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6
SYNCHRONIZATION
6.1
Availability of synchronous mode in control mode
Availability of synchronous mode (DC mode) and asynchronous mode (Free-run mode) in each mode is shown in the
following table.
Control mode
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Profile position mode (pp)
*2
Profile velocity mode (pv)
*2
Profile torque mode (tq)
Homing mode (hm)
*1 If a servo motor is driven with this combination, [AL. 09E.9 Control mode setting warning] will occur.
*2 This control mode is not available for multi-axis servo amplifiers.
6.2
Synchronous mode (DC mode)
In the synchronous mode, the synchronous jitter needs to be kept less than 2 μs. If the synchronous jitter is 2 μs or more, an
error may be detected and an alarm may occur.
• Synchronous mode setting
Cycle time
*1
(Obj. 1C32h: 02h)
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Function restrictions" in the
following manual.
MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction)
Sync0
0.125 ms (when the PDO communication cycle is set to 0.125 ms)
0.25 ms (when the PDO communication cycle is set to 0.25 ms)
0.5 ms (when the PDO communication cycle is set to 0.5 ms)
1 ms (when the PDO communication cycle is set to 1 ms)
2 ms (when the PDO communication cycle is set to 2 ms)
4 ms (when the PDO communication cycle is set to 4 ms)
8 ms (when the PDO communication cycle is set to 8 ms)
Synchronous mode
6.1 Availability of synchronous mode in control mode
Asynchronous mode
*1
*1
*1
Sync1
Unused
6 SYNCHRONIZATION
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6
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