General-Purpose AC Servo

MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus/TCP)

Ethernet Interface
MODEL

MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Modbus/TCP)

MODEL
MODEL
CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

SH(NA)030269ENG-A(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- 4

1.1 Summary of Modbus-TCP ................................................................................................................ 1- 1

1.2 Function List...................................................................................................................................... 1- 1
1.3 Communication specifications .......................................................................................................... 1- 4

2. MODBUS/TCP PROTOCOL 2- 1 to 2-10

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

2.2 Modbus/TCP Communication Message Frame ............................................................................... 2- 1
2.3 Function Codes ................................................................................................................................. 2- 3
2.3.1 List of function codes ................................................................................................................. 2- 3
2.3.2 Read Holding Registers (Reading data in holding registers: 03h)............................................. 2- 3
2.3.3 Diagnostics (Function diagnostics: 08h) .................................................................................... 2- 6
2.3.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h) ............................... 2- 8
2.3.5 Processing at occurrence of an error ........................................................................................ 2-10

3. STARTUP 3- 1 to 3- 2

3.1 Modbus/TCP initial communication setting....................................................................................... 3- 1

3.2 IP address setting ............................................................................................................................. 3- 2

4. PARAMETERS 4- 1 to 4- 6

4.1 List of communication-related parameters ....................................................................................... 4- 1

4.2 Detailed list of communication-related parameters .......................................................................... 4- 3

5. MANUFACTURER FUNCTIONS 5- 1 to 5- 4

5.1 Stroke end......................................................................................................................................... 5- 1

5.2 One-touch tuning .............................................................................................................................. 5- 2
5.3 Machine diagnosis function .............................................................................................................. 5- 4
5.4 Servo amplifier life diagnosis function .............................................................................................. 5- 4

6. MODBUS REGISTERS 6- 1 to 6-44

6.1 List of registers.................................................................................................................................. 6- 1

6.2 Object library details (objects in the 1000s)..................................................................................... 6-17
6.2.1 Writing command to EEP-ROM (1010h) ................................................................................... 6-17
6.2.2 Restore default EEP-ROM parameters (1011h) ....................................................................... 6-18
6.3 Object library details (objects in the 2000s)..................................................................................... 6-19
6.3.1 External input pin status (2C10h) .............................................................................................. 6-19
6.3.2 External output pin status (2C11h) ........................................................................................... 6-20
6.3.3 Input device status (2C12h) ...................................................................................................... 6-20
6.3.4 Control input (2D01h to 2D0Ah) ................................................................................................ 6-22
6.3.5 Control output (2D11h to 2D1Ah) ............................................................................................. 6-27
6.3.6 SDO Abort Code (2A60h) ......................................................................................................... 6-33
6.3.7 Access log 1 (2A64h) ................................................................................................................ 6-34
6.3.8 Access log 2 (2A65h) ................................................................................................................ 6-34
6.4 Object library details (objects in the 6000s)..................................................................................... 6-35

1
6.4.1 Control status (6041h)............................................................................................................... 6-35
6.4.2 Quick stop option code (605Ah)................................................................................................ 6-36
6.4.3 Halt option code (605Dh) .......................................................................................................... 6-37
6.4.4 Control mode display (6061h) ................................................................................................... 6-38
6.4.5 Software limit (607Dh)............................................................................................................... 6-38
6.4.6 Polarity (607Eh) ........................................................................................................................ 6-39
6.4.7 Degree (60F2h) ......................................................................................................................... 6-39
6.4.8 Touch probe (60B8h to 60BBh) ................................................................................................ 6-41
6.4.9 Touch probe function setting (60B8h) ....................................................................................... 6-42
6.4.10 Touch probe function status (60B9h) ...................................................................................... 6-43
6.4.11 Rising edge position of touch probe (60BAh) ......................................................................... 6-43
6.4.12 Falling edge position of touch probe (60BBh)......................................................................... 6-43
6.4.13 Supported control mode (6502h) ............................................................................................ 6-44

2
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Summary of Modbus-TCP

The Modbus protocol, developed for programmable controllers by Modicon Inc., has evolved into the
Modbus/TCP protocol for use over TCP/IP.
The Modbus master acts as a TCP client, and the Modbus slave acts as a TCP server for client-server
communication. Using the functions in the message frames enables to read or write data from/to
parameters, write input commands, and check operation status of servo amplifiers.
For MR-JE-_C servo amplifier, Modbus registers are assigned like the address assignment of CiA 402 drive
profile.
A Modbus-compatible controller, the client, can communicate with the MR-JE-_C servo amplifiers that are
servers by accessing assigned holding registers.

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 6.4.8
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.

1- 1
1. FUNCTIONS AND CONFIGURATION

Detailed
Function Description
explanation
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.
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 5.2
Gain adjustment is performed just by one click on MR Configurator2. "MR-JE-_C
One-touch tuning Servo Amplifier
This function is available with MR Configurator2 or via a network.
Instruction
Manual"

1- 2
1. FUNCTIONS AND CONFIGURATION

Detailed
Function Description
explanation
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".
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
between a client (master) and servers (slaves). The dedicated message frames have
Modbus/TCP functions for reading and writing data, you can set the parameters of servo amplifiers Chapter 2
and monitor it by using this function. In the profile mode, driving the servo motor is
also possible.
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 "MR-JE-_C
Basic parameters of servo amplifiers can be set (read/written) and monitored. In the profile Servo Amplifier
mode, driving the servo motor is also possible. Instruction
SLMP (SeamLess Message Protocol) is a protocol to access SLMP-compatible Manual (CC-
devices from external devices (such as a personal computer and an HMI) or Link IE Field
SLMP programmable controller CPU via Ethernet. The parameters of servo amplifiers can Network
be set (read/written) and monitored. In the profile mode, driving the servo motor is Basic)"
also possible.
Register the range of IP addresses in advance to limit the network devices allowed Chapter 4
IP address filtering function
to be connected to the servo amplifier. "MR-JE-_C
Servo Amplifier
In Ethernet communication (CC-Link IE Field Network Basic, SLMP, or Instruction
Modbus/TCP), to limit the network devices to which the operation right is given, set Manual (CC-
Operation specification IP
the range of the device IP addresses. Link IE Field
address function
Monitoring/parameter reading can be performed with the network devices having no Network
operation right. Basic)"
"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 6.4.5
Enables the same function with the limit switch by setting parameters.

1- 3
1. FUNCTIONS AND CONFIGURATION

1.3 Communication specifications

The following table lists the Modbus/TCP communication specifications.

Function Description
Communication protocol Modbus/TCP protocol
Conformed standard OPEN Modbus/TCP SPECIFICATION
Port No. No. 502
IPv4 range: 0.0.0.0 to 255.255.255.255
IP address Use the same network address for both a client and servers.
Default value: 192.168.3.0
Subnet mask Default value (recommended): 255.255.255.0
Message format Refer to section 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 speed 100 Mbps
Transmission speed between stations Max. 100 m
Waiting time setting None
Maximum number of connections 3
Number of request messages that are
Server function 1
receivable simultaneously

1- 4
2. MODBUS/TCP PROTOCOL

2. MODBUS/TCP PROTOCOL

POINT
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.

2.1 Summary

In Modbus/TCP communication, a command that a client (controller) sends to servers (servo amplifiers) is
called "Query Message", and a command that the servers return to the client is called "Response Message".
When a servo amplifier receives a Query Message, it returns a Response Message to the client after the
servo amplifier response time.
In Modbus/TCP communication, as in the case of TCP/IP, make sure to establish the connection before
sending and receiving commands. Check that the connection has been established, and then send a Query
Message.

Client (controller) Query Message Query Message

Server (servo amplifier) Response Message Response Message

Servo amplifier response time (Note)

Note. The servo amplifier response time differs depending on the command to send.

2.2 Modbus/TCP Communication Message Frame

Query Messages sent from the client (controller) and Response Messages sent from the servers (servo
amplifiers) are both sent in the following message frame format. Messages are sent by using TCP/IP.
Unit Identifier
Function
Data

Query Message
Client Server
(controller) (servo amplifier)
Response Message

Unit Identifier
Function
Data

A message frame is composed of six message fields.

When a server (servo amplifier) received a Query Message sent from the client (controller) without errors,
the function code in the Query Message is copied into the Function in a Response Message. When a server
(servo amplifier) received a Query Message with an error, the server returns a value obtained by adding
"80h" to the function code value in the Query Message to the client. Judge the occurrence of an error by
checking the function code in the Response Message on the controller side.

2- 1
2. MODBUS/TCP PROTOCOL

Message frame
Transaction Protocol Unit
Length Field Function Data
Identifier Identifier Identifier
2 × 8 bits 2 × 8 bits 2 × 8 bits 8 bits 8 bits n × 8 bits

Communication
Message field Size Description
path
Transaction Identifier 2 × 8 bits Client → Server This is the data to be added by the client for transaction
(Transaction identifier) management. Set a value available for transaction
management.
Server → Client Transaction Identifier received from the client (controller) is
copied and returned.
Protocol Identifier 2 × 8 bits Client → Server The value is fixed to "0".
(Protocol identifier) If the server receives a value other than "0", the received value
is discarded and no value is returned.
Server → Client The value "0" is returned.
Length Field (Message length) 2 × 8 bits Client → Server Set the byte length from Unit Identifier to Data.
Server → Client The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Client → Server The value is fixed to "255".
If the server receives a value other than "255", the received
value is discarded and no value is returned.
Server → Client Unit Identifier received from the client (controller) is copied and
returned.
Function 8 bits Client → Server Set a function code to request to the server.
(Function field) Server → Client Send the function code requested by the client.
When a communication error has occurred, send a value
obtained by adding "80h" to the function code requested by the
client.
Data (Data field) n × 8 bits Client → Server The format changes depending on the function code selected.
Server → Client Refer to section 2.3 for details.

2- 2
2. MODBUS/TCP PROTOCOL

2.3 Function Codes

2.3.1 List of function codes

The MR-JE-_C servo amplifier supports the following function codes.

Code Function name Description
03h Read Holding Registers Reading data in holding registers
The data in the registered holding registers can be read from the client.
08h Diagnostics Function diagnostics
When this function code is sent from the client to a server, the server returns the
received data to the client without any changes.
Communication checks can be performed.
10h Preset Multiple Registers Writing data in multiple holding registers
Consecutive multiple data sets can be written in the registered holding registers from
the client.

