Chapter 2 Control Mode; Control Mode [G] - Mitsubishi Electric MELSERVO-J5 User Manual

2
CONTROL MODE
2.1

Control mode [G]

The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are
shown in the following.
Category
CiA 402 control mode
Positioning mode
(Point table method) (CP)
Thrust/torque control
Slave axis control
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
*4 Available on servo amplifiers with firmware version D0 or later.
2 CONTROL MODE
22
2.1 Control mode [G]
Control mode
Cyclic synchronous position
mode
Cyclic synchronous velocity
mode
Cyclic synchronous torque mode
*1
Profile position mode
*1
Profile velocity mode
*1
Profile torque mode
Homing mode
Point table mode
*3
JOG operation mode
Continuous operation to torque
*2
control mode
*4
Slave axis torque mode
Symbol Description
csp This is a control mode to drive servo motors by receiving a position
command at a constant period in the synchronous communication with a
controller.
Use an absolute position address for the command.
csv This is a control mode to drive servo motors by receiving a speed
command at a constant period in the synchronous communication with a
controller.
cst This is a control mode to drive servo motors by receiving a torque
command at a constant period in the synchronous communication with a
controller.
pp This is a positioning mode to drive servo motors by receiving an end
position command via either synchronous or asynchronous
communication with a controller.
Use an absolute position address or a relative position address for the
command.
pv This is a control mode to drive servo motors by receiving a target speed
command via either synchronous or asynchronous communication with a
controller.
tq This is a control mode to drive servo motors by receiving a target torque
command via either synchronous or asynchronous communication with a
controller.
hm This is a control mode to perform homing with the method specified by the
controller.
pt This is a control mode to drive the servo motor in accordance with the
setting value by selecting the point table with the preset 255 points.
jg This is a control mode that enables desired positioning for machine
adjustment and home positioning.
ct This function enables smooth switching to torque control from the position
control mode or speed control mode without stopping the servo motor.
This eliminates rapid change of speed and torque, contributing to
reduction in load to the machine and high-quality product molding.
slt This control mode drives servo motors by receiving a torque command
from the master axis.
For master-slave operation using CC-Link IE TSN, refer to "Master-slave
operation function" in the User's Manual (Communication Function).