Directions For Use; Control Mode; Function Description - Mitsubishi Electric MR-JE-*C Instruction Manual

5. CiA 402 DRIVE PROFILE
Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-JE-
_C_ servo amplifier). Refer to the following table for details.
Statusword (bin)
x0xx xxx0 x0xx 0000
x0xx xxx0 x1xx 0000
x0xx xxx0 x01x 0001
x0xx xxx0 x01x 0011
x0xx xxx0 x01x 0111
x0xx xxx0 x00x 0111
x0xx xxx0 x0xx 1111
x0xx xxx0 x0xx 1000
Note. Statusword is not sent in the Not ready to switch on state.

5.1.3 Directions for use

A control command allows a transition to the target status, skipping the statuses in between.
The statuses can transition as shown in the following table, for example. (Refer to the figure in section 5.1.1.)
Current status
(B) Switch on disabled
(B) Switch on disabled
(C) Ready to switch on

5.2 Control mode

This section describes the control modes of the MR-JE-_C servo amplifier.

5.2.1 Function description

A control mode of the MR-JE-_C servo amplifier can be selected with the control mode (Modes of operation:
6060h).
Position (Note)
Speed (Note)
Torque (Note)
Control mode
Profile
before
switching
Control mode
Positioning
Home position return
: Switchable : Non-switchable
Note. When Modbus RTU communication is not used, switch any one of the control modes (positioning/speed/torque) with [Pr. PA01]
and LOP (control switching). When Modbus RTU communication is used, setting [Pr. PC71] "Control switching method selection"
to "2 _ _ _" (Modbus register (6060h)) enables the control modes (positioning/speed/torque) to be switched with the
objects/registers.
After switching control modes, check that the control modes have been switched by monitoring the control
mode display (Modes of operation Display: 6061h).
Not ready to switch on (Note)
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
Fault reaction active
Fault
Command
Switch on
Enable operation
Enable operation
Position Speed Torque
pp
pv
tq
pt
idx
jg
State machine
(D) Switched on
(E) Operation enabled
(E) Operation enabled
Control mode after switching
Profile
pp pv tq
5 - 5
Status after transition
Positioning
Home position
return
pt idx jg