Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, User Manual

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7 CiA 402 DRIVE PROFILE
7.4 Control mode
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7.4
Control mode
Selecting control mode (Modes of operation)
Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation] can be rewritten with a PDO or an SDO.
Control switching
• Changes to the OMS bit of [Controlword (Obj. 6040h)] are not accepted until control switching is complete.
Before inputting a command, check that the control mode has been switched by referring to [Modes of
operation display (Obj. 6061h)].
• Update [Target position (Obj. 607Ah)] and [Position offset (Obj. 60B0h)] to [Position actual value (Obj.
6064H)] when changing the control mode from the mode other than the cyclic synchronous position mode
(csp) to the cyclic synchronous position mode (csp).
Control switching between position/speed/torque modes
As there is a time lag when switching between control modes, the controller needs to keep sending the command values of
the corresponding control modes until the mode is completely switched. After the completion of the control mode switching is
confirmed by [Modes of operation display (Obj. 6061h)], the controller can stop sending the command value relative to the
control mode before switching.
Before switching to or from the position mode, check that the servo motor is in zero speed state. Data of whether the servo
motor is in zero speed state can be obtained by Bit 3 (S_ZSP) of [Status DO 2 (Obj. 2D12h)]. If the motor is not in zero speed
state, the control mode will not be switched and therefore [Modes of operation display (Obj. 6061h)] will not change. To switch
the control mode even if the motor is not in zero speed state, set [Pr. PC76.1] to "1" to disable the monitoring of zero speed
state. When the monitoring of zero speed state is disabled, a shock may occur at control switching.
Index Sub Object Name Data Type Access Description
6060h

VAR Modes of operation I8 rw 0: No mode change/No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)
6061h  VAR Modes of operation display I8 ro 0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)
6502h  VAR Supported drive modes U32 ro Bit =1 for the following modes
bit 0: Profile position mode
bit 2: Profile velocity mode
bit 3: Profile torque mode
bit 5: Homing mode
bit 7: Cyclic sync position mode
bit 8: Cyclic sync velocity mode
bit 9: Cyclic sync torque mode