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7.4
Control mode
• The control mode is set to the cyclic synchronous position mode as a default. When using the cyclic
synchronous position mode, perform alignment with the upper controller at servo-on.
• When using the profile mode, switch to the mode in the servo-off state. After the control mode is switched,
turn on the servo-on.
• Switching the control mode without performing alignment may cause unexpected operation of the servo
motor such as quick acceleration.
Selecting control mode (Modes of operation)
Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation] can be rewritten with a PDO or an SDO.
The available control modes are limited as follows depending on the setting value of [Pr. PT01.2].
: Supported, : Not supported
[Pr. PA01.0]
[Pr. PT01.2]
0
0 (mm)
1 (inch)
2 (degree)
3 (pulse)
6
0 (mm)
1 (inch)
2 (degree)
3 (pulse)
*1 Available on servo amplifiers with firmware version B8 or later.
*2 Available on servo amplifiers with firmware version B6 or later.
*3 Setting [Pr. PT01.2] to "0" or "1" triggers [AL. 037 Parameter error].
Index
Sub
6060h
6061h
6502h
7 CiA 402 DRIVE PROFILE
38
7.4 Control mode
pp
pv
*3
*3
*2
Object
Name
VAR
Modes of operation
VAR
Modes of operation display
VAR
Supported drive modes
tq
hm
csp
Data Type
Access
I8
rw
I8
ro
U32
ro
*1
csv
cst
jg
Description
0: No mode change/No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)
*2
-100: Jog mode (jg)
-101: Point table Mode (pt)
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
8: Cyclic sync position mode (csp)
9: Cyclic sync velocity mode (csv)
10: Cyclic sync torque mode (cst)
*2
-100: Jog mode (jg)
-101: Point table Mode (pt)
Bit =1 for the following modes
bit 0: Profile position mode
bit 2: Profile velocity mode
bit 3: Profile torque mode
bit 5: Homing mode
bit 7: Cyclic sync position mode
bit 8: Cyclic sync velocity mode
bit 9: Cyclic sync torque mode
*2
bit 16: Jog mode (jg)
bit 17: Point table Mode (pt)
*1
pt
6061h initial
value
8 (csp)
1 (pp)
8 (csp)
-101 (pt)
*1
*1
*1
*2
*1
*1
*1
*2
*1
*1
*1
*2
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