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Control mode
The servo amplifier supports the following control modes.
Control mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Profile position mode
Profile velocity mode
Profile torque mode
Point table mode
JOG operation mode
Homing mode
Compliance with standards
The servo amplifiers comply with the standards shown below. For the descriptions which are not in this manual, refer to the
following standards.
Standards
ETG.1000.2 EtherCAT Specification - Part2
Physical Layer service definition and protocol specification
ETG.1000.3 EtherCAT Specification - Part3
Data Link Layer service definition
ETG.1000.4 EtherCAT Specification - Part4
Data Link Layer protocol specification
ETG.1000.5 EtherCAT Specification - Part5
Application Layer service definition
ETG.1000.6 EtherCAT Specification - Part6
Application Layer protocol specification
ETG.1020 EtherCAT Protocol Enhancements
ETG.1300 EtherCAT Indicator and Labeling Specification
ETG.2000 EtherCAT Slave Information (ESI) Specification
ETG.6010 Implementation Directive for CiA 402 Drive Profile
ETG.5003.1 Semiconductor Device Profile - part1 CommonDeviceProfile
ETG.5003.2 Semiconductor Device Profile - part2 Firmware Update
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
*1 It complies with the items in CDP (CommonDeviceProfile) in the standards for servo amplifiers with firmware version D4 or later.
Symbol
Description
csp
This is a control mode to drive servo motors by receiving a position command cyclically via either
synchronous or asynchronous communication with a controller.
Use an absolute position address for the command.
csv
This is a control mode to drive servo motors by receiving a speed command cyclically via either
synchronous or asynchronous communication with a controller.
cst
This is a control mode to drive servo motors by receiving a torque command cyclically via either
synchronous or asynchronous communication with a controller.
pp
This is a position control mode where an end position command is received to drive the servo motor in
either the synchronous or asynchronous communication with a controller. Use an absolute position
address or a relative position address for the command.
pv
This is a control mode to drive servo motors by receiving a target speed command via either
synchronous or asynchronous communication with a controller.
tq
This is a control mode to drive servo motors by receiving a target torque command via either
synchronous or asynchronous communication with a controller.
pt
This is a control mode to drive servo motors according to commands such as travel distance and speed
which are stored in the point table number specified via either synchronous or asynchronous
communication with a controller. This control mode is not in CiA 402 standard (Mitsubishi Electric
original).
Available on servo amplifiers with firmware version B8 or later.
jg
This is a control mode where the servo motor speed is set to drive the servo motor manually via either
synchronous or asynchronous communication with a controller. This control mode is not in CiA 402
standard (Mitsubishi Electric original).
Available on servo amplifiers with firmware version B8 or later.
hm
This is a control mode to perform homing with the method specified by the controller.
*1
Version
V1.0.4
V1.0.4
V1.0.4
V1.0.4
V1.0.4
V1.2.0
V1.1.1
V1.0.10
V1.1.0
V1.1.0
V1.0.1
Edition 2.0
Edition 2.0
1 FUNCTIONS AND CONFIGURATION
1.1 Outline
1
7
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