (Electronic gear setting
13
1)
CM2 (Electronic gear setting
14
2)
15 LOP (Control switching)
16
17
18 EM2/EM1 (Forced stop 2/1)
19
STAB2 (Second
20 acceleration/deceleration
selection)
21
22
23
24
25
26
27 CDP (Gain switching)
28
29
30
31
Note. For details on the symbols, refer to section 3.5 in "MR-JE-_C Servo Amplifier Instruction Manual".
7 - 22
7. OBJECT LIBRARY
7.3.4 Control input (2D01h to 2D0Ah)

Sub Data Read/
Index Name
Index type write
2D01h
Read/
to 0 Control input (Control DI1 to Control DI10) 2 bytes
write
2D0Ah
The on/off status of input device can be read.

The on/off status of input device can also be set.
The following table lists readable and writable input devices.
(1) Bit definition of control DI1

Bit Symbol Description
This device can be used by setting "2 _ _ _" (initial value) in [Pr. PA04].
When C_EM2 is turned on, the command decelerates the servo motor to a stop.
C_EM2
Turn C_EM2 off in the forced stop state to reset that state.
In the torque control mode, C_EM2 functions the same as C_EM1.
0
This device can be used by setting "0 _ _ _" in [Pr. PA04].
When C_EM1 is turned on, the base circuit shuts off, and the dynamic brake operates to decelerate the
C_EM1
servo motor to a stop.
Turn C_EM1 off in the forced stop state to reset that state.
1 The value at reading is undefined. Set "0" when writing.
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.
6
7
When C_TL1 is turned on, [Pr. PC35 Internal torque limit 2] can be selected.
8 C_TL1 However, if the value of [Pr. PA11] (60E0h) or [Pr. PA12] (60E1h) is less than the limit value selected by
[Pr. PC35], the value of [Pr. PA11] (60E0h) or [Pr. PA12] (60E1h) will be enabled.
10
11
12
13
14
15
7 - 23
7. OBJECT LIBRARY

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 is stopped and then rotated by even one pulse due to any external factor, it generates
torque to compensate for the droop pulse and returns to the original position. When the servo motor shaft is
to be locked mechanically after positioning completion (stop), switching on the C_PC upon positioning
8 C_PC
completion will suppress the unnecessary torque generated to compensate for a position mismatch.
When the shaft is to be locked for a long time, switch on the C_PC and TL (External torque limit selection)
at the same time to make the torque less than the rated by TLA (Analog torque limit).
Do not use C_PC in the torque control. When C_PC is used in the torque control, operation may be
performed at a speed exceeding the speed limit value.
10
11
12
13
14
Operation alarm reset
15 C_ORST
Turn on C_ORST from off to reset [AL. F4 Positioning warning].

1
2
3
4
5
6
7
8
9
10
11
12
Second acceleration/deceleration selection
The device allows selection of the acceleration/deceleration time constant at servo motor rotation in the
speed control mode or torque control mode. The S-pattern acceleration/deceleration time constant is
always uniform.
13 C_STAB2
Bit 13 Acceleration time constant Deceleration time constant
0 Pr. PC01 Pr. PC02
1 Pr. PC30 Pr. PC31

15
7 - 24
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
Proximity dog input
11 C_DOG When C_DOG is turned on, a proximity dog will be detected. The polarity for dog detection can be changed
with [Pr. PT29].
13
14
15
7 - 25
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
7 - 26
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
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7. OBJECT LIBRARY
7.3.5 Control output (2D11h to 2D1Ah)

Sub Data Read/
Index Name
Index type write
2D11h
to 0 Control output (Status DO1 to Status DO10) 2 bytes Reading
2D1Ah
The on/off status of output device can be read. The following table lists readable output devices.
(1) Bit definition of Status DO 1

