42
2 APPENDIX
2.1 CC-Link IE TSN
Control mode
■
Motion mode
For the list of control modes, refer to the "Function List" in the following manual.
MR-JET User's Manual (Function)
■
Selecting control mode (Modes of operation)
Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation (Obj. 6060h)] can be rewritten with a PDO
or an SDO.
: Supported,
: Not supported
*1 Available on servo amplifiers with firmware version B0 or later.
*2 Available on servo amplifiers with firmware version B2 or later.
*3 To switch to continuous operation to the torque control mode (ct), the switching must be performed from the cyclic synchronous position
mode (csp) or cyclic synchronous velocity mode (csv).
• Related objects
• Control switching between position/speed/torque modes
Changes to the OMS Bit of [Controlword (Obj. 6040h)] are not accepted until control switching is completed.
Before inputting commands, check that the control mode has been switched by referring to [Modes of
operation display (Obj. 6061h)]. In addition, switch the control modes when the start command is turned off.
(For example, when "Homing operation start" is turned off in hm mode.)
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
has been confirmed by using [Modes of operation display (Obj. 6061h)], the controller can stop sending the command value.
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 the zero
speed state, the control 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. Note that a shock may occur at control switching if the monitoring of zero speed state is disabled.
Motion mode
pp
tq
hm
csp
csv
cst
ct
6060h/6061h
Initial value
8 (csp)
Index
Sub
Index
Object
Name
Data
Type
Access
Default
value
Description
6060h
0
VAR
Modes of operation
I8
rw
0h
MR-JET-G User's Manual
(Object Dictionary)
6061h
0
VAR
Modes of operation display
I8
ro
6502h
0
VAR
Supported drive mode
U32
ro
000003A0h
