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6
SYNCHRONIZATION
6.1
Availability of synchronous mode in control mode
Availability of synchronous mode (DC mode) and asynchronous mode (Free-run mode) in each mode is shown in the
following table.
Control mode
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
*2
Profile position mode (pp)
*2
Profile velocity mode (pv)
*2
Profile torque mode (tq)
*3
Point table mode (pt)
*3
Jog mode (jg)
Homing mode (hm)
*1 For servo amplifiers with firmware versions earlier than B6, if a servo motor is driven with this combination, [AL. 09E.9 Control mode
setting warning] will occur.
*2 Available on servo amplifiers with firmware version B2 or later.
*3 Available on servo amplifiers with firmware version B8 or later.
6.2
Synchronous mode (DC mode)
In the synchronous mode, the synchronous jitter needs to be kept less than 2 μs. If the synchronous jitter is 2 μs or more, an
error may be detected and an alarm may occur.
*1
[Cycle Time (Obj. 1C32h: 02h)]
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Restrictions on the MR-JET-
_G_" in the following manual.
MR-JET-G-N1 User's Manual (Introduction)
Sync0
0.125 ms (when the PDO communication cycle is set to 0.125 ms)
0.25 ms (when the PDO communication cycle is set to 0.25 ms)
0.5 ms (when the PDO communication cycle is set to 0.5 ms)
1 ms (when the PDO communication cycle is set to 1 ms)
2 ms (when the PDO communication cycle is set to 2 ms)
4 ms (when the PDO communication cycle is set to 4 ms)
8 ms (when the PDO communication cycle is set to 8 ms)
Synchronous mode
6.1 Availability of synchronous mode in control mode
Asynchronous mode
*1
*1
*1
Sync1
Unused
6 SYNCHRONIZATION
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6
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