0 The value at reading is undefined.
EEP-ROM write completed
1 S_ERF When a value is not written to EEP-ROM, S_ERF turns on. While a value is being written to EEP-ROM,
S_ERF turns off.
Speed reached
When the servo motor speed reaches the following range, S_SA turns on.
Set speed ± ((Set speed × 0.05) + 20) r/min
2 S_SA When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external
force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are
off.
Electromagnetic brake interlock
3 S_MBR
When a servo-off status or alarm occurs, S_MBR will turn off.
Variable gain selection
4 S_CDPS
S_CDPS turns on during gain switching.
6
Analog torque limit selection
7 S_TL
When TL (External torque limit selection) is turned on, S_TL turns on.
Torque limit selection
8 S_TL1
When C_TL1 or TL1 (Internal torque limit selection) is turned on, S_TL1 turns on.
10
11
In-position
When the number of droop pulses is in the in-position range, S_INP will turn on. The in-position range can
12 S_INP
be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during low-
speed rotation.
Limiting torque
13 S_TLC S_TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward torque limit],
[Pr. PA12 Reverse torque limit], or TLA (Analog torque limit).
Absolute position undetermined
14 S_ABSV
S_ABSV turns on when the absolute position is undetermined.
Battery warning
15 S_BWNG 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, S_BWNG will turn off in 2.5 s to 3.5 s after power-on.
7 - 28
7. OBJECT LIBRARY

Z-phase already passed
0: Z-phase unpassed after start-up
0 S_ZPASS
1: Z-phase passed once or more after start-up
This bit is available with servo amplifiers with software version A3 or later.
2
Zero speed state
3 S_ZSP S_ZSP turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr.
PC17].
Limiting speed
S_VLC turns on when speed reaches a value limited with any of [Pr. PC05 Internal speed limit 1] to [Pr.
4 S_VLC
PC11 Internal speed limit 7].
This turns off when SON (Servo-on) turns off.
6
7
Under proportional control
8 S_PC
S_PC turns on under proportional control.
10
11
12
13
14
Home position return completion 2
When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on unless the home
position is erased.
In the incremental system, it turns off with one of the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
If a home position return completes once in the absolute position detection system, S_ZP2 is always on.
15 S_ZP2 However, it will be off with one of the conditions 1) to 3) or the following.
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/travel direction selection] was changed.
8) [Pr. PA01 Operation mode] was changed.
This bit will be enabled in the profile mode.
7 - 29
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
Forced stop deceleration
9 S_RSTP S_RSTP turns on during a forced stop deceleration.
This bit is available with servo amplifiers with software version A3 or later.
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.
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
7 - 30
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
7 - 31
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
7 - 32
7. OBJECT LIBRARY

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
7 - 33
7. OBJECT LIBRARY
POINT
7.4.1 Control status (6041h)

Sub Data Read/
Index Name
Index type write
6041h 0 Control status (Statusword) 2 bytes Reading
The current control status can be checked.

The following table lists the bits of this object. The status can be checked with bit 0 to bit 7.
Bit Description
0 Ready To Switch On
1 Switched On
2 Operation Enabled
3 Fault
4 Voltage Enabled
5 Quick Stop
6 Switch On Disabled
7 Warning
8 Reserved (Note 2)
9 Reserved (Note 2)
10 Target reached (Note 1)
11 Internal Limit Active
12 to 13 Operation Mode Specific (Note 1)
14 to 15 Reserved (Note 2)
Note 1. The description changes depending on the control mode.

2. The value at reading is undefined.
The following table lists the servo amplifier statuses that can be read with bit 0 to bit 7.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status
0 0 0 0 0 Not ready to switch on
1 0 0 0 0 Switch on disable
0 1 0 0 0 1 Ready to switch on
0 1 0 0 1 1 Switch on
0 1 0 1 1 1 Operation enabled
0 0 0 1 1 1 Quick stop active (Note)
0 1 1 1 1 Fault reaction active
0 1 0 0 0 Fault
1 Main power on (power input on)
1 Warning (warning occurrence)
Note. Not supported in the position control mode, speed control mode, and torque control mode.
Bit 11 turns on when the stroke limit, software limit, or positioning command is outside the range.
7 - 34
7. OBJECT LIBRARY
7.4.2 Quick stop option code (605Ah)