2.3.2 Read Holding Registers (Reading data in holding registers: 03h)

Data in consecutive registers is read for the specified number of data points starting from the specified
register address.

(1) Message frame

Query Message
Transaction Protocol Unit Starting Address No. of Points
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 03h 8 bits 8 bits 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Set any value.
(Transaction identifier)
Protocol Identifier 16 bits Set "0000h".
(Protocol identifier)
Length Field (Message length) 16 bits Set "0006h".
Unit Identifier (Unit identifier) 8 bits Set "FFh".
Function (Function field) 8 bits Set "03h".
Starting Address (Start address) 16 bits Set a start address of the holding registers to read.
(Note 1)
No. of Points 16 bits Set the number of points of data to read starting from the start address of the
(Number of read points) holding registers from which data is read.
Set the number of read points described in the list of holding registers.
To read the data in continuous registers, set a value obtained by adding the
number of read points of the target registers to this number.

2- 3
2. MODBUS/TCP PROTOCOL

Response Message
Transaction Protocol Unit Data
Length Field Function Byte Count
Identifier Identifier Identifier H L to H L
16 bits 0000h 16 bits FFh 03h 8 bits 8 bits 8 bits to 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier 16 bits The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) 8 bits When the message was received without errors, "03h" is returned.
Byte Count (Byte count) 16 bits The Data frame size (in units of bytes) is returned.
A value obtained by multiplying the value set for No. of Points in the Query
Message by 2 is returned.
Data (Read data) (Note 2) 16 bits × n Data starting from the start address specified in the Query Message is returned.
Data is read in order of H (higher bits) and L (lower bits).
Data is read in order starting from the start address.

Note 1. Registers can be classified into two types: registers that can be continuously accessed and particular registers that cannot be
continuously accessed.
To read particular registers, read only the target registers.
For the details on whether the target registers can be continuously accessed or not, refer to chapter 6.
2. Higher 8 bits of 1-byte data are set to "00h" when this data is returned.
To use the signed 1-byte data as 2-byte data, perform sign extension on the client (controller) side.

(2) Usage example

The following shows a setting example of when Modbus registers 2B05h (Command pulse frequency) to
2B07h (Analog torque limit voltage) are read.
No. of Points
Continuous Register value
Index Name Data type Read/write (Number of
read/write (Read data)
read points)
2B05h Command pulse frequency 4 bytes Read 2 12345678h
(Command pulse frequency)
2B06h Analog speed command voltage 2 bytes Read 1 1000h
(Analog speed command voltage)
Analog speed limit voltage
(Analog speed limit voltage)
2B07h Analog torque limit voltage 2 bytes Read 1 2000h
(Analog torque limit voltage)
Analog torque command voltage
(Analog torque command voltage)

2- 4
2. MODBUS/TCP PROTOCOL

Query Message
Transaction Protocol Unit Starting Address No. of Points
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 03h 2Bh 05h 00h 04h

Set the following values to each Query Message.

Message field Description
Transaction Identifier Set any value.
(Transaction identifier)
Protocol Identifier Set "0000h".
(Protocol identifier)
Length Field (Message length) Set "0006h".
Unit Identifier (Unit identifier) Set "FFh".
Function (Function field) Set "03h".
Starting Address (Start address) Set "2B05h", the start address to read.
No. of Points Set "04h", because the total number of read points from Modbus registers 2B05h to 2B07h is 4.
(Number of read points)

Response Message
Transaction Protocol Unit Data
Length Field Function Byte Count
Identifier Identifier Identifier H L H L H L H L
16 bits 0000h 000Bh FFh 03h 08h 56h 78h 12h 34h 10h 00h 20h 00h

The following shows the information in each Response Message.

Message field Description
Transaction Identifier Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) When the message was received without errors, "03h" is returned.
Byte Count (Byte count) The value "08h" is returned. This means that data of 8 frames is returned.
Data (Read data) Data starting from the start address is returned.
Lower-bit value of the register 2B05h: "5678h"
Higher-bit value of the register 2B05h: "1234h"
Value of the register 2B06h: "1000h"
Value of the register 2B07h: "2000h"

2- 5
2. MODBUS/TCP PROTOCOL

2.3.3 Diagnostics (Function diagnostics: 08h)

Use this register when performing the communication check from the client (controller). When a server
(servo amplifier) receives a Query Message, it sends the received data as a Response Message without any
changes to the client (controller).

(1) Message frame

Query Message
Transaction Protocol Unit Sub Function Data
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 08h 00h 00h 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Set any value.
(Transaction identifier)
Protocol Identifier 16 bits Set "0000h".
(Protocol identifier)
Length Field (Message length) 16 bits Set "0006h".
Unit Identifier (Unit identifier) 8 bits Set "FFh".
Function (Function field) 8 bits Set "08h".
Sub Function (Sub function) 16 bits Set "0000h".
When a value other than "0000h" is set, a communication error occurs.
Data (Data) 16 bits Set 2-byte length data.

Response Message
Transaction Protocol Unit Sub Function Data
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 08h 00h 00h 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier 16 bits The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) 8 bits When the message was received without errors, "08h" is returned.
Sub Function (Sub function) 16 bits The value "0000h" is returned.
Data (Data) 16 bits The data set in the Query Message is returned.

2- 6
2. MODBUS/TCP PROTOCOL

(2) Usage example

The following shows a setting example of when the diagnosis function is used.

Query Message
Transaction Protocol Unit Sub Function Data
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 08h 00h 00h 12h 34h

Set the following values to each Query Message.

Message field Description
Transaction Identifier Set any value.
(Transaction identifier)
Protocol Identifier Set "0000h".
(Protocol identifier)
Length Field (Message length) Set "0006h".
Unit Identifier (Unit identifier) Set "FFh".
Function (Function field) Set "08h".
Sub Function (Sub function) Set "0000h".
Data (Data) When setting 1234h, set values as follows:
H: "12h"
L: "34h"

Response Message
Transaction Protocol Unit Sub Function Data
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 08h 00h 00h 12h 34h

The following shows the information in each Response Message.

Message field Description
Transaction Identifier Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) When the message was received without errors, "08h" is returned.
Sub Function (Sub function) The value "0000h" is returned.
Data (Data) The value "1234h" set in the Query Message is returned.
H: "12h"
L: "34h"

2- 7
2. MODBUS/TCP PROTOCOL

2.3.4 Preset Multiple Registers (Writing data in multiple holding registers: 10h)

Data is written to consecutive holding registers for the specified number of data points starting from the
specified register address.

(1) Message frame

Query Message
Starting No. of
Transaction Protocol Unit Byte Data
Length Field Function Address Registers
Identifier Identifier Identifier Count
H L H L H L to H L
16 bits 0000h 16 bits FFh 10h 8 8 8 8 8 8 8 8 8
to
Bit Bit Bit Bit Bit Bit Bit Bit Bit

Message field Size Description

Transaction Identifier 16 bits Set any value.
(Transaction identifier)
Protocol Identifier 16 bits Set "0000h".
(Protocol identifier)
Length Field (Message length) 16 bits Set the byte length from Unit Identifier to Data.
Unit Identifier (Unit identifier) 8 bits Set "FFh".
Function (Function field) 8 bits Set "10h".
Starting Address (Start address) 16 bits Set the start address of the holding registers to which data is written.
(Note)
No. of Registers 16 bits Set the number of points of data to write starting from the start address of the
(Number of registers to write) holding registers to which data is written.
Set the number of write points described in the list of holding registers.
To write data in continuous registers, set a value obtained by adding the number
of write points of the target registers to this number.
Byte Count (Byte count) 16 bits Set the size of the data to write.
Data (Writing data) (Note) 16 bits × n Set the data to write.

Response Message
Transaction Protocol Unit Starting Address No. of Points
Length Field Function
Identifier Identifier Identifier H L H L
16 bits 0000h 0006h FFh 10h 8 bits 8 bits 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier 16 bits The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) 8 bits When the message was received without errors, "10h" is returned.
Starting Address (Start address) 16 bits The start address of the holding registers to which the data was written is
returned.
No. of Registers 16 bits The number of points of written data starting from the start address of the holding
(Number of registers to write) registers to which the data was written is returned.

Note. Registers can be classified into two types: registers to which data can be continuously written and particular registers to which
data cannot be continuously written.
To write data in particular registers, write data in the target registers one by one.
For the details on whether the target registers can be continuously accessed or not, refer to chapter 6.

2- 8
2. MODBUS/TCP PROTOCOL

(2) Usage example

The following shows a setting example for writing "0100h" in the Modbus register 2102h ([Pr. PC02]).
No. of
Registers
Continuous
Index Name Data type Read/write (Number of Setting value
read/write
registers to
write)
2102h PC02 4 bytes Read/write 2 00000100h

Query Message
Starting No. of
Transaction Protocol Unit Byte Data
Length Field Function Address Registers
Identifier Identifier Identifier Count
H L H L H L H L
16 bits 0000h 000Ah FFh 10h 21h 02h 00h 02h 04h 01h 00h 00h 00h

Set the following values to each Query Message.

Message field Description
Transaction Identifier Set any value.
(Transaction identifier)
Protocol Identifier Set "0000h".
(Protocol identifier)
Length Field (Message length) Set the byte length from Unit Identifier to Data.
Unit Identifier (Unit identifier) Set "FFh".
Function (Function field) Set "10h".
Starting Address (Start address) Set "2102h", the start address of the registers to which data is written.
No. of Registers Set "02h", because the total number of write points of the Modbus register 2102h is 2.
(Number of registers to write)
Byte Count (Byte count) Set "04h". This means that data of 4 frames is sent.
Data (Writing data) Set values in order starting from the start address.
Lower-bit value of the register 2102h: "0100h"
Higher-bit value of the register 2102h: "0000h"

Response Message
Transaction Protocol Unit Starting Address No. of Points
Length Field Function
Identifier Identifier Identifier H L H L
2 × 8 bits 0000h 0006h FFh 10h 21h 02h 00h 02h

The following shows the information in each Response Message.

