Chapter 2 Control Mode; Control Mode [G] [Wg]; Control Switching - Mitsubishi Electric MR-J5 Series User Manual

2
CONTROL MODE
2.1

Control mode [G] [WG]

The method for driving a servo motor varies depending on each control mode. The characteristic of each control mode is
shown in the following.
Category
CiA 402 control mode

Control switching

In the motion mode, the control mode can be switched with [Modes of operation (Obj. 6060h)]. Switching the control modes
with [Modes of operation (Obj. 6060h)] applies to the cyclic modes (csp, csv, and cst) and homing mode (hm).
For details of the control switching, refer to the following manual.
MR-J5 User's Manual (Communication Function)
2 CONTROL MODE
18
2.1 Control mode [G] [WG]
Control mode
Cyclic synchronous position
mode
Cyclic synchronous velocity
mode
Cyclic synchronous torque mode
Homing mode
Symbol Description
csp This is a control mode where a position command is received at a
constant period to drive the servo motor in the synchronous
communication with a controller.
Use an absolute position address for the command.
csv This is a control mode where a speed command is received at a constant
period to drive the servo motor in the synchronous communication with a
controller.
cst This is a control mode where a torque command is received at a constant
period to drive the servo motor in the synchronous communication with a
controller.
hm This is a control mode where a homing is performed with the method
directed by the controller.