Sub Data Read/
Index Name
Index type write
Read/
605Ah 0 Quick stop option code (Quick stop option code) 2 bytes
write
The operation method of deceleration to a stop can be specified. The following table shows the supported
methods and the operations.
Setting
Description
value
1 For manufacturer setting
In the 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. The new setting of Quick stop deceleration is reflected at all
2 times.
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.
4
5
6
7
8
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7. OBJECT LIBRARY
7.4.3 Halt option code (605Dh)
(1) Object list

Sub Data Read/
Index Name
Index type write
Read/
605Dh 0 Halt option code (Halt option code) 2 bytes
write
The following table shows descriptions of Halt option code (605Dh).

Setting
Description
value
The description varies depending on the control mode.
1
Refer to the following table.
3
4
The following shows the meaning of Halt Bit (Bit 8 of Controlword (6040h)) and the reflecting timing of
the deceleration time setting.
Reflecting timing of deceleration time

Control mode Halt Bit is set to "1" Halt Bit is set to "0"
setting
The servo motor decelerates The operation restarts after The new setting of Profile
to a stop according to Profile the servo motor decelerates deceleration (6084h) is reflected
Profile position mode (pp)
deceleration (6084h). to a stop. when New set-point (Bit 4 of
Controlword (6040h)) is set to "1".
The servo motor decelerates The operation restarts after The new setting of Profile
Profile velocity mode (pv) to a stop according to Profile the servo motor decelerates deceleration (6084h) is reflected at all
deceleration (6084h). to a stop. times.
Torque demand value The operation restarts after The new setting of Torque slope
(6074h) becomes "0" with the Torque demand value (6087h) is reflected at all times.
amount of torque change set (6074h) becomes "0".
Profile torque mode (tq)
in Torque slope (6087h)
regardless of the setting of
Halt option code (605Dh).
When Halt Bit is set to "1", the servo motor decelerates to a The new setting of Homing
stop with Homing acceleration (609Ah) and the state does not acceleration (609Ah) is reflected
change from Operation Enabled (servo-on). After that, when when Homing Operation Start (Bit 4 of
Homing mode (hm)
Halt Bit is set to "0" and Homing Operation Start (Bit 4 of Controlword (6040h)) is set to "1".
Controlword (6040h)) is set to "0" and then "1", home position
return is performed again.
7 - 36
7. OBJECT LIBRARY
7.4.4 Control mode display (6061h)

Sub Data Read/
Index Name
Index type write
6061h 0 Control mode display (Modes of operation Display) 1 bytes Reading
The current control mode can be read.

The following table shows the correspondence between control modes and setting values.
Setting
Control mode
value
Position control mode -20
Speed control mode -21
Torque control mode -22
Profile position mode (pp) 1
Profile velocity mode (pv) 3
Profile torque mode (tq) 4
Homing mode (hm) 6
Test mode: JOG operation -1
Test mode: Positioning operation -2
Test mode: DO forced output -4
Test mode: Machine analyzer -6
7.4.5 Software limit (607Dh)

Sub Data Read/
Index Name
Index type write
0 1 bytes Reading
entries)
Software limit (Software Min Position Limit
607Dh 1 4 bytes
Position Limit) (Stroke limit -) Read/
Max Position Limit write
2 4 bytes
(Stroke limit +)
The current software limit setting can be read.

At this time, "02h" is returned to Number of entries.
The stroke limit value in the reverse direction is returned to Min Position Limit (stroke limit -) in units of
commands.
The stroke limit value in the forward direction is returned to Max Position Limit (stroke limit +) in units of
commands.
The current software limit setting can also be written.
At this time, set "02h" for Number of entries.
Set the stroke limit value in the reverse direction in Min Position Limit (stroke limit -) in units of commands.
Set the stroke limit value in the forward direction in Max Position Limit (stroke limit +) in units of commands.
If Min Position Limit (stroke limit -) and Max Position Limit (stroke limit +) are set to the same value, the
software limit function is disabled.
7 - 37
7. OBJECT LIBRARY
7.4.6 Polarity (607Eh)

Sub Data Read/
Index Name
Index type write
Read/
607Eh 0 Rotation direction selection (Polarity) 1 bytes
write
The rotation direction selection can be set.