Message field Size Description
Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier 16 bits The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) 8 bits When the message was received without errors, "10h" is returned.
Starting Address (Start address) 16 bits The value "2102h", the start address of the holding registers to which the data
was written is returned.
H: "21h"
L: "02h"
No. of Registers 16 bits The number of registers to write "02h" is returned.
(Number of registers to write)

2- 9
2. MODBUS/TCP PROTOCOL

2.3.5 Processing at occurrence of an error

In Modbus/TCP communication, when the Query Message sent from the client (controller) includes an
incorrect value, the server (servo amplifier) returns an exception response to the client (controller).
If an error is detected in the TCP/IP layer, the server (servo amplifier) returns no message to the client
(controller).
When an exception response occurs, a value obtained by adding "80h" to the function code sent in the
Query Message is returned with an exception code.
However, no exception response occurs in the following cases.
Function code "03h" (Read Holding Registers)
When data can be read from even one of consecutive registers, no exception response occurs. In this
case, "0" is returned to the register data that cannot be read.
Function code "10h" (Preset Multiple Registers)
When data can be written into even one of consecutive registers, no exception response occurs.

Response Message
Transaction Protocol Unit Exception
Length Field Function
Identifier Identifier Identifier Code
16 bits 0000h 0003h FFh 8 bits 8 bits

Message field Size Description

Transaction Identifier 16 bits Transaction Identifier received from the client (controller) is copied and returned.
(Transaction identifier)
Protocol Identifier 16 bits The value "0000h" is returned.
(Protocol identifier)
Length Field (Message length) 16 bits The byte length from Unit Identifier to Data is returned.
Unit Identifier (Unit identifier) 8 bits Unit Identifier received from the client (controller) is copied and returned.
Function (Function field) 8 bits A value obtained by adding "80h" to the function code of the Query Message is
returned.
When Function is "03h": "83h"
When Function is "08h": "88h"
When Function is "10h": "90h"
When an unsupported Function (example: "01h") is used, "Function + 80h"
(example: "81h") is returned.
Exception Code (Exception code) 8 bits An exception code is set. For details of exception codes, refer to the following
"List of exception codes".

List of exception codes

Code Error name Description
01h ILLEGAL FUNCTION The Query Message sent from the client set a function code that the server does not
(Illegal function code) support.
02h ILLEGAL DATA ADDRESS The Query Message sent from the client set a register address that the server does not
(Illegal address) support. (Ex: No register address is set, or reading or writing data from/to registers is
not available.)
03h ILLEGAL DATA VALUE The Query Message sent from the client set data that the register cannot handle. (Ex: A
(Illegal data) value out of the setting range is set, or "0" is set to No. of Registers.)

2 - 10
3. STARTUP

3. STARTUP

POINT
When using Modbus/TCP communication, set [Pr. PN10 Ethernet
communication time-out selection] before driving the servo motor. The servo
motor may continue to operate after the communication is disabled due to a
communication shut-off or other causes.
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
Modbus/TCP 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.

3.1 Modbus/TCP initial communication setting

Make the initial communication settings 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 either of the
following (1) or (2). (Refer to section 3.2.)
(1) Identification number setting rotary switch (SW1/SW2)
(2) Parameter ([Pr. PN11] to [Pr. PN14])

Subnet mask setting [Subnet mask setting]

The initial value is 255.255.255.0. Set it with the parameters ([Pr. PN15] to [Pr. PN18]).
(Refer to chapter 4.)

Default gateway setting [Default gateway setting]

The initial value is 192.168.3.1. Set it with the parameters ([Pr. PN19] to [Pr. PN22]).
(Refer to chapter 4.)

Server (servo amplifier) [Server (servo amplifier) power cycling]

power cycling The settings of the IP address, subnet mask, and default gateway are reflected.

[Modbus/TCP communication start]

Communication

Client (controller)
Modbus/TCP communication start Start Modbus/TCP communication of the client (controller).
start

3- 1
3. STARTUP

3.2 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 for Modbus/TCP communication is between 0.0.0.0 and
255.255.255.255. Set the IP address within the range.

Set the IP address with the identification number setting rotary switch (SW1/SW2) on the display of the servo
amplifier or MR Configurator2.
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 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.
1st octet The setting value of [Pr. PN11] is used.
2nd octet The setting value of [Pr. PN12] 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.

3- 2
4. PARAMETERS

4. 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.

4.1 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].
In Modbus/TCP communication, the following parameter cannot be used.
[Pr. PN02 Communication error detection time]

Initial
No. Symbol Name Unit
value
PN01 For manufacturer setting 0h
PN02 CERT Communication error detection time 1000 ms [ms]
PN03 For manufacturer setting 0000h
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
PN12 *IPAD2 IP address setting 2 168
PN13 *IPAD3 IP address setting 3 3
PN14 *IPAD4 IP address setting 4 0
PN15 *SNMK1 Subnet mask setting 1 255
PN16 *SNMK2 Subnet mask setting 2 255
PN17 *SNMK3 Subnet mask setting 3 255
PN18 *SNMK4 Subnet mask setting 4 0
PN19 *DGW1 Default gateway setting 1 192
PN20 *DGW2 Default gateway setting 2 168
PN21 *DGW3 Default gateway setting 3 3
PN22 *DGW4 Default gateway setting 4 1
PN23 *KAA KeepAlive time 3600 [s]
PN24 *IPAF1 IP address filter 1 0
PN25 *IPAF2 IP address filter 2 0
PN26 *IPAF3 IP address filter 3 0

4- 1
4. PARAMETERS

Initial
No. Symbol Name Unit
value
PN27 *IPAF4 IP address filter 4 0
PN28 *IPFR2 IP address filter 2 range setting 256
PN29 *IPFR3 IP address filter 3 range setting 256
PN30 *IPFR4 IP address filter 4 range setting 256
PN31 *IPOA1 Operation specification IP address 1 0
PN32 *IPOA2 Operation specification IP address 2 0
PN33 *IPOA3 Operation specification IP address 3 0
PN34 *IPOA4 Operation specification IP address 4 0
PN35 *IPOR3 Operation specification IP address 3 range specification 256
PN36 *IPOR4 Operation specification IP address 4 range specification 256
PN37 For manufacturer setting 0000h
PN38 0000h
PN39 0000h
PN40 0000h
PN41 0000h
PN42 0000h
PN43 0000h
PN44 0000h
PN45 0000h
PN46 0000h
PN47 0000h
PN48 0000h

4- 2
4. PARAMETERS

4.2 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]
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 4.1 Relation between IP address setting and identification number setting rotary switch
Identification number
setting rotary switch IP address
(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.
1st octet The setting value of [Pr. PN11] is used.
2nd octet The setting value of [Pr. PN12] 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

*IPAD2 Set the IP address assigned by the network administrator.
IP address When SLMP command (IPAdressSet) is received, the setting of the second octet will
setting 2 be 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

PN13 Set the 3rd octet of the IP address in decimal. 3
*IPAD3 Set the IP address assigned by the network administrator.
IP address When SLMP command (IPAdressSet) is received, the setting of the third octet will
setting 3 be 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

4- 3
4. PARAMETERS

Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN14 Set the 4th octet of the IP address in decimal. 0
*IPAD4 Set the IP address assigned by the network administrator.
IP address When SLMP command (IPAdressSet) is received, the setting of the fourth octet will
setting 4 be 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

PN15 Set the 1st octet of the subnet mask in decimal. 255
*SNMK1 Set the subnet mask assigned by the network administrator.
Subnet mask
setting 1 Setting range: 0 to 255
PN16 Set the 2nd octet of the subnet mask in decimal. 255
*SNMK2 Set the subnet mask assigned by the network administrator.
Subnet mask
setting 2 Setting range: 0 to 255
PN17 Set the 3rd octet of the subnet mask in decimal. 255
*SNMK3 Set the subnet mask assigned by the network administrator.
Subnet mask
setting 3 Setting range: 0 to 255
PN18 Set the 4th octet of the subnet mask in decimal. 0
*SNMK4 Set the subnet mask assigned by the network administrator.
Subnet mask
setting 4 Setting range: 0 to 255
PN19 Set the 1st octet of the default gateway in decimal. 192
*DGW1 Set the default gateway assigned by the network administrator.
Default
gateway
setting 1 Setting range: 0 to 255
PN20 Set the 2nd octet of the default gateway in decimal. 168
*DGW2 Set the default gateway assigned by the network administrator.
Default
gateway
setting 2 Setting range: 0 to 255
PN21 Set the 3rd octet of the default gateway in decimal. 3
*DGW3 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 3
Setting range: 0 to 255
PN22 Set the 4th octet of the default gateway in decimal. 1
*DGW4 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 4
Setting range: 0 to 255
PN23 Set the time interval between the transmissions of the alive check message (Keep 3600
*KAA Alive ACK) for TCP communication. [s]
KeepAlive If no response to the alive check message is received, the connection is forcibly
time closed after the time (setting value × 8 times) has elapsed. In the initial setting, the
connection is closed after 8 hours (3600 [s] × 8 times = 28800 [s]) have elapsed.

Setting range: 1 to 7200

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
Setting range: 0 to 255

4- 4
4. PARAMETERS

Initial
No./symbol/ Setting
Function value
name digit
[unit]
PN25 Set the 2nd octet of the IP address of the network device allowed to be connected in 0
*IPAF2 decimal.
IP address When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.
filter 2
Setting range: 0 to 255
PN26 Set the 3rd octet of the IP address of the network device allowed to be connected in 0
*IPAF3 decimal.
IP address When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.
filter 3
Setting range: 0 to 255
PN27 Set the 4th octet of the IP address of the network device allowed to be connected in 0
*IPAF4 decimal.
IP address When [Pr. PN24] to [Pr. PN27] are all set to "0", the function is disabled.
filter 4
Setting range: 0 to 255
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.

Setting range: 0 to 256

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
IP address connected is between [Pr. PN26] and [Pr. PN29].
filter 3 range Set a value in decimal.
specification Setting "256" will disable the function.

Setting range: 0 to 256

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
IP address connected is between [Pr. PN27] and [Pr. PN30].
filter 4 range Set a value in decimal.
specification Setting "256" will disable the function.

Setting range: 0 to 256

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 be
imported only if the IP address of the client (external device) matches with the
operation specification IP address. If they are mismatched, the data is discarded.
1) Modbus/TCP function code 10h
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.

Setting range: 0 to 255

4- 5
4. 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
IP address 2 When the function is enabled, the servo amplifier allows the following data 1) to be
imported only if the IP address of the client (external device) matches with the
operation specification IP address. If they are mismatched, the data is discarded.
1) Modbus/TCP function code 10h
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.

