Modes Of Operation; Related Objects; Dynamic Mode Changes - YASKAWA SGD7S-1R9D Product Manual

13.2

Modes of Operation

The SERVOPACK supports the following modes of operation.
• Profile Position Mode
• Homing Mode
• Interpolated Position Mode
• Profile Velocity Mode
• Torque Profile Velocity Mode
• Cyclic Sync Position Mode
• Cyclic Sync Velocity Mode
• Cyclic Sync Torque Mode
13.2.1

Related Objects

Index
6060 hex
6061 hex
6502 hex
13.2.2

Dynamic Mode Changes

You can change the operation mode with modes of operation (6060 hex). The master must
update all operation mode-specific process data objects at the same time when it changes the
operation mode during motor operation. If the master selects a new operation mode, the SER-
VOPACK will change to the new operation mode immediately. The following table describes
operation when the operation mode is changed to a new mode.
New Operation Mode
Profile Position Mode
Homing Mode
Interpolated Position Mode
Profile Velocity Mode
Torque Profile Velocity Mode
Cyclic Sync Position Mode
Cyclic Sync Velocity Mode
Cyclic Sync Torque Mode
Subindex Name
0

Modes of operation

0 Modes of operation display
0 Supported drive modes
Operation When Operation Mode Is Changed
Controlword bit 4 = 0: The motor is stopped in the current position control
mode.
Controlword bit 4 = 1: A new positioning operation is started immediately.
Controlword bit 4 = 0: The motor is stopped in the current position control
mode.
Controlword bit 4 = 1: Homing is started immediately.
Controlword bit 4 = 0: The motor is stopped in the current position control
mode.
Controlword bit 4 = 1: A new positioning operation is started immediately.
The new operation mode is started immediately.
The new operation mode is started immediately.
The new operation mode is started immediately.
The new operation mode is started immediately.
The new operation mode is started immediately.
13.2 Modes of Operation

13.2.1 Related Objects

PDO
Access
Mapping
RW Yes
RO Yes
RO No
Data
Unit
Type
−
SINT
−
SINT
−
UDINT
13
13-5