Control Switching - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.2 Control switching

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 (6061h), update of the command value before the switching can be stopped.
Before switching the mode from or to the position mode, check that the servo motor speed is zero speed.
Zero speed can be obtained with Bit 3 (S_ZSP) of Status DO 2 (2D12h). If the servo motor speed is not zero
speed, the control will not be switched and Modes of operation display (6061h) will not change.
POINT
Changes to the OMS bit of Controlword (6040h) 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 (6061h).
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