Setting range: 0 to 255

PN33 Set the 3rd octet of the IP address of the network device allowed to be connected in 0
*IPOA3 decimal.
Operation When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.
specification
IP address 3 When the function is enabled, the servo amplifier allows the following data 1) to be
imported only if the IP address of the client (external device) matches with the
operation specification IP address. If they are mismatched, the data is discarded.
1) Modbus/TCP function code 10h
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.

Setting range: 0 to 255

PN34 Set the 4th octet of the IP address of the network device allowed to be connected in 0
*IPOA4 decimal.
Operation When [Pr. PN31] to [Pr. PN34] are all set to "0", the function is disabled.
specification
IP address 4 When the function is enabled, the servo amplifier allows the following data 1) to be
imported only if the IP address of the client (external device) matches with the
operation specification IP address. If they are mismatched, the data is discarded.
1) Modbus/TCP function code 10h
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.

Setting range: 0 to 255

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
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

4- 6
5. MANUFACTURER FUNCTIONS

5. MANUFACTURER FUNCTIONS

5.1 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 pulses
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).

5- 1
5. MANUFACTURER FUNCTIONS

5.2 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 client (controller).

(1) Related resister

Data Initial
Address Read/write Name Description
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 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 Reading One-touch tuning status 1 bytes 0
value changes to 100% at the completion.
Unit: %
Writing "1EA5h" stops one-touch tuning.
Writing a value other than "1EA5h" sets
2D52h Writing One-touch tuning Stop 2 bytes 0
0609 0030h Value range of parameter
exceeded in SDO Abort Code.
The parameter changed in one-touch
tuning can be returned to the value before
the change.
0000h: Restores the initial value.
2D53h 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 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

5- 2
5. MANUFACTURER FUNCTIONS

(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

5- 3
5. MANUFACTURER FUNCTIONS

5.3 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 resisters.
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

Data Initial
Address Read/write Name Description
type value
2C20h Reading Machine diagnostic status 2 bytes Refer to section 6.1.
Static friction torque at Static friction at forward rotation torque is
2C21h Reading 2 bytes
forward rotation displayed in increments of 0.1%.
Dynamic friction torque at Kinetic friction at forward rotation torque at
2C22h Reading forward rotation 2 bytes the rated speed is displayed in increments
(at rated speed) of 0.1%.
Static friction torque at Static friction at reverse rotation torque is
2C23h Reading 2 bytes
reverse rotation displayed in increments of 0.1%.
Dynamic friction torque at Kinetic friction at reverse rotation torque at
2C24h Reading reverse rotation 2 bytes the rated speed is displayed in increments
(at rated speed) of 0.1%.
Oscillation frequency during Vibration frequency during stop/servo-lock
2C25h Reading 2 bytes
motor stop is displayed in increments of 1 Hz.
Vibration level during motor Vibration level during stop/servo-lock is
2C26h Reading 2 bytes
stop displayed in increments of 0.1%.
Oscillation frequency during Vibration frequency during operation is
2C27h Reading 2 bytes
motor operating displayed in increments of 1 Hz.
Vibration level during motor Vibration level during operation is
2C28h Reading 2 bytes
operating displayed in increments of 0.1%.

5.4 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 resisters.
Data Initial
Address Read/write Name Description
type value
The cumulative energization time of the
2C18h Reading Power ON cumulative time 4 bytes
servo amplifier is returned.
The number of on/off times of the inrush
2C19h Reading Inrush relay ON/OFF number 4 bytes
relay of the servo amplifier is returned.

5- 4
6. MODBUS REGISTERS

6. MODBUS REGISTERS

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 client (controller) and the servers (servo amplifiers).

6.1 List of registers

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
1000 Supported profile information (Device Type) 4 Reading 00020192h 00020192h 2 Impossible
The servo drive defined with the CiA 402 bytes (fixed)
profile is indicated.
1001 Alarm information (Error Register) 1 Reading 00h 1 Impossible
The error occurrence is returned. bytes to
Bit 0: Turns on when an alarm has occurred. 01h
Bit 1 to Bit 7: Unused
1010 Writing command to EEP-ROM (Store 1 Reading 1 01h 3 Impossible
parameters) bytes
The number of entries is returned.
Saving all parameters (Save all parameters) 4 Read/ 00000001h
[Writing] bytes write
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 Restoring default EEP-ROM parameters 1 Reading 1 01h (fixed) 3 Impossible
(Restore default parameters) bytes
The number of entries is returned.
Restoring all default parameters (Restore all 4 Read/ 00000001h
default parameters) bytes write
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 Device information (Identity Object) 1 Reading 4 04h (fixed) 9 Impossible
The number of entries is returned. bytes
Vendor ID (Vendor ID) 4 Reading 00000002h 00000002h
The vendor ID of a servo amplifier is returned. bytes (fixed)
Product number (Product Code) 4 Reading 00001003h 00001003h
The servo amplifier serial number is returned. bytes (fixed)
Revision number (Revision Number) 4 Reading 00000000h
The revision number of a servo amplifier is bytes to
returned. FFFFFFFFh
Serial number (Serial Number) 4 Reading 00000000h 00000000h
The serial number of the network module is bytes to
returned. FFFFFFFFh
2001 PA01 to PA32 4 Read/ PA01 2 Possible
to The values of the basic setting parameters bytes write to
2021 ([Pr. PA_ _ ]) can be obtained and set. PA32
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".

6- 1
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2081 PB01 to PB64 4 Read/ PB01 2 Possible
to The values of the gain/filter setting parameters bytes write to
20C0 ([Pr. PB_ _ ]) can be obtained and set. PB64
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2101 PC01 to PC80 4 Read/ PC01 2 Possible
to The values of the extension setting parameters bytes write to
2150 ([Pr. PC_ _ ]) can be obtained and set. PC80
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2181 PD01 to PD48 4 Read/ PD01 2 Possible
to The values of the I/O setting parameters ([Pr. bytes write to
21B0 PD_ _ ]) can be obtained and set. PD48
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2201 PE01 to PE64 4 Read/ PE01 2 Possible
to The values of the extension setting 2 bytes write to
2240 parameters ([Pr. PE_ _ ]) can be obtained and PE64
set.
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2281 PF01 to PF48 4 Read/ PF01 2 Possible
to The values of the extension setting 3 bytes write to
22B0 parameters ([Pr. PF_ _ ]) can be obtained and PF48
set.
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual".
2481 PT01 to PT80 4 Read/ PT01 2 Possible
to The values of the positioning control bytes write to
24D0 parameters ([Pr. PT_ _ ]) can be obtained and PT80
set.
For details, refer to "MR-JE-_C Servo Amplifier
Instruction Manual (Profile Mode)."
2581 PN01 to PN48 4 Read/ PN01 2 Possible
to The values of the network setting parameters bytes write to
25B0 ([Pr. PN_ _ ]) can be obtained and set. PN48
Refer to chapter 5 for details.
2A00 Alarm history 0 to Alarm history 15 (Alarm 1 Read 3 03h (fixed) 6 Impossible
to history newest) bytes
2A0F The number of entries in the latest alarm of the
alarm history is returned.
Alarm No. (Alarm No.) 4 Reading 0 00000000h
The number of the alarm that has occurred is bytes 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.
Alarm occurrence time (Alarm time (Hour)) 4 Reading 0 00000000h hour
Alarm occurrence time is returned. bytes to
When no history exists, "0" is returned. FFFFFFFFh
Alarm 2 No. (Alarm2 No.) 2 Reading 0 0000h to
The number of the alarm that has occurred is bytes FFFFh
returned.
The description is as follows.
Bit 0 to Bit 7: Alarm detail number
Bit 8 to Bit 15: Alarm number
When no history exists, "0" is returned.
2A40 Alarm history clear (Clear alarm history) 2 Writing 1 Impossible
Writing "1EA5h" clears the alarm history. bytes
2A41 Current alarm (Current alarm) 4 Reading 00000000h 2 Impossible
The number of the current alarm is returned. bytes to
When no alarm has occurred, "00000000h" is FFFFFFFFh
returned.
Bit 0 to Bit 15: Alarm detail number
Bit 16 to Bit 31: Alarm number

6- 2
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2A42 Current alarm 2 (Current alarm 2) 2 Reading 0000h to 1 Impossible
The number of the current alarm is returned. bytes FFFFh
When no alarm has occurred, "0000h" is
returned.
Bit 0 to Bit 7: Alarm detail number
Bit 8 to Bit 15: Alarm number
2A44 Number of parameter errors (Parameter error 2 Reading 0000h to 1 Impossible
number) bytes 01F4h
When [AL. 37 Parameter error] has occurred, (500)
the number of the parameters which cause the
error is returned. Refer to Parameter error list
(2A45h) for the number of each parameter
which causes the error.
2A45 Parameter error No. (Parameter error list) 1 Reading 20h 20h (32) 1+ Impossible
When [AL. 37 Parameter error] has occurred, bytes (32) (fixed) number
the number of entries of the parameter which of read
causes the error is returned. points
Parameter error No. 1 to 32 (Parameter error 2 Reading 0 0000h to
list 1 to 32) bytes FFFFh
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
07: Parameter for manufacturer setting
08: Parameter for manufacturer setting
09: Parameter for manufacturer setting
0A: Parameter for manufacturer setting
0B: Parameter for manufacturer setting
0C: [Pr. PT _ _ ]
0E: [Pr. PN _ _ ]
2A46 Alarm reset (Reset alarm) 2 Writing 0 0000h to 1 Impossible
Writing the value "1EA5h" resets an alarm. bytes FFFFh
Any value other than "1EA5h" is ignored.
2A60 SDO abort code (SDO abort code) 4 Read 00000000h 2 Impossible
The latest SDO Abort Code is returned. bytes to
FFFFFFFFh
2A64 Access log 1 (Access log 1) 4 Read 00000000h 2 Impossible
The latest address that was accessed bytes to
successfully in the Modbus communication is FFFFFFFFh
returned.
Bit 0 to Bit15: Address
Bit 16 to Bit 31: For manufacturer setting
2A65 Access log 2 (Access log 2) 2 Read 0000h 1 Impossible
The numbers of the addresses that were bytes to
accessed successfully in the Modbus FFFFh
communication before a disconnection are
returned. In addition, when an address
containing multiple elements is accessed, the
number of the elements is returned.
2B01 Cumulative feedback pulses (Cumulative 4 Read/ 80000000h pulse 2 Possible
feedback pulses) bytes write to
The cumulative feedback pulses are returned. 7FFFFFFFh
Writing "00001EA5h" clears the cumulative
feedback pulses.
2B02 Servo motor speed (Servo motor speed) 4 Reading 80000000h r/min 2 Possible
The servo motor speed is returned. bytes to
7FFFFFFFh
2B03 Droop pulses (Droop pulses) 4 Reading 80000000h pulse 2 Possible
The droop pulses (encoder unit) are returned. bytes to
7FFFFFFFh

