Control Mode; Selection Of Control Mode - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

6. CONTROL MODE

6. CONTROL MODE

6.1 Selection of control mode

Specify a control mode with the combinations of the following conditions.
[Pr. PA01] (P8193)
Telegram setting from controller
Modes of operation area in Telegram (only Telegram 102)
When the Telegram setting is other than the following combinations, [AL. 37] will occur.
Telegram
Pr. PA01
Setting
_ _ _ 0 1
_ _ _ 2
_ _ _ 0 100
_ _ _ 2
_ _ _ 0 102
_ _ _ 2
_ _ _ 1
Note. The control mode at power on will be Profile position mode.
The following table shows the objects related to control modes.
PNU Sub Access
24672 0 R/W
24673 0 R
25858 0 R
Modes of
operation
Profile velocity mode (pv)
Profile torque mode (tq)
0 No mode change/No mode assigned
(Note)
1 Profile position mode (pp)
3 Profile velocity mode (pv)
4 Profile torque mode (tq)
6 Homing mode (hm)
Name
Modes of operation
Modes of operation display
Supported drive mode
Control mode
Data Type
Integer8 Differs depending on [Pr. PA01].
Integer8 Differs depending on [Pr. PA01].
Unsigned32
6 - 1
Remark
Not supported ([AL. 37] occurs.)
Default
0000002Dh
Description
Refer to
section 9.3.6.
Refer to
section 9.3.6.
Refer to
section 9.3.6.