Changing The Mode Of Operation - Omron R88M-K User Manual

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Changing the Mode of Operation

The operation mode of the G5-series Servo Drives with built-in EtherCAT communications is changed
as described below.
Changing the Mode of Operation
By setting a mode of operation from the controller, the Servomotor can be operated while switching
the control mode of the Servo Drive.
The mode of operation is changed by changing the set value of Modes of operation (6060 hex).
When changing the mode of operation, also change the command value of the object mapped to the
RxPDO. For example, in the Cyclic synchronous position mode (csp), which is a position control
mode, the Target position (607A hex) is enabled as the command value, whereas in the Cyclic
synchronous velocity mode (csv), which is a speed control mode, the Target velocity (60FF hex) is
enabled as the command value. Therefore, when the mode of operation is changed from the
position control mode to the speed control mode, the enabled command value is set to the Target
velocity (60FF hex) at the same time.
The actual mode of operation of the Servo Drive can be checked from the Modes of operation
display (6061 hex).
Note 1 Change the operation mode while the Servomotor is stopped.
If you change the operation mode while the Servomotor is running, shock may occur in the operation of the
Servomotor.
2 Wait at least 2 ms before changing the mode of operation again. If you change the mode of operation
again within 2 ms, a Command Error (Error No. 91.1) will occur.
Changing to an Unsupported Control Mode
• If 6060 hex is set to a value other than 0 (nma), 1 (pp), 6 (hm), 8 (csp), 9 (csv), or 10 (cst), a
Command Error (Error No. 91.1) will occur.
• If 6060 hex is set to 9 (csv) or 10 (cst) during fully-closed control mode, a Command Error (Error
No. 91.1) will occur.
• If 6060 hex is set to 6 (hm) when the communications cycle is set to 250 or 500 µs, a Function
Setting Error (Error No. 93.4) will occur.
Note Profile position mode (pp) is supported for unit version 2.1 or later. If pp is specified for unit version 2.0, a
Command Error (Error No. 91.1) will occur.
Changing the Control Mode under Warning Conditions
The operation when there is a warning for the related data (Data setting warning or Command
warning) is different depending on the control mode.
• Changing to csp, csv, or cst
If there is a warning for the related data, you cannot change to csp, csv, or cst. The current
operation mode is maintained.
• Changing to hm and pp
The operation mode changes even when there is a warning for the related data.
For the hm mode, a homing error occurs instead of a warning.
Note Profile position mode (pp) is supported for unit version 2.1 or later. If pp is specified for unit version 2.0,
operating mode will not change to Profile position mode (pp).
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Appendices
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