-16-
4.1 Operation mode
【
Pr. PA01
】
Select the control mode to be used.
For more information, please refer to section 8.1.3 of this manual.
POINT
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
PNT: PROFINET
[Pr. PA01]
setting
Control mode
EtherCAT
EtherNet/IP
PROFINET
_ _ _ 0
Cyclic synchronous mode
Homing mode
Profile mode /homing mode
_ _ _ 1
Cyclic synchronous mode
Homing mode
_ _ _ 2
Profile mode / homing mode
_ _ _ 6
Point table mode / Jog
mode / homing mode
Point table mode / Jog
mode / homing mode
_ _ _ 8
Indexer mode / Jog mode
/ homing mode
Indexer mode / Jog mode
/homing mode
See below for a description of each control mode.
Function
Description
Network
ECT EIP PNT
Cyclic synchronous position
mode (csp)
The position control operation performed by a synchronous sequential position command through
network is supported.
Cyclic synchronous velocity
mode (csv)
The speed control operation performed by a synchronous sequential speed command through
network is supported.
Cyclic synchronous torque
mode (cst)
The torque control operation performed by a synchronous sequential torque command through
network is supported.
Profile position mode (pp)
The positioning operation performed by an asynchronous end position command through network is
supported.
Profile velocity mode (pv)
The speed control operation performed by an asynchronous speed command through network is
supported.
Profile torque mode (tq)
The torque control operation performed by an asynchronous torque command through network is
supported.
Homing mode (hm)
The home position return operation specified in each network is supported.
Point table mode (pt)
Set 1-to-255-point tables in advance, and select any point table to perform operation in accordance
with the set values.
Indexer mode (idx)
Set the station positions divided into 2 to 255 in advance to perform operation to the station
positions.
Jog mode (jg)
This is a control mode where the servo motor speed is set to drive the servo motor manually.
