Mitsubishi Electric MELSERVO-J4 Instruction Manual page 141

7. OBJECT DICTIONARY
(7) Modes of operation display (6061h)
Index Sub
6061h 0
Default
Refer to the text.
The current control mode is returned. The description is as follows.
Setting
value
0 No mode assinged
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
The default values vary depending on the setting value of [Pr. PA01].
Setting value of [Pr.
PA01]
_ _ _ 0
_ _ _1
_ _ _ 2
(8) Supported drive modes (6502h)
Index Sub
6502h 0
Default
0x000003AD
The supported control mode is returned. The description is as follows.
Bit
0 Profile position mode (pp)
1 Velocity mode (vl)
2 Profile velocity mode (pv)
3 Profile torque mode (tq)
4 Reserved
5 Homing mode (hm)
6 Interpolated position mode (ip)
7 Cyclic synchronous position mode (csp)
8 Cyclic synchronous velocity mode (csv)
9 Cyclic synchronous torque mode (cst)
10 Cyclic synchronous torque mode with communication angle (cstca)
10-31 Reserved
The fixed value 000003ADh is returned regardless of the setting of [Pr. PA01]. However, the usable
control modes are limited depending on the setting of [Pr. PA01]. Refer to section 5.4.1 for details.
Name
Modes of operation display
Range
Refer to the text.
Default value
8 (csp)
1 (pp)
Name
Supported drive modes
Range
0x000003AD to 0x000003AD
Description
Data Type
INTEGER8
Units
Description
Data Type
UNSIGNED32
Units
7 - 40
Access PDO Mapping
ro Possible
EEP-ROM Parameter
Impossible
Access PDO Mapping
ro Possible
EEP-ROM Parameter
Impossible
Defined value
1: Supported
0
1: Supported
1: Supported
0
1: Supported
0
1: Supported
1: Supported
1: Supported
0
0