Mitsubishi Electric MELSERVO-JE, Instruction Manual

Page: 64 / 116

5. CiA 402 DRIVE PROFILE
5 - 7
5.2 Control mode
This section describes the control modes of the MR-JE-_C servo amplifier.
5.2.1 Function description
A control mode of the MR-JE-_C servo amplifier can be selected with Modes of operation (6060h).
The following is the chart of control modes, switchable from the current mode.
Control mode after switching
Position Speed Torque
Profile Positioning
Home
position
return
pp pv tq pt idx jg
Control mode
before
switching
Position (Note 1)
Speed (Note 1)
Torque (Note 1)
Profile
pp
pv
tq
Positioning
(Note 2)
pt
idx
jg
Home position return
: Switchable : Non-switchable
Note 1. When Modbus RTU communication is not used, switch any one of the control modes (positioning/speed/torque) with [Pr.
PA01] and LOP (control switching). When Modbus RTU communication is used, setting [Pr. PC71] “Control switching method
selection” to "2 _ _ _” (object (6060h)) enables the control modes (positioning/speed/torque) to be switched with the
objects/registers.
2. When [Pr. PN08] “Command interface selection” is set for the general-purpose interface ( _ _ _ 0), change the control mode
with the input devices (MD0, MD1).
The following table lists the control switching conditions of the profile mode.
Switching operation Switching condition
(1) Profile position mode → Profile velocity mode
While the servo motor is stopped (Note 1)
(2) Profile velocity mode → Profile position mode
(3) Profile position mode → Profile torque mode
(4) Profile torque mode → Profile position mode
(5) Profile velocity mode → Profile torque mode
Not restricted (Note 2)
(6) Profile torque mode → Profile velocity mode
(7) Profile position mode → Homing mode
While the servo motor is stopped (Note 1)
(8) Profile velocity mode → Homing mode
(9) Profile torque mode → Homing mode
(10) Homing mode → Profile position mode
(11) Homing mode → Profile velocity mode
(12) Homing mode → Profile torque mode
Note 1. You can switch the control mode in the zero speed status. To ensure safety, switch modes after the servo motor has stopped.
For the zero speed, refer to section 3.5 (1) (b) in "MR-JE-_C Servo Amplifier Instruction Manual".
2. When the mode is switched from the profile velocity mode to the profile torque mode, the servo motor speed may fluctuate for
a moment. Therefore, it is recommended that the servo motor be stopped before the mode switching from the profile velocity
mode to the profile torque mode.
After switching control modes, check that the control modes have been switched by monitoring the Modes of
operation display (6061h).