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6.3
Asynchronous mode (Free-run mode)
When using the cyclic synchronous position mode, cyclic synchronous velocity mode, or cyclic synchronous torque mode in
the asynchronous mode (Free-run mode), set them as shown in the table in this section. Enter a command value for each
communication cycle set in [Cycle Time (Obj. 1C32h: 02h)]. If the command values are not entered for the communication
cycles, the previously entered commands are maintained. Setting this object is not required when using the profile position
mode, profile velocity mode, or profile torque mode. Operation can be performed in any communication cycle.
[Cycle Time (Obj. 1C32h: 02h)]
*1 When no value is set in Cycle time, the communication cycle is 0.25 ms (initial value). The initial value can be changed with [Pr. PN07
Communication cycle setting]. [Pr. PN07 Communication cycle setting] can be used on servo amplifiers with firmware version B6 or
later.
*2 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)
6 SYNCHRONIZATION
22
6.3 Asynchronous mode (Free-run mode)
Local Cycle time
*1*2
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)
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