6- 3
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2B04 Cumulative command pulses (Cumulative 4 Reading 80000000h pulse 2 Possible
command pulses) bytes to
The cumulative command pulses are returned. 7FFFFFFFh
2B05 Command pulse frequency (Command pulse 4 Reading 80000000h kpulse/s 2 Possible
frequency) bytes to
The command pulse frequency is returned. 7FFFFFFFh
2B06 Analog speed command voltage (Analog 2 Read 8000h to V 1 Possible
speed command voltage) bytes 7FFFh
The analog speed command voltage is
returned.
2B07 Analog torque limit voltage/Analog torque 2 Reading 8000h to V 1 Possible
command voltage (Analog torque limit bytes 7FFFh
voltage/Analog torque command voltage)
The analog torque limit voltage/analog torque
command voltage is returned.
2B08 Regenerative load ratio (Regenerative load 2 Reading 0000h to % 1 Possible
ratio) bytes FFFFh
The regenerative load ratio is returned.
2B09 Effective load ratio (Effective load ratio) 2 Reading 0000h to % 1 Possible
The effective load ratio is returned. bytes FFFFh
2B0A Peak load ratio (Peak load ratio) 2 Reading 0000h to % 1 Possible
The peak load ratio is returned. bytes FFFFh
2B0B Instantaneous torque (Instantaneous torque) 2 Reading 8000h to % 1 Possible
The instantaneous torque is returned. bytes 7FFFh
2B0C Position within one-revolution (Within one- 4 Reading 80000000h pulse 2 Possible
revolution position) bytes to
The position within one-revolution is returned. 7FFFFFFFh
2B0D Multi-revolution counter (ABS counter) 4 Reading 80000000h rev 2 Possible
Returns the multi-revolution counter. bytes to
7FFFFFFFh
2B0E Load to motor inertia ratio (Load to motor inertia 2 Reading 0000h to 0.01 1 Possible
ratio) bytes FFFFh times
The load to motor inertia ratio is returned.
2B0F Bus voltage (Bus voltage) 2 Reading 0000h to V 1 Possible
The bus voltage is returned. bytes FFFFh
2B16 F/B cumulative value of A/B-phase output 4 Read 80000000h pulse 2 Impossible
pulse (Cumulative encoder out pulses) bytes to
The feedback cumulative value of A/B-phase 7FFFFFFFh
output pulse is returned.
2B25 Internal temperature of encoder (Internal 2 Reading 8000h to °C 1 Impossible
temperature of encoder) bytes 7FFFh
The internal temperature of encoder is
returned.
2B26 Settling time (Settling time) 2 Reading 8000h to ms 1 Impossible
The settling time is returned. 1 7FFFh
bytes
2B27 Oscillation detection frequency (Oscillation 2 Reading 8000h to Hz 1 Impossible
detection frequency) bytes 7FFFh
The oscillation detection frequency is returned.
2B28 Number of tough drive operations (Number of 2 Reading 0000h to times 1 Impossible
tough drive operations) bytes FFFFh
The number of tough drive operations is
returned.
2B2A Internal temperature of amplifier (Internal 2 Reading 8000h to °C 1 Impossible
temperature of amplifier) bytes 7FFFh
The internal temperature of amplifier is
returned.
2B2D Unit power consumption (Unit power 2 Reading 8000h to W 1 Possible
consumption) bytes 7FFFh
The unit power consumption is returned.
2B2E Unit total power consumption (Unit total power 4 Reading 80000000h Wh 2 Possible
consumption) bytes to
The unit total power consumption is returned. 7FFFFFFFh
2B2F Current position (Current position) 4 Reading 80000000h 2 Possible
The current position is returned. bytes to
7FFFFFFFh

6- 4
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2B30 Command position (Command position) 4 Reading 80000000h 2 Possible
The command position is returned. bytes to
7FFFFFFFh
2B31 Command remaining distance (Command 4 Read 80000000h 2 Possible
remaining distance) bytes to
The command remaining distance is returned. 7FFFFFFFh
2B81 Cumulative feedback pulses at alarm 4 Reading 80000000h pulse 2 Possible
occurrence (Alarm Monitor 1 Cumulative bytes to
feedback pulses) 7FFFFFFFh
The cumulative feedback pulses at alarm
occurrence are returned.
2B82 Servo motor speed at alarm occurrence (Alarm 4 Reading 80000000h r/min 2 Possible
Monitor 2 Servo motor speed) bytes to
The servo motor speed at alarm occurrence is 7FFFFFFFh
returned.
2B83 Droop pulses at alarm occurrence (Alarm 4 Reading 80000000h pulse 2 Possible
Monitor 3 Droop pulses) bytes to
The droop pulses at alarm occurrence are 7FFFFFFFh
returned.
2B84 Cumulative command pulses at alarm 4 Reading 80000000h pulse 2 Possible
occurrence (Alarm Monitor 4 Cumulative bytes to
command pulses) 7FFFFFFFh
The cumulative command pulses (encoder
unit) at alarm occurrence are returned.
2B85 Command pulse frequency at alarm 4 Reading 80000000h kpulse/s 2 Possible
occurrence (Alarm Monitor 5 Command pulse bytes to
frequency) 7FFFFFFFh
The command pulse frequency at alarm
occurrence is returned.
2B86 Analog speed command voltage at alarm 2 Reading 8000h to V 1 Possible
occurrence bytes 7FFFh
(Alarm Monitor 6 Analog speed command
voltage)
The analog speed command voltage at alarm
occurrence is returned.
2B87 Analog torque limit voltage/ 2 Reading 8000h to V 1 Possible
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 Regenerative load ratio at alarm occurrence 2 Reading 0000h to % 1 Possible
(Alarm Monitor 8 Regenerative load ratio) bytes FFFFh
The regenerative load ratio at alarm
occurrence is returned.
2B89 Effective load ratio at alarm occurrence (Alarm 2 Reading 0000h to % 1 Possible
Monitor 9 Effective load ratio) bytes FFFFh
The effective load ratio at alarm occurrence is
returned.
2B8A Peak load ratio at alarm occurrence (Alarm 2 Reading 0000h to % 1 Possible
Monitor 10 Peak load ratio) bytes FFFFh
The peak load ratio at alarm occurrence is
returned.
2B8B Instantaneous torque at alarm occurrence 2 Reading 8000h to % 1 Possible
(Alarm Monitor 11 Instantaneous torque) bytes 7FFFh
The instantaneous torque at alarm occurrence
is returned.
2B8C Position within one-revolution at alarm 4 Reading 80000000h pulse 2 Possible
occurrence (Alarm Monitor 12 Within one- bytes to
revolution position) 7FFFFFFFh
The position within one-revolution at alarm
occurrence is returned.
2B8D Multi-revolution counter at alarm occurrence 4 Reading 80000000h rev 2 Possible
(Alarm Monitor 13 ABS counter) bytes to
The ABS counter at alarm occurrence is 7FFFFFFFh
returned.

6- 5
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2B8E Load to motor inertia ratio at alarm occurrence 2 Reading 0000h to 0.01 1 Possible
(Alarm Monitor 14 Load to motor inertia ratio) bytes FFFFh times
The load to motor inertia ratio at alarm
occurrence is returned.
2B8F Bus voltage at alarm occurrence (Alarm 2 Reading 0000h to V 1 Possible
Monitor 15 Bus voltage) bytes FFFFh
The bus voltage at alarm occurrence is
returned.
2B96 F/B cumulative value of A/B-phase output pulse 4 Reading 80000000h pulse 2 Possible
at alarm occurrence (Alarm Monitor 22 bytes to
Cumulative encoder out pulses) 7FFFFFFFh
The feedback cumulative value of A/B-phase
output pulse at alarm occurrence is returned.
2BA5 Internal temperature of encoder at alarm 2 Reading 8000h to °C 1 Possible
occurrence (Alarm Monitor 37 Internal bytes 7FFFh
temperature of encoder)
The internal temperature of encoder at alarm
occurrence is returned.
2BA6 Settling time at alarm occurrence (Alarm 2 Reading 8000h to ms 1 Possible
Monitor 38 Settling time) bytes 7FFFh
The settling time at alarm occurrence is
returned.
2BA7 Oscillation detection frequency at alarm 2 Reading 8000h to Hz 1 Possible
occurrence (Alarm Monitor 39 Oscillation bytes 7FFFh
detection frequency)
The oscillation detection frequency at alarm
occurrence is returned.
2BA8 Number of tough drive operations at alarm 2 Reading 0000h to times 1 Possible
occurrence (Alarm Monitor 40 Number of bytes FFFFh
tough drive operations)
The number of tough drive operations at alarm
occurrence is returned.
2BAA Internal temperature of amplifier at alarm 2 Reading 8000h to °C 1 Possible
occurrence (Alarm Monitor 42 Internal bytes 7FFFh
temperature of amplifier)
The internal temperature of amplifier at alarm
occurrence is returned.
2BAD Unit power consumption at alarm occurrence 2 Reading 8000h to W 1 Possible
(Alarm Monitor 45 Unit power consumption) bytes 7FFFh
The unit power consumption at alarm
occurrence is returned.
2BAE Unit total power consumption at alarm 4 Reading 80000000h Wh 2 Possible
occurrence (Alarm Monitor 46 Unit total power bytes to
consumption) 7FFFFFFFh
The unit total power consumption at alarm
occurrence is returned.
2BAF Current position at alarm occurrence (Alarm 4 Reading 80000000h 2 Possible
Monitor 47 Current position) bytes to
The current position at alarm occurrence is 7FFFFFFFh
returned.
2BB0 Command position at alarm occurrence (Alarm 4 Reading 80000000h 2 Possible
Monitor 48 Command position) bytes to
The command position at alarm occurrence is 7FFFFFFFh
returned.
2BB1 Command remaining distance at alarm 4 Reading 80000000h 2 Possible
occurrence (Alarm Monitor 49 Command bytes to
remaining distance) 7FFFFFFFh
The command remaining distance at alarm
occurrence is returned.
2C10 External input pin status (External Input pin 1 Reading 1 01h (fixed) 3 Impossible
display) bytes
The number of entries in external input pin
status is returned.
External input pin status 1 (External Input pin 4 Reading 00000000h
display1) bytes to
The external input pin status is returned. FFFFFFFFh

