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2
FUNCTION
2.1
Restrictions on the MR-J5_-_G_
Category
Detailed functions
Control mode
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Point table method
([Pr. PA01.0 Control mode selection] =
"6")
Command unit selection function
(When [Pr. PT01.2 Unit for position data]
is set to "2" (degree))
2.2
Function list
The function list of this drive unit is shown in the following table. For details of the functions, refer to each section indicated in
the detailed explanation field.
Control mode
Functions
Detailed functions
CiA 402 control
Cyclic synchronous position
mode
mode (csp)
Cyclic synchronous velocity
mode (csv)
Cyclic synchronous torque
mode (cst)
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Point table method
Point table mode (pt)
JOG operation mode (jg)
Test operation
Test operation mode
*1 "Ver." indicates the supported firmware version of the drive unit. The functions are available on drive units with the indicated firmware
version or later.
*2 This control mode is not available for multi-axis drive units.
2 FUNCTION
22
2.1 Restrictions on the MR-J5_-_G_
Network communication cycle restrictions (minimum)
MR-J5D1-_G_-N1
250 μs
250 μs
250 μs
250 μs
250 μs
Description
This function operates the servo motor in the
cyclic synchronous position mode.
This function operates the servo motor in the
cyclic synchronous velocity mode.
This function operates the servo motor in the
cyclic synchronous torque mode.
This function operates the servo motor in the
profile position mode.
*2
This function operates the servo motor in the
profile velocity mode.
*2
This function operates the servo motor in the
profile torque mode.
This function either operates the servo motor in
the homing mode or performs homing.
This function operates the servo motor
according to the setting values by selecting the
point table with preset 255 points.
This control mode enables desired positioning
for machine adjustment and home positioning.
This function requires MR Configurator2 for
JOG operation, positioning operation, motor-
less operation, DO forced output, and program
operation.
MR-J5D2-_G_-N1
MR-J5D3-_G_-N1
500 μs
500 μs
Not used
Not used
Not used
Not used
500 μs
500 μs
500 μs
500 μs
*1
Ver.
Detailed explanation
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Refer to "CONTROL MODE" in the
following manual.
MR-J5 User's Manual (Function)
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Page 54 Test operation
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