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*1 Available on servo amplifiers with firmware version B2 or later.
*2 Available on servo amplifiers with firmware version B8 or later.
Control switching
• 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)]. In addition, switch the control modes when the start command is turned off.
(For example, when "Homing operation start" is turned off in hm mode.)
• Update [Target position (Obj. 607Ah)] and [Position offset (Obj. 60B0h)] to [Position actual value (Obj.
6064h)] when changing the control mode from the mode other than the cyclic synchronous position mode
(csp) to the cyclic synchronous position mode (csp).
Control switching between position/speed/torque modes
As there is a time lag when switching between control modes, the controller needs to keep sending the command values of
the corresponding control modes until the mode is completely switched. After the completion of the control mode switching is
confirmed by [Modes of operation display], the controller can stop sending the command value relative to the control mode
before switching.
Before switching to or from the position mode, check that the servo motor is in zero speed state. Data of whether the servo
motor is in zero speed state can be obtained by Bit 3 (S_ZSP) of [Status DO 2 (Obj. 2D12h)]. If the motor is not in zero speed
state, the control mode will not be switched and therefore [Modes of operation display (Obj. 6061h)] will not change. To switch
the control mode regardless of the zero speed state, set [Pr. PC76.1 ZSP disabled selection at control switching] to "1" to
disable the monitoring of zero speed state. When the monitoring of zero speed state is disabled, a shock may occur at control
switching.
7 CiA 402 DRIVE PROFILE
7.4 Control mode
7
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