To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of
Polarity (607Eh) or use [Pr. PA14]. To set the rotation direction to torque commands, turn on or off all of bit 5
to bit 7 of Polarity (607Eh) or use [Pr. PA14] and "POL reflection selection at torque mode" of [Pr. PC29].
The following table shows the descriptions of Polarity (607Eh).
Bit Description
0 Reserved
2
3
4
Torque POL
5
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
Velocity POL
6
Position POL
7
7.4.7 Degree (60F2h)

Sub Data Read/
Index Name
Index type write
Read/
60F2h 0 Profile position mode setting (Positioning option code) 2 bytes
write
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with module
coordinates (axis of rotation). The following shows the differences when "degree" is selected.
Item (Index, Sub Index) Description
Target position (607Ah, 0) The range will be between -360.000° and 360.000°.
Position actual value (6064h, 0) The range will be between 0° and 359.999°.
Software position limit (607Dh, 0) The range will be between 0° and 359.999°. A value outside the range is
clamped within the range 0° to 359.999°.
Position range limit (607Bh, 0) The range will be between 0° and 359.999°.
Touch probe pos1 pos value (60BAh, 0) The range will be between 0° and 359.999°.
Touch probe pos1 neg value (60BBh, 0) The range will be between 0° and 359.999°.
Touch probe pos2 pos value (60BCh, 0) The range will be between 0° and 359.999°.
Touch probe pos2 neg value (60BDh, 0) The range will be between 0° and 359.999°.
Home offset (607Ch, 0) The range will be between 0° and 359.999°.
7 - 38
7. OBJECT LIBRARY
Positioning operation patterns can be changed with Positioning option code (60F2h). 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 bits and settings of Positioning option code (60F2h).
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 position
0 0 _0__
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 direction. If
1 1 _1__ 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.
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 a The servo motor rotates only The servo motor rotates only The servo motor rotates in the
direction specified with a sign in the address decreasing in the address increasing shorter direction.
of the position data. direction. 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 a The servo motor rotates only The servo motor rotates only The servo motor rotates in the
direction specified with a sign in the address decreasing in the address increasing shorter direction.
of the position data. direction. direction.
7 - 39
7. OBJECT LIBRARY
7.4.8 Touch probe (60B8h to 60BBh)
The current position latch data at the time of TPR1 (Touch probe 1) input can be read.
(1) Object list

Sub Data Read/
Index Name
Index type write
Read/
60B8h 0 Touch probe function setting (Touch probe function) 2 bytes
write
60B9h 0 Status of the touch probe function (Touch probe status) 2 bytes Reading
Rising edge position of touch probe (Touch probe position
60BAh 0 4 bytes Reading
positive value)
Falling edge position of touch probe (Touch probe position
60BBh 0 4 bytes Reading
negative value)
When the touch probe function (60B8h) is set, and TPR1 (touch probe1), an external signal, is turned
on/off, the current position of the rising and falling edges are latched.
The latch status of the current position data can be checked with the touch probe status (60B9h). The
latched current data can be read with the touch probe position positive value (60BAh) and the touch
probe position negative value (60BBh). For details of each object, refer to sections 7.4.9 to 7.4.12.
(2) Usage
The following explains for latching the current position at the rising edge of TPR1 (Touch probe 1).
(a) Set "0013h" to the touch probe function setting (Touch probe function: 60B8h) to store data at rising
edge of TPR1 (Touch probe 1).
(b) At this time, the touch probe status (Touch probe status: 60B9h) is set to "0001h", and the latched
data has not been stored yet.
(c) Use an external signal to turn on TPR1 (Touch probe 1).
(d) The touch probe status (Touch probe status: 60B9h) changes to "0003h", and the current position at
the time of TPR1 (touch probe1) on will be stored to the rising edge position of touch probe (Touch
probe position positive value: 60BAh).
(e) Use an external signal to turn off TPR1 (Touch probe 1).
(f) The touch probe status (Touch probe status: 60B9h) remains "0003h", and the current position at
the time that TPR1 (Touch probe 1) turns off will not be stored as the touch probe falling edge
position (Touch probe position negative value: 60BBh).
(g) Latching can be continued from (c).
7 - 40
7. OBJECT LIBRARY
The following shows a timing chart.

