5. CiA 402 DRIVE PROFILE
5 - 6
5.2 Control mode
This section describes the control modes of the MR-J4-_GF_(-RJ) servo amplifier.
5.2.1 Function description
A control mode of the MR-J4-_GF_(-RJ) servo amplifier can be selected with the control mode (Modes of
operation: 6060h). Use [Pr. PA01] to switch the method between the point table method and the indexer
method.
The following is the chart of control modes switchable from the current mode.
Control mode after switching
Point table mode
(pt)
Indexer mode (idx)
Homing mode
(hm)
Jog mode
(jg)
Control mode
before
switching
Control mode
Point table mode (pt)
Indexer mode (idx)
Homing mode (hm)
Jog mode (jg)
: Switchable : Non-switchable
5.2.2 Related object
Index
Sub
Index
Access Name
Data
Type
Default
6060h
0
rw
Modes of operation
I8
0
6061h
0
ro
Modes of operation Display
I8
Refer to (1) in
this section.
To switch the control mode, the master station (controller) sends the designated command value to the
servo amplifier. The master station must keep sending the command value until the mode is completely
switched because there is a delay in switching from one mode to another. When the master station confirms
that the mode has been switched by using Modes of operation display (6061h), the master station can stop
sending the command value.
Make sure that the servo motor is at zero speed before switching to another mode. Zero speed state can be
checked with Bit 3 (S_ZSP) of Status DO 2 (2D12h).
When the current mode is in the indexer mode (idx) or station jog operation mode, turn off Controlword bit4
(New set-point) before switching to another mode. If Controlword bit4 (New set-point) is on, the control mode
will not switch, and thus Modes of operation display (6061h) will not change.
(1) Initial value of Modes of operation display (6061h)
The initial value of Modes of operation display (6061h) varies depending on the setting value of [Pr.
PA01].
[Pr. PA01] setting
Initial value
_ _ _ 0
-101 (pt)
_ _ _ 8
-103 (idx)
Содержание MR-J4-_GF
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