Control Switching - Mitsubishi Electric MELSERVO-J5 User Manual

Control switching

• The control mode is set to the cyclic synchronous position mode as a default. When using the cyclic
synchronous position mode, perform position follow-up with the controller at servo-on.
• To use the profile mode, switch to the mode in the servo-off state. After the control mode is switched, turn on
the servo-on.
• If the control mode is switched without performing position follow-up, unexpected movements such as
sudden acceleration of the servo motor may occur.
The control mode can be switched with [Modes of operation (Obj. 6060h)]. Switching the control modes with [Modes of
operation (Obj. 6060h)] applies to the cyclic modes (csp, csv, and cst), profile modes (pp, pv, and tq), homing mode (hm), and
continuous operation to torque control mode (ct).
For details of the control switching, refer to the User's Manual (Communication Function).
The positioning mode (point table method), can be switched to point table mode (pt), JOG operation mode (jg), home position
mode (hm).
Control switching in positioning mode
The control mode is switched (pt, jg, and hm) only if the condition for control switching is met, following which [Modes of
operation display (Obj. 6061h)] is changed. If the condition for control switching is not met, the control mode will not be
switched and the value in [Modes of operation display (Obj. 6061h)] will not be changed. The condition for control switching is
"Motor being stopped".
"Motor being stopped" means that bit 3 of [Status DO 2 (Obj. 2D12h: 00h)] (S_ZSP) is on, and bit 6 of [Status DO 5 (Obj.
2D15h: 00h)] (S_MEND) is on.
In the servo off-state, control switching can be performed if S_ZSP is on.
Precautions
• Changes to the OMS Bit of [Controlword (Obj. 6040h)] are not accepted until control switching finishes. Before inputting
commands, check that the control mode has been switched by referring to [Modes of operation display (Obj. 6061h)].
• Switch the control modes when the start command is turned off. (For example, when "Homing operation start" is turned off
in homing mode (hm).)
The following shows a timing chart of control switching from the point table mode (pt) to JOG operation mode (jg).
Modes of operation
[Obj. 6060h]
Modes of operation display
[Obj. 6061h]
ON
S_MEND
[Obj. 2D15h]
OFF
ON
S_ZSP
[Obj. 2D12h]
OFF
Servo motor speed
Within 4 ms
pt
pt
jg
jg
Zero speed level
2 CONTROL MODE
23
2.1 Control mode [G]
2