6- 6
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2C11 External output pin status (External Output pin 1 Read 1 01h (fixed) 3 Impossible
display) bytes
The number of entries in external output pin
status is returned.
External output pin status 1 (External Output 4 Reading 00000000h
pin display1) bytes to
The external input pin status is returned. FFFFFFFFh
2C12 Input device status (External Input signal 1 Reading 4 04h (fixed) 9 Impossible
display) bytes
The number of entries in input device status is
returned.
Input device status 1 (External Input signal 4 Reading 00000000h
display1) bytes to
The input device status 1 is returned. FFFFFFFFh
Input device status 2 (External Input signal 4 Reading 00000000h
display2) bytes to
The input device status 2 is returned. FFFFFFFFh
Input device status 3 (External Input signal 4 Reading 00000000h
display3) bytes to
The input device status 3 is returned. FFFFFFFFh
Input device status 4 (External Input signal 4 Reading 00000000h
display4) bytes to
The input device status 4 is returned. FFFFFFFFh
2C18 Power ON cumulative time (Power ON 4 Reading 0 00000000h hour 2 Impossible
cumulative time) bytes to
The cumulative time after power on of the servo FFFFFFFFh
amplifier is returned.
2C19 Number of inrush relay ON/OFF times 4 Reading 0 00000000h times 2 Impossible
(Number of inrush relay on/off times) bytes to
The number of on/off times of the inrush relay FFFFFFFFh
of the servo amplifier is returned.

6- 7
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2C20 Machine diagnostic status (Machine diagnostic 2 Reading 0 0000h to 1 Possible
status) bytes 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 Static friction torque at forward rotation (Static 2 Reading 0 8000h to 0.1 1 Possible
friction torque at forward rotation) bytes 7FFFh %
Coulomb friction at forward rotation torque is
returned in increments of 0.1%.
2C22 Dynamic friction torque at forward rotation (at 2 Reading 0 8000h to 0.1 1 Possible
rated speed) (Dynamic friction torque at bytes 7FFFh %
forward rotation (at rated speed))
Friction torque at forward rotation torque at
rated speed is returned in increments of 0.1%.
2C23 Static friction torque at reverse rotation (Static 2 Reading 0 8000h to 0.1 1 Possible
friction torque at reverse rotation) bytes 7FFFh %
Coulomb friction at reverse rotation torque is
returned in increments of 0.1%.

6- 8
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2C24 Dynamic friction torque at reverse rotation (at 2 Reading 0 8000h to 0.1 1 Possible
rated speed) bytes 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 Vibration frequency during stop/servo-lock 2 Reading 0 8000h to Hz 1 Possible
(Oscillation frequency during motor stop) bytes 7FFFh
Vibration frequency during stop/servo-lock is
returned in increments of 1 Hz.
2C26 Vibration level during stop/servo-lock 2 Reading 0 8000h to 0.1 1 Possible
(Vibration level during motor stop) bytes 7FFFh %
Vibration level during stop/servo-lock is
returned in increments of 0.1%.
2C27 Vibration frequency during operation 2 Reading 0 8000h to Hz 1 Possible
(Oscillation frequency during motor operating) bytes 7FFFh
Vibration frequency during operation is
returned in increments of 1 Hz.
2C28 Vibration level during operation (Vibration level 2 Reading 0 8000h to 0.1 1 Possible
during motor operating) bytes 7FFFh %
Vibration level during operation is returned in
increments of 0.1%.
2D01 Control input 1 to Control input 10 (Control DI 1 2 Read/ 0 0000h to 1 Possible
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 Control output 1 to Control output 10 (Status 2 Reading 0000h to 1 Possible
to DO 1 to Status DO 10) bytes FFFFh
2D1A The on/off status of output device can be read.
2D20 Speed limit value (Velocity limit value) 4 Read/ 50000 00000000h 0.01 PT52 2 Impossible
The speed limit value is set. bytes write to r/min
permissible
instantane-
ous speed
2D28 Servo motor rated speed (Motor rated speed) 4 Reading 00000000h r/min 2 Impossible
The servo motor rated speed is returned. bytes to
FFFFFFFFh
2D29 Servo motor maximum speed (Motor max 4 Reading 00000000h r/min 2 Impossible
speed) bytes to
The servo motor maximum speed is returned. FFFFFFFFh
2D35 Encoder status display (Encoder status) 1 Reading 1 01h (fixed) 3 Impossible
The number of entries is returned. bytes
Encoder status 1 (Encoder status1) 4 Reading 00000000h
The encoder status is returned. bytes 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
2D42 Maximum value of multi-revolution counter 4 Reading 00000000h rev 2 Impossible
(Max ABS counter) bytes to
The maximum value of the multi-revolution FFFFFFFFh
counter is displayed.
2D50 One-touch tuning command (One-touch tuning 1 Read/ 0 00h to 03h 1 Impossible
mode) bytes write
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 One-touch tuning status (One-touch tuning 1 Read 0 00h to 64h % 1 Impossible
status) bytes
The one-touch tuning progress is returned.

6- 9
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
2D52 Stop of one-touch tuning (One-touch tuning 2 Writing 0 0000h/ 1 Impossible
Stop) bytes 1EA5h
Writing "1EA5h" can stop one-touch tuning. Any
value other than "1EA5h" is ignored.
2D53 Returning parameters changed in one-touch 2 Writing 0 0000h to 1 Impossible
tuning (One-touch tuning Clear) bytes 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 One-touch tuning error code (One-touch tuning 2 Reading 0 0000h to 1 Impossible
Error Code) bytes 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 Latest error No. display (Error code) 2 Reading 0 0000h to 1 Impossible
The latest error No. that occurred after the bytes FFFFh
power on is returned. The error number is as
follows.
1000h: Generic error
6040 Control command (Controlword) 2 Read/ 0 0000h to 1 Impossible
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
6041 Control status (Statusword) 2 Reading 0000h to 1 Impossible
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 Quick stop option code 2 Read/ 2 0002h PT69 1 Impossible
The operation method of deceleration to a stop bytes write (fixed)
can be specified.
605D Halt option code 2 Read/ 1 0001h PT69 1 Impossible
Set how to decelerate the servo motor to a bytes write (fixed)
stop at Halt reception.

6 - 10
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
6060 Control mode (Modes of operation) 1 Read/ 0 80h to 7Fh 1 Impossible
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 Control mode display (Modes of operation 1 Reading -20 80h to 7Fh 1 Impossible
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 Current position (absolute position) [ENC unit] 4 Reading 80000000h pulse 2 Impossible
(Position actual internal value) bytes to
The current position is returned. 7FFFFFFFh
6064 Current position (Position actual value) 4 Reading 80000000h pos 2 Impossible
The current position in the command unit on bytes to units
the basis of the home position is returned. 7FFFFFFFh
When the 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 Error excessive width (Following error window) 4 Read/ 12582912 00000000h pos PC75/ 2 Impossible
In the profile position mode (pp), when the bytes write to units PC76
time set with Following error time out (6066h) FFFFFFFFh
has elapsed with the number of droop pulses
exceeding the setting value of this object, bit
13 of Statusword (6041h) is turned on. When
"FFFFFFFFh" is set, Bit 13 of Statusword
(6041h) is always off.
6066 Error excessive detection time (Following error 2 Read/ 10 0000h to ms PC77 1 Impossible
time out) bytes write FFFFh
Refer to Following error window (6065h).
6067 Permissible error range (Position window) 4 Read/ 100 00000000h pos PT65 2 Impossible
In the profile position mode (pp), when the bytes write to units
time set with Position windows time (6068h) 0000FFFEh/
has elapsed with the number of droop pulses FFFFFFFFh
equal to or lower 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 Permissible error judgment time (Position 2 Read/ 10 0000h to ms PT66 1 Impossible
window time) bytes write FFFFh
Refer to Position window (6067h).
606B Command speed (Velocity demand value) 4 Reading 0 80000000h 0.01 2 Impossible
The speed command is returned. bytes to r/min
7FFFFFFFh
606C Current speed (Velocity actual value) 4 Reading 80000000h 0.01 2 Impossible
The current speed is returned. bytes to r/min
7FFFFFFFh

6 - 11
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
606D Speed reached judgment width (Velocity 2 Read/ 2000 0000h to 0.01 PT67 1 Impossible
window) bytes write FFFFh r/min
In the profile velocity mode (pv), when the time
set with Velocity window time (606Eh) has
elapsed with the current speed equal to or
lower than the setting value of this object, Bit
10 of Statusword (6041h) is turned on.
606E Speed reached judgment time (Velocity 2 Read/ 10 0000h to ms PT68 1 Impossible
window time) bytes write FFFFh
Refer to Velocity window (606Dh).
606F Zero speed (Velocity threshold) 2 Read/ 5000 0000h to 0.01 PT63 1 Impossible
In the profile velocity mode (pv), when the time bytes write FFFFh r/min
set 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 Zero speed judgment time (Velocity threshold 2 Read/ 10 0000h to ms PT64 1 Impossible
time) bytes write FFFFh
Refer to Velocity threshold (606Fh).
6071 Command torque (Target torque) 2 Read/ 0 8000h to 0.1 1 Impossible
Set the torque command used in the profile bytes write 7FFFh %
torque mode (tq).
6072 Maximum torque (nominal value) (Max torque) 2 Read/ 0000h to 0.1 1 Impossible
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 Instruction Manual".
6074 Internal torque command (Torque demand 2 Read 0 8000h to 0.1 1 Impossible
value) bytes 7FFFh %
The torque command is returned.
6077 Current torque (Torque actual value) 2 Reading 8000h to 0.1 1 Impossible
The current torque is returned. The read data bytes 7FFFh %
is in the unit of 0.1%.
607A Position command (absolute/incremental) 4 Read/ 0 80000000h pos 2 Impossible
(Target 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 Command value limit (Position range limit) 1 Reading 2 00h to 02h 5 Impossible
The number of entries is returned. bytes
Command value limit (lower limit) (Min position 4 Read/ 00000000h 80000000h pos
range limit) bytes write (degree) to units
Set the range for limiting the command 80000000h 7FFFFFFFh
position (lower limit value). The settable values (pulse)
vary 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)
Command value limit (upper limit) (Max 4 Read/ 00057E3Fh 80000000h pos
position range limit) bytes write (degree) to units
Set the range for limiting the command 7FFFFFFFh 7FFFFFFFh
position (upper limit value). The settable (pulse)
values vary 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 Home position (Home offset) 4 Read/ 0 80000000h pos 2 Impossible
The home position is returned. Only reading bytes write to units
the value is available. 7FFFFFFFh
Do not perform writing because doing so
causes an error.

