Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1 User Manual page 42

Control switching between cyclic mode (csp/csv/cst) and profile mode (pp/pv/tq)
The control mode is switched between the cyclic mode (csp/csv/cst) and the profile mode (pp/pv/tq), and [Modes of operation
display (Obj. 6061h)] is changed only if condition for control switching is met. If the condition for control switching is not met,
the control mode will not be switched and [Modes of operation display (Obj. 6061h)] will also not be changed. The condition
for control switching is "Motor being stopped".
"Motor being stopped" means that S_ZSP (Bit 3 of [Status DO 2 (Obj. 2D12h)]) is on.
(servo motor speed being less than zero speed set in [Pr. PC07])
Setting "1" (Disabled (Control switching is performed regardless of the range of ZSP)) to [Pr. PC76.1] enables the control
mode to be switched without checking the condition "Motor being stopped" on the servo amplifier. Set "1" to [Pr. PC76.1] only
if switching the control mode without waiting for the motor to stop. Switching the control mode without waiting for the motor to
stop may cause a shock.
The following shows a timing chart of control switching between the cyclic mode (csp) and the profile mode (pp).
[Modes of operation (Obj. 6060h)]
[Modes of operation display (Obj. 6061h)]
S_ZSP
(Bit 3 of [Status DO 2 (Obj. 2D12h)])
Servo motor speed
7 CiA 402 DRIVE PROFILE
40
7.4 Control mode
csp
ON
OFF
Within 4 ms
pp
csp
Zero speed level
pp