Omron NY532-1500 Reference Manual page 404

3 Axis Command Instructions
Criteria for Changing the Control Mode
When you stop an axis for an OMRON 1S-series Servo Drive or G5-series Servo Drive, the MC
Function Module sets the Velocity Limit Value (607F hex) to 0. The Control Mode is changed to CSP
Mode when the following criterion is met for three consecutive periodic tasks after that.
Actual current velocity ≤ Maximum velocity × 0.1
With a servo drive from another manufacturer, the Control Mode of the Servo Drive changes from
CST to CSP Mode and the Servo is turned ON at the actual current position when the mode
changes.
Precautions for Correct Use Precautions for Correct Use
Here, the periodic task is the primary periodic task or the priority-5 periodic task.
Failure to Change the Control Mode
If the Servo Drive does not complete switching the Control Mode within 1 second after a Control
Mode switch command is sent from the MC Function Module, an Error in Changing Servo Drive
Control Mode (error code: 7439 hex) occurs and the Servo is turned OFF, i.e., a free-run stop
occurs.
For details on the Error in Changing Servo Drive Control Mode (error code: 7439 hex), refer to the
NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) or NY-series Industrial Panel
PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559).
If the criteria for changing is not met within 10 seconds after the Velocity Limit Value is set to 0, the
Servo is turned OFF in the same was as given above.
Operation Examples for Changing the Control Mode
The relationship between the command torque and command velocity until the Control Mode
changes is described in the following examples where the Control Mode is changed during axis
operation.
Precautions for Correct Use Precautions for Correct Use
An error will occur in some Servo Drives if the Control Mode in the Servo Drive changes during
axis motion.
Changing from Position Control to Torque Control
3-320 NY-series Motion Control Instructions Reference Manual (W561)