6 - 12
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
607D Software limit (Software position limit) 1 Reading 2 02h (fixed) 5 Impossible
Set the range for limiting the command bytes
position. Target position (607Ah) is limited
within the range between Min position limit
(607Dh: 1) and Max position limit (607Dh: 2).
When the set value of Min position limit
(607Dh: 1) is equal to or greater than the set
value of Max position limit (607Dh: 2), the
function of Software position limit (607Dh) is
disabled.
Stroke limit - (Min position limit) 4 Read/ 0 80000000h pos PT17/
The stroke limit value in the reverse direction is bytes write to units PT18
returned in units of commands. 7FFFFFFFh
Stroke limit + (Max position limit) 4 Read/ 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 Rotation direction selection (Polarity) 1 Read/ 00h 00h to FFh PA14/ 1 Impossible
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 Maximum speed command (Max profile 4 Read/ 2000000 00000000h 0.01 PT51 2 Impossible
velocity) bytes write to r/min
Set the maximum speed command for the 001E8480h
profile position mode (pp) and profile velocity (2000000)
mode (pv). When a value exceeding this object
is set to Target velocity (60FFh) or Profile
velocity (6081h), the speed is limited with the
value of this object.
6080 Servo motor maximum speed (Max motor 4 Read/ 00000000h r/min 2 Impossible
speed) bytes write to
The maximum speed of the servo motor is FFFFFFFFh
returned. Operation cannot be performed at a
speed exceeding the speed set with this
object.
6081 Command speed (Profile velocity) 4 Read/ 10000 00000000h 0.01 PT50 2 Impossible
The current speed command value can be bytes write to r/min
read. permissible
The speed command value can also be set. instantane-
Set a value in units of 0.01 r/min. ous speed
6083 Acceleration time constant (Profile 4 Read/ 0 00000000h ms PC01 2 Impossible
acceleration) bytes write to
The current acceleration time constant can be FFFFFFFFh
read.
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.
6084 Deceleration time constant (Profile 4 Read/ 0 00000000h ms PC02 2 Impossible
deceleration) bytes write to
The current deceleration time constant can be FFFFFFFFh
read.
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.

6 - 13
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
6085 Deceleration time constant at Quick stop 4 Read/ 100 00000000h ms PC51 2 Impossible
command (Quick stop deceleration) bytes write to
Set a deceleration time constant for the Quick FFFFFFFFh
stop function. Set a time for the servo motor to
stop from the rated speed. When "0" is set, the
operation is performed with 100 ms.
[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 Acceleration/deceleration pattern (Motion 2 Read/ -1 FFFFh (-1) 1 Impossible
profile 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 Torque slope 4 Read/ 0 00000000h 0.1% PT49 2 Impossible
Set the variation per second of the torque bytes write to
command used in the profile torque mode. 00989680h
When "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 Torque command pattern (Torque profile type) 2 Read/ 0 0000h 1 Impossible
Set the torque command pattern. bytes write (fixed)
0: Linear interpolation method
Values other than 0 cannot be set.
608F Encoder information (Position encoder 1 Reading 2 02h (fixed) pulse/ 5 Impossible
resolution) bytes rev
The number of entries is returned.
Encoder resolution (Encoder increments) 4 Read/ 00000000h pulse
The encoder resolution is returned. bytes write to
FFFFFFFFh
Number of revolutions of the servo motor (fixed 4 Read/ 1 00000001h rev
to 1 rev) (Motor revolutions) bytes write to
The fixed value "1" is returned. 00000001h
6091 Servo motor shaft gear ratio (Gear ratio) 1 Reading 2 02h (fixed) 5 Impossible
The number of entries is returned. bytes
Number of revolutions of the servo motor axis 4 Read/ 1 00000001h rev PA06
(electronic gear numerator) (Motor revolutions) bytes write to
Set the numerator of the electronic gear. Refer 00FFFFFFh
to [Pr. PA06] for the settable values. (16777215)
Number of revolutions of the drive axis 4 Read/ 1 00000001h rev PA07
(electronic gear denominator) (Shaft bytes write to
revolutions) 00FFFFFFh
Set the numerator of the electronic gear. Refer (16777215)
to [Pr. PA07] for the settable values.
6092 Travel distance per revolution of the drive axis 1 Reading 2 02h (fixed) 5 Impossible
(Feed constant) bytes
The number of entries is returned.
Electronic gear expression: Travel
distance/Number of revolutions of the drive
axis
Travel distance (Feed) 4 Read/ 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
Number of revolutions of the drive axis (fixed 4 Read/ 1 00000001h rev PT01
to 1 rev) (Shaft revolutions) bytes write to
No value can be written as it is automatically 00000001h
set with [Pr. PT01]. If a value is written, this
setting is disabled.

6 - 14
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
6098 Home position return types (Homing method) 1 Read/ 37 D5h (-43) PT45 1 Impossible
Set a home position return type. bytes write to 27h (39)
6099 Home position return speed (Homing speeds) 1 Reading 2 02h (fixed) 5 Impossible
The number of entries is returned. bytes
Home position return speed (Speed during 4 Read/ 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
Creep speed (Speed during search for zero) 4 Read/ 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 Set acceleration/deceleration time constant at 4 Read/ 0 00000000h ms PT61/ 2 Impossible
home position return. (Homing acceleration) bytes write to PT62
Set the acceleration/deceleration time 00004E20h
constants at home position return. Set a time (20000)
for the servo motor to reach the rated speed.
60A8 SI unit position 4 Read/ FD410000h 00000000h 2 Impossible
SI unit position (60A8h) is set automatically bytes write (degree) to
with [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 SI unit velocity (SI unit velocity) 4 Read/ FEB44700h FEB44700h 2 Impossible
The SI unit velocity is returned. bytes write (0.01 r/min)
FEB44700h: 0.01 r/min
60B8 Touch probe function setting (Touch probe 2 Read/ 0 0000h to 1 Possible
function) bytes write FFFFh
Set the command for the touch probe function.
60B9 Status of the touch probe function (Touch 2 Reading 0 0000h to 1 Possible
probe status) bytes FFFFh
The status of the touch probe function is
returned.
60BA Rising edge position of touch probe (Touch 4 Reading 0 80000000h pos 2 Possible
probe pos1 pos value) bytes to units
The position latched at the rising edge of touch 7FFFFFFFh
probe 1 is returned.
60BB Falling edge position of touch probe (Touch 4 Reading 0 80000000h pos 2 Possible
probe pos1 neg value) bytes to units
The position latched at the falling edge of 7FFFFFFFh
touch probe 1 is returned.
60E0 Forward rotation torque limit (Positive torque 2 Read/ 10000 0000h to 0.1% PA11/ 1 Impossible
limit 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%.
60E1 Reverse rotation torque limit (Negative torque 2 Read/ 10000 0000h to 0.1% PA12/ 1 Impossible
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%.

6 - 15
6. MODBUS REGISTERS

Saved No. of Continuous

Data Read/ Para- Points/ read/
Address Name and function Initial value Range Unit to EEP-
type write meter No. of continuous
ROM Registers write
60E3 Supported homing method (Supported homing 1 Reading 39 00h to FFh 1+ Impossible
method) bytes number
The number of supported homing methods is of read
returned. points
Number specification of supported homing 1 Reading 37 80h to 7Fh
methods (1st to 39th) (1st supported homing bytes
method)
Set the number of the supported home
position return type.
60F2 Profile position mode setting (Positioning 2 Read/ 0000h 0000h to 1 Impossible
option 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 Droop pulses [command unit] (Following error 4 Read 80000000h pos 2 Impossible
actual value) bytes to units
The droop pulses are returned. 7FFFFFFFh
60FA Speed command (Control effort) 4 Read 0 80000000h 0.01 2 Impossible
The speed command is returned. bytes to r/min
7FFFFFFFh
60FF Command speed (Target velocity) 4 Read/ 0 80000000h 0.01 2 Impossible
Set the speed command used in the profile bytes write to r/min
velocity mode (pv). 7FFFFFFFh
6502 Supported control mode (Supported drive 4 Reading 0000002Dh 0000002Dh 2 Impossible
modes) bytes to
The supported control mode is returned. 0000002Dh
Bit 0: Profile position mode (pp)
Bit 2: Profile velocity mode (pv)
Bit 3: Profile torque mode (tq)
Bit 5: Homing mode (hm)

6 - 16
6. MODBUS REGISTERS

6.2 Object library details (objects in the 1000s)

POINT
This section describes the objects in the 1000s. Refer to section 6.1 for details
on the objects not listed here.

6.2.1 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.
Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
1 bytes Reading
Writing command to EEP- (Number of entries)
1010h 3 Impossible
ROM (Store parameters) Restoring all default parameters Read/
4 bytes
(Restore all default parameters) write

Parameter setting values can be saved in EEP-ROM.

6 - 17
6. MODBUS REGISTERS

(1) Usage
This object can read the availability of each Sub Index. The following table shows the returned values of
each item.
Item Saved parameter Returned value
Number of entries
01h
(Number of entries)
Saving all parameters
Index: 2001h to 27FFh 00000001h (available)
(Save all parameters)

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.
Write to EEP-ROM
Item Setting value
Parameter
Number of entries 01h
(Number of entries)
00000000h Disabled
Saving all parameters
65766173h ("save") Enabled
(Save all parameters)
Other than above Error

6.2.2 Restore default EEP-ROM parameters (1011h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
Restoring default EEP-ROM 1 bytes Reading
(Number of entries)
1011h parameters (Restore default 3 Impossible
Restoring all default parameters Read/
parameters) 4 bytes
(Restore all default parameters) write

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.

