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2
CONTROL MODE
2.1
Control mode
The method for driving a servo motor varies depending on each control mode. The characteristics of each control mode are
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).
2 CONTROL MODE
10
2.1 Control mode
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 to perform homing with the method specified by the
controller.
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