Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual page 42

Control switching between cyclic mode (csp, csv, and cst) and profile mode (pp, pv,
and tq)
The control mode is switched between the cyclic mode (csp, csv, and cst) and the profile mode (pp, pv, and tq) 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 S_ZSP (Bit 3 of [Status DO 2 (Obj. 2D12h)]) is on.
(Servo motor speed being less than zero speed set in [Pr. PC07])
Setting "1" (disabled (control switching is performed regardless of the range of ZSP)) to [Pr. PC76.1] enables the control mode
to be switched without checking the condition "Motor being stopped" on the servo amplifier. Set "1" to [Pr. PC76.1] only if
switching the control mode without waiting for the motor to stop. Switching the control mode without waiting for the motor to
stop may cause a shock.
The following shows a timing chart of control switching between the cyclic mode (csp, csv, and cst) and the profile mode (pp,
pv, and tq).
[Modes of operation (Obj. 6060h)]
[Modes of operation display (Obj. 6061h)]
S_ZSP
(Bit 3 of [Status DO 2 (Obj. 2D12h)])
Servo motor speed
Control switching in positioning mode
Refer to "Control switching in positioning mode" in the following manual.
MR-JET User's Manual (Function)
7 CiA 402 DRIVE PROFILE
40
7.4 Control mode
csp
ON
OFF
Within 4 ms
pp
csp
Zero speed level
pp