(a) 60B8h = 0013h
1
60B8h Bit 0
0
1
60B8h Bit 1
0
1
60B8h Bit 4
0 (d) 60B9h = 0003h (f) 60B9h = 0003h (g) Latches continuously
1
60B8h Bit 5
0
(b) 60B9h = 0001h
1
60B9h Bit 0
0
1
60B9h Bit 1
0
1
60B9h Bit 2
0
TPR1 (Touch Probe 1) ON
(Touch probe signal) OFF
60BAh 0 A B C
(c) TPR1 on (e) TPR1 off
60BBh 0
7.4.9 Touch probe function setting (60B8h)

Sub Data Read/
Index Name
Index type write
Read/
60B8h 0 Touch probe function setting (Touch probe function) 2 bytes
write
The current setting of the touch probe function can be checked.

Each setting of the touch probe function can also be set. The settings of this object are as follows.
Bit Description
0: Latch function disabled
0
1: Latch function enabled
0: Latch with the first trigger
1
1: Continuously latch with trigger inputs
3
0: Stop sampling at the rising edge of touch probe
4
1: Start sampling at the rising edge of touch probe
0: Stop sampling at the falling edge of touch probe
5
1: Start sampling at the falling edge of touch probe
6 to 15 The value at reading is undefined. Set "0" when writing.
Select enable/disable for the latch function with bit 0. Select "1" when using the touch probe function.
Select a trigger condition for the touch probe function with bit 1. Set "0" to latch just once when TPR1 (Touch
probe 1) is inputted. Set "1" to latch every time TPR1 (Touch probe 1) is inputted.
Set a condition for the rising edge of TPR1 (Touch probe 1) with bit 4. Set "1" to latch at the rising edge.
Set a condition for the falling edge of TPR1 (Touch probe 1) with bit 5. Set "1" to latch at the falling edge.
7 - 41
7. OBJECT LIBRARY
7.4.10 Touch probe function status (60B9h)

Sub Data Read/
Index Name
Index type write
60B9h 0 Status of the touch probe function (Touch probe status) 2 bytes Reading
The current status of the touch probe function can be checked. The description of this object is as follows.
Bit Description
0: Latch function of touch probe is disabled
0
1: Latch function of touch probe is enabled.
0: Latch is incomplete at the rising edge with the latch function of the touch probe.
1
1: Latch is complete at the rising edge with the latch function of the touch probe.
0: Latch is incomplete at the falling edge with the latch function of the touch probe.
2
1: Latch is complete at the falling edge with the latch function of the touch probe.
3 to 15 The value at reading is undefined.
Bit 0 indicates the status of the touch probe function. 0 indicates disabled, and 1 enabled.
With bit 1, if the data is latched at the rising edge of the touch probe can be checked. Latched data can be
read when this bit is set to "1". When this bit turns on, it remains on until bit 4 of the touch probe setting
(60B8h) is set to "0".
With bit 2, if the data is latched at the falling edge of the touch probe can be checked. Latched data can be
read when this bit is set to "1". When this bit turns on, it remains on until bit 5 of the touch probe setting
(60B8h) is set to "0".
7.4.11 Rising edge position of touch probe (60BAh)

Sub Data Read/
Index Name
Index type write
Rising edge position of touch probe (Touch probe position
60BAh 0 4 bytes Reading
positive value)
The current rising edge position of touch probe can be checked.
7.4.12 Falling edge position of touch probe (60BBh)

Sub Data Read/
Index Name
Index type write
Falling edge position of touch probe (Touch probe position
60BBh 0 4 bytes Reading
negative value)
The current falling edge position of touch probe can be checked.
7 - 42
7. OBJECT LIBRARY
7.4.13 Supported control mode (6502h)

Sub Data Read/
Index Name
Index type write
6502h 0 Supported control mode (Supported Drive Modes) 4 bytes Reading
The supported control mode can be read.

