Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-8
Value Description
7
Interpolated Position Mode
8
Cyclic Sync Position Mode
9
Cyclic Sync Velocity Mode
10
Cyclic Sync Torque Mode
6.3.2
Modes of Operation Display
This object gives the current mode of operation.
Index
Subindex Name
Data Type Access PDO Mapping
Value
6061h
0
Modes of
Operation Display
UINT8
RO
Yes
Default: 0
6.3.3
Mode Change
Note the following when changing the control mode.
After changing from Position Control Mode (PP mode or CSP mode) to other modes, the unexecuted
position command will be discarded.
A ramp stop command is executed when changing from Speed Control Mode (PV mode or CSV
mode) or Torque Control Mode (PT mode or CST mode) to other modes. And then, changes to other
modes after the stop has been completed.
It cannot be changed to other modes when the Servo is operating in the Homing Mode, except that the
homing operation has been completed or interrupted (Fault or disabled).
Servo running status, after changing from other modes to CSP mode, CSV mode or CST mode, please
send the command at least 1ms interval to avoid loss of instruction or error.
After changing the modes to Cyclic Sync Mode (CSP mode, CSV mode or CST mode), please wait 1
ms or more before sending the commands, in case losing command loss or error occurred.
6.3.4
Communication Cycle
The communication Cycle Time of all Control Modes (PP, PV, PT, HM, IP, CSP, CSV, and CST) supports
an integer multiple of 125μs (e.g. 125μs, 250μs, 500μs, 1ms, and so on).
