A-1-3 Modes Of Operation And Applied/Adjustment Functions; A-1-4 Changing The Mode Of Operation - Omron R88D-1SN10F-ECT User Manual

A-1-3 Modes of Operation and Applied/Adjustment Functions
The relationships between the modes of operation of 1S-series Servo Drives with built-in EtherCAT
communications and the applied/adjustment functions are shown below.
Notch filter
Damping filter
Velocity feed-forward function
Torque feed-forward function
Position Command Filter
Velocity Command Filter
Torque command filter
Load characteristic estimation function
Friction torque compensation function
Gain switching function
A-1-4 Changing the Mode of Operation
The operation mode of the 1S-series Servo Drives with built-in EtherCAT communications is changed
as described below.
Changing the Mode of Operation
The operation mode of the Servo Drive is changed by setting the operation mode from the controller,
and the Servo Drive can operate the Servomotor.
To change the operation mode, change the set value of Modes of operation (6060 hex).
The operation mode is changed within two communication cycles after the set value is changed. When
the Homing mode (hm) is changed to another operation mode, the operation mode is changed within 2
ms after the set value is changed.
When you change the operation mode, also change the command value of the object mapped to the
RxPDO.
For example, in Cyclic synchronous position mode (csp), which is a position control mode, Target
Position (607A hex) is enabled as the command value, whereas in Cyclic synchronous velocity mode
(csv), which is a velocity control mode, Target velocity (60FF hex) is enabled as the command value.
Therefore, when the operation mode changes from the position control mode to the velocity control
mode, a valid command value must be set in Target velocity (60FF hex) at the same time.
You can check the actual operation mode of the Servo Drive from the Modes of operation display
(6061 hex).
Changing to an Unsupported Control Mode
If Modes of operation (6060 hex) is set to a value other than 0 (nma), 1 (pp), 3 (pv), 6 (hm), 8 (csp), 9
(csv), or 10 (cst), a warning will occur. If a warning occurs, the operation mode is not changed and the
current operation mode is retained.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Function
Modes of operation
csp
csv
pp
pv
hm
Supported Supported
Supported Not supported
Supported Not supported
Supported Supported
Supported Not supported
Not supported Supported
Supported Supported
Supported Supported
Supported Supported
Supported Supported
Appendices
cst
Supported
Not supported
Not supported
Not supported
Not supported
Not supported
Supported
Supported
Not supported
Supported
A
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