The returned value is "0000002Dh". The following table shows the details.
Bit Supported Modes Defined value
0 Profile position mode (pp) 1: Supported
2 Profile velocity mode (pv) 1: Supported
3 Profile torque mode (tq) 1: Supported
5 Homing mode (hm) 1: Supported
7 - 43
7. OBJECT LIBRARY
MEMO
7 - 44
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Revision
Mar. 2017 SH(NA)030256ENG-A First edition
Aug. 2017 SH(NA)030256ENG-B A maximum altitude of 2000 m above sea level is supported. Modbus/TCP is supported.
3. To prevent injury, note the Partially changed.
following
4. Additional instructions
(1) Transportation and Partially changed.
installation
(2) Wiring Partially changed.
(3) Test run and adjustment Partially changed.
(4) Usage Partially changed.
(5) Corrective actions Partially changed.
Section 1.2 Partially added and partially changed.
Section 1.3.2 Partially added and partially changed.
Section 2.2 Partially changed.
Section 3.1 POINT is added.
Section 3.2 (2) Partially changed.
Chapter 4 POINT is added.
Section 5.1 CAUTION is added. POINT is added.
Section 5.2 Partially changed.
Section 7.1 Partially added and partially changed.
Section 7.2.3 Partially changed.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
 2017 MITSUBISHI ELECTRIC CORPORATION
MEMO
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the
United States, Japan, and/or other countries.
Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
SH(NA)030256ENG-B
General-Purpose AC Servo
MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link IE Field Network Basic) B

Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(CC-Link IE Field Network Basic)
MODEL
MODEL
CODE
B
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030256ENG-B(1708)MEE Printed in Japan Specifications are subject to change without notice.

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General-Purpose AC Servo

MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (CC-Link IE Field Network Basic) B

This Instruction Manual uses recycled paper.

Indicates that incorrect handling may cause hazardous conditions,

Indicates that incorrect handling may cause hazardous conditions,

Indicates what must be done. For example, grounding is indicated by .

2. To prevent fire, note the following

3. To prevent injury, note the following

(1) Transportation and installation

(3) Test run and adjustment

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

(7) General instruction

Compliance with global standards

«About the manual»

Manual name Manual No.

«Cables used for wiring»

«U.S. customary units»

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6

1.1 Outline of CC-Link IE Field Network Basic ....................................................................................... 1- 1

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL 2- 1 to 2- 4

2.1 Summary ........................................................................................................................................... 2- 1

3.1 Summary ........................................................................................................................................... 3- 1

4.1 CC-Link IE Field Network Basic initial communication setting ......................................................... 4- 1

5.1 List of communication-related parameters ....................................................................................... 5- 1

6.1 Stroke end......................................................................................................................................... 6- 1

7. OBJECT LIBRARY 7- 1 to 7-44

7.1 Object library list ............................................................................................................................... 7- 1

1. FUNCTIONS AND CONFIGURATION

1.1 Outline of CC-Link IE Field Network Basic

(1) High-speed communication

(2) General-purpose Ethernet supported

1.2 Function List

1.3 Communication specifications

1.3.1 Communication specifications of CC-Link IE Field Network Basic

1.3.2 SLMP communication specifications

Note. TCP is supported by servo amplifiers with software version A3 or later.

2. CC-Link IE FIELD NETWORK BASIC PROTOCOL

Request message (directed broadcast)

Master station Slave station

2.2 Message format

(1) Request message format

(2) Response message format

2.3 Link device

Note. "n" depends on the station No. setting.

Note. "n" depends on the station No. setting.

2.4 Mapping data details of link device

3.2 Message format

(1) Request message format

(2) Response message format

(a) At normal completion

(b) At abnormal completion

Item Size Endian Description

The following table lists applicable commands.

3.4 CiA 402 read/write command

3.4.1 SDO Upload (CiA 402 object read)

(1) Request message (command and the following)

(2) Response message

(b) At abnormal completion