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5. PARAMETERS
5.2 Detailed list of parameters
5.2.1 Basic setting parameters ([Pr. PA_ _ ])
No./
Setting
symbol/name
digit
PA01
_ _ _ x Control mode selection
**STY
Select a control mode.
Operation
0: Automatic selection by each network
mode
It will be "Profile mode" during test operation or when the network module is not
connected.
1: Cyclic synchronous mode
2: Profile mode
Setting "1" when an incompatible network module is connected will trigger [AL. 37
Parameter error].
Refer to table 5.1 for details.
_ _ x _ Operation mode selection
0: Standard control mode
1: Fully closed loop control mode
4. Linear servo motor control mode
6: DD motor control mode
Setting other than above will trigger [AL. 37 Parameter error].
_ x _ _ For manufacturer setting
x _ _ _
Table 5.1 Control mode selection
[Pr. PA01]
setting
_ _ _ 0
_ _ _ 1
_ _ _ 2
Note 1. Selecting "Fully closed loop selection command from controller (C_CLD) and switching by
2. This is used with servo amplifiers with software version B0 or later.
POINT
Set a value to each "x" in the "Setting digit" columns.
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
EtherNet/IP is available with servo amplifiers with software version B0 or later.
Control mode
EtherCAT
Cyclic synchronous mode
(csp/csv/cst) (Note 1)
Homing mode (hm)
Cyclic synchronous mode
(csp/csv/cst)
Homing mode (hm)
Profile mode (pp/pv/tq)
Homing mode (hm)
Input device CLD (Fully closed loop selection) (_ _ _ 1)" of "Fully closed loop function
selection" in [Pr. PE01] will trigger [AL. 37 Parameter error] by turning on the test operation
select switch (SW1-1).
Function
EtherNet/IP (Note 2)
Profile mode (pp/pv/tq)
Homing mode (hm)
Profile mode (pp/pv/tq)
Homing mode (hm)
5 - 15
Initial
Network
value
ECT EIP
[unit]
0h
0h
0h
1h
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