6 - 18
6. MODBUS REGISTERS

6.3 Object library details (objects in the 2000s)

POINT
This section describes the objects in the 2000s. Refer to section 6.1 for details
on the objects not listed here.

6.3.1 External input pin status (2C10h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
1 bytes Reading
External input pin status (Number of entries)
2C10h 3 Impossible
(External Input pin display) External input pin status 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

6 - 19
6. MODBUS REGISTERS

6.3.2 External output pin status (2C11h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
1 bytes Reading
External output pin status (Number of entries)
2C11h 3 Impossible
(External Output pin display) External output pin status 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

6.3.3 Input device status (2C12h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
1 bytes
(Number of entries)
Input device status 1
4 bytes
(External Input signal display1)
Input device status (External Input device status 2
2C12h 4 bytes Reading 9 Impossible
Input signal display) (External Input signal display2)
Input device status 3
4 bytes
(External Input signal display3)
Input device status 4
4 bytes
(External Input signal display4)

The current input device status can be read.

6 - 20
6. MODBUS REGISTERS

(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".

6 - 21
6. MODBUS REGISTERS

6.3.4 Control input (2D01h to 2D0Ah)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
2D01h
Read/
to Control input (Control DI1 to Control DI10) 2 bytes 1 Possible
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.
5 The value at reading is undefined. Set "0" when writing.
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.
9 The value at reading is undefined. Set "0" when writing.
10
11
12
13
14
15

6 - 22
6. MODBUS REGISTERS

(2) Bit definition of control DI2

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
Proportional control
Turn C_PC on to switch the speed amplifier from the proportional integral type to the proportional type.
If the servo motor is stopped and then rotated by even one pulse due to any external factor, it generates
torque to compensate for the droop pulses 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.
9 The value at reading is undefined. Set "0" when writing.
10
11
12
13
14
Operation alarm reset
15 C_ORST
Turn on C_ORST from off to reset [AL. F4 Positioning warning].

(3) Bit definition of control DI3

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
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

14 The value at reading is undefined. Set "0" when writing.

15

6 - 23
6. MODBUS REGISTERS

(4) Bit definition of control DI4

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(5) Bit definition of control DI5

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
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].
12 The value at reading is undefined. Set "0" when writing.
13
14
15

6 - 24
6. MODBUS REGISTERS

(6) Bit definition of control DI6

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(7) Bit definition of control DI7

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(8) Bit definition of control DI8

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 25
6. MODBUS REGISTERS

(9) Bit definition of control DI9

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(10) Bit definition of control DI10

Bit Symbol Description
0 The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 26
6. MODBUS REGISTERS

6.3.5 Control output (2D11h to 2D1Ah)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
2D11h
to Control output (Status DO1 to Status DO10) 2 bytes Reading 1 Possible
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

Bit Symbol Description
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.
5 The value at reading is undefined.
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.
9 The value at reading is undefined.
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.

6 - 27
6. MODBUS REGISTERS

(2) Bit definition of Status DO 2

Bit Symbol Description
Z-phase already passed
0 S_ZPASS 0: Z-phase unpassed after start-up
1: Z-phase passed once or more after start-up
1 The value at reading is undefined.
2
Zero speed 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.
5 The value at reading is undefined.
6
7
Under proportional control
8 S_PC
S_PC turns on under proportional control.
9 The value at reading is undefined.
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.

6 - 28
6. MODBUS REGISTERS

(3) Bit definition of Status DO 3

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
Forced stop deceleration
9 S_RSTP
S_RSTP turns on during a forced stop deceleration.
10 The value at reading is undefined.
Transition to tough drive mode in process
11 S_MTTR When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive will
turn on S_MTTR.
12 The value at reading is undefined.
13
14
15

(4) Bit definition of Status DO 4

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 29
6. MODBUS REGISTERS

(5) Bit definition of Status DO 5

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(6) Bit definition of Status DO 6

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 30
6. MODBUS REGISTERS

(7) Bit definition of Status DO 7

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(8) Bit definition of Status DO 8

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 31
6. MODBUS REGISTERS

(9) Bit definition of Status DO 9

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

(10) Bit definition of Status DO 10

Bit Symbol Description
0 The value at reading is undefined.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

6 - 32
6. MODBUS REGISTERS

6.3.6 SDO Abort Code (2A60h)

(1) List of registers

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
2A60h SDO Abort Code (SDO Abort Code) 4 bytes Read 2 Impossible

The latest SDO Abort Code generated in Modbus communication can be read.
The access to registers can be checked by reading the latest SDO Abort Code.
When an error is found by reading SDO Abort Codes, change the method to access registers.

(2) Usage
Read SDO Abort Codes using this register.
The following table lists the SDO Abort Codes.
SDO Abort Code Description
0000 0000h No problem found.
0504 0001h Client/server command specifier not valid or unknown.
0601 0000h Unsupported access to a register.
0601 0001h Attempt to read a write only register.
0601 0002h Attempt to write a read only register.
0602 0000h Register does not exist in the Modbus resisters.
0604 0041h Resister cannot be mapped to the PDO
0604 0042h The number and length of the resisters to be mapped would exceed PDO length
0607 0010h Data type does not match, length of service parameter does not match
0609 0011h Element of resister does not exist.
0609 0030h Value range of parameter exceeded (only for write access).
0609 0031h Value of parameter written too high.
0609 0032h Value of parameter written too low.
0800 0000h Generic error.
0800 0020h Data cannot be transferred or stored to the application
0800 0021h Data cannot be transferred or stored to the application because of local control.
0800 0022h Data cannot be transferred or stored to the application because of the present device state.
0800 0024h No data available.

6 - 33
6. MODBUS REGISTERS

6.3.7 Access log 1 (2A64h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
2A64h Access log 1 (Access log 1) 4 bytes Read 2 Impossible

The access log 1 can be read.

(1) Usage
Read the access log 1 using this register.
The access log 1 displays the address that was last accessed successfully in Modbus communication.
Access log 1 Response data
Higher 2 bytes Address: xxxxh
Lower 2 bytes For manufacturer setting: 00yyh

For example, when the input device status (Address: 2C12h) is accessed successfully, "2C120004h" is
read from the access log 1.

6.3.8 Access log 2 (2A65h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
2A65h Access log 2 (Access log 2) 2 bytes Read 1 Impossible

The access log 2 can be read.

(1) Usage
Read the access log 2 using this register.
The access log 2 displays the number of addresses that were accessed successfully in Modbus
communication.
Use this register when an access error has occurred in the continuous read/write.
For example, when an error has occurred while the registers for monitoring (address: 2B01h to 2B0Ah)
are continuously read, the error has occurred at the address 2B07h because the read value of the
access log 2 is "0006h".

6 - 34
6. MODBUS REGISTERS

6.4 Object library details (objects in the 6000s)

POINT
This section describes the objects in the 6000s. Refer to section 6.1 for details
on the objects not listed here.

6.4.1 Control status (6041h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
6041h Control status (Statusword) 2 bytes Reading 1 Impossible

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.

6 - 35
6. MODBUS REGISTERS

6.4.2 Quick stop option code (605Ah)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
605Ah Quick stop option code (Quick stop option code) 2 bytes 1 Impossible
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.
3 For manufacturer setting
4
5
6
7
8

6 - 36
6. MODBUS REGISTERS

6.4.3 Halt option code (605Dh)

(1) Object list

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
605Dh Halt option code (Halt option code) 2 bytes 1 Impossible
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.
2 For manufacturer setting
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.

6 - 37
6. MODBUS REGISTERS

6.4.4 Control mode display (6061h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
6061h Control mode display (Modes of operation Display) 1 bytes Reading 1 Impossible

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

6.4.5 Software limit (607Dh)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Number of entries
1 bytes Reading
(Number of entries)
Software limit (Software Min Position Limit
607Dh 4 bytes 5 Impossible
Position Limit) (Stroke limit -) Read/
Max Position Limit write
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.

6 - 38
6. MODBUS REGISTERS

6.4.6 Polarity (607Eh)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
607Eh Rotation direction selection (Polarity) 1 bytes 1 Impossible
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
1 The value at reading is undefined. Set "0" when writing.
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
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
Position POL
7
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.

6.4.7 Degree (60F2h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
60F2h Profile position mode setting (Positioning option code) 2 bytes 1 Impossible
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°.

6 - 39
6. MODBUS REGISTERS

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.

6 - 40
6. MODBUS REGISTERS

6.4.8 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

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
60B8h Touch probe function setting (Touch probe function) 2 bytes 1 Possible
write
60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading 1 Possible
Rising edge position of touch probe (Touch probe position
60BAh 4 bytes Reading 2 Possible
positive value)
Falling edge position of touch probe (Touch probe position
60BBh 4 bytes Reading 2 Possible
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 6.4.9 to 6.4.12.

(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).

6 - 41
6. MODBUS REGISTERS

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

6.4.9 Touch probe function setting (60B8h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Read/
60B8h Touch probe function setting (Touch probe function) 2 bytes 1 Possible
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
2 The value at reading is undefined. Set "0" when writing.
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.

6 - 42
6. MODBUS REGISTERS

6.4.10 Touch probe function status (60B9h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
60B9h Status of the touch probe function (Touch probe status) 2 bytes Reading 1 Possible

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".

6.4.11 Rising edge position of touch probe (60BAh)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Rising edge position of touch probe (Touch probe position
60BAh 4 bytes Reading 2 Possible
positive value)

The current rising edge position of touch probe can be checked.

6.4.12 Falling edge position of touch probe (60BBh)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
Falling edge position of touch probe (Touch probe position
60BBh 4 bytes Reading 2 Possible
negative value)

The current falling edge position of touch probe can be checked.

6 - 43
6. MODBUS REGISTERS

6.4.13 Supported control mode (6502h)

Data Read/ No. of Points/ Continuous read/
Address Name
type write No. of Registers continuous write
6502h Supported control mode (Supported Drive Modes) 4 bytes Reading 2 Impossible

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

6 - 44
REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Revision
Aug. 2017 SH(NA)030269ENG-A First edition

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)030269ENG-A
 General-Purpose AC Servo

MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (Modbus/TCP)

Ethernet Interface
MODEL

MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(Modbus/TCP)

MODEL
MODEL
CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

SH(NA)030269ENG-A(1708)MEE Printed in Japan Specifications are subject to change without notice.