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9 PROGRAMMING
9.4 Communication Example Between the Master Station and Servo Amplifier
Servo amplifier settings
In this program example, the parameters of the servo amplifier (MR-J5-10G) are set using the master station parameter
setting. Therefore, individual setting is not required.
Page 183 Setting in the master station
To set only the parameters of the servo amplifier (MR-J5-10G) individually, use MR Configurator2.
Link device assignment (PDO mapping)
CPU side device Link device PDO mapping
Index Subindex Entry name
W0000 RWr0000 6061 00 Modes of operation display
W0001 RWr0001 6041 Statusword
W0002 RWr0002 6064 Position actual value
W0003 RWr0003
W0004 RWr0004 606c Velocity actual value
W0005 RWr0005
W0006 RWr0006 60f4 Following error actual value
W0007 RWr0007
W0008 RWr0008 6077 Torque actual value
W0009 RWr0009 2d11 Status DO 1
W000A RWr000A 2d12 Status DO 2
W000B RWr000B 2d13 Status DO 3
W000C RWr000C 2d14 Status DO 4
W000D RWr000D 2d15 Status DO 5
W000E RWr000E (Not assigned) (Not assigned) (Not assigned)
W000F RWr000F
W0010 RWr0010
W0011 RWr0011
W0012 RWr0012
W0013 RWr0013
W0014 RWr0014
W0015 RWr0015
W0016 RWr0016
W0017 RWr0017
W100 RWw0000 6060 00 Modes of operation
W101 RWw0001 6040 Controlword
W102 RWw0002 607a Target position
W103 RWw0003
W104 RWw0004 60ff Target velocity
W105 RWw0005
W106 RWw0006 2d20 Velocity limit value
W107 RWw0007
W108 RWw0008 6071 Target torque
W109 RWw0009 6081 Profile velocity
W10A RWw000A
W10B RWw000B 6083 Profile acceleration
W10C RWw000C
W10D RWw000D 6084 Profile deceleration
W10E RWw000E
W10F RWw000F 6087 Torque slope
W110 RWw0010
W111 RWw0011 2d01 Control DI 1
W112 RWw0012 2d02 Control DI 2
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