Control Mode; Selecting Control Mode (Modes Of Operation); Control Switching - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4 Control mode

5.4.1 Selecting control mode (Modes of operation)

Specify a control mode with Modes of operation (6060h). Modes of operation (6060h) can be rewritten with
PDO or SDO. Note that usable control modes are limited depending on the setting of [Pr. PA01], as shown in
the following table.
Pr. PA01 setting value
_ _ _ 0: Automatic selection by each network
_ _ _ 1: Cyclic synchronous mode
_ _ _ 2: Profile mode
_ _ _ 6: Positioning mode (point table method)
(Note)
_ _ _ 8: Positioning mode (indexer method)
(Note)
Note. This is available with servo amplifiers with software version B2 or later.
The following table shows the objects selected for control modes.
Index Sub Object
6060h VAR
6061h VAR
6502h VAR

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.
pp pv
Name
Modes of operation
Modes of operation
display
Supported drive
mode
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).
tq hm csp csv cst
Data
Access Default
Type
Differs
I8 rw depending on
[Pr. PA01].
Differs
I8 ro depending on
[Pr. PA01].
Refer to
U32 ro section 7.3.8
(8).
5 - 12
jg pt idx 6060h/6061h
Default value
(Note) (Note) (Note)
8 (csp)
1 (pp)
-101 (pt)
-103 (idx)
Description
Refer to section 7.3.8 (6).
Refer to section 7.3.8 (7).
Refer to section 7.3.8 (8).