Control Switching; Profile Position Mode (Pp) - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

6. CONTROL MODE

6.2 Control switching

When telegram 102 is used
Because control switching has a delay, the controller must keep sending command values corresponding to
the control mode before and after the switching. After the completion of control switching has been checked
with Modes of operation display, update of the command value before the switching can be stopped.
Before switching the mode from or to Profile position mode (pp), check that the servo motor speed is zero
speed. Zero speed state can be obtained with Bit 3 (S_ZSP) of Status DO 2 (P11538). If the motor is not
zero speed state, the control will not be switched and Modes of operation display will not change.
Changes to the OMS bit of Controlword are not accepted until control switching is completed. Before
inputting commands, check that the control mode has been switched referring to Modes of operation display.

6.3 Profile position mode (pp)

The following shows the functions and related PROFIdrive parameters of the profile position mode (pp).
Torque limit value (P24800, P24801)
Motion profile type (P24710)
Profile Acceleration (P24707)
Profile deceleration (P24708)
Acceleration
Quick Stop Deceleration (P24709)
Quick stop option code (P24666)
Profile velocity (P24705)
Max profile velocity (P24703)
Max motor speed (P24704)
Target position (P24698)
Position
Software position limit (P24701)
Gear ratio (P24721)
Polarity (P24702)
Following error actual value (P24820)
Position actual value (P24676)
Velocity actual value (P24684)
Torque actual value (P24695)
×
limit
Function
Velocity
limit
×
function
limit
× ×
function
+
-
× × Position actual internal value (P24675)
×
×
Control
effort
(P24826)
Position
control
Position
trajectry
Generator
× ×
6 - 2
Torque
Velocity
control
control
Motor
Encoder