Modes Of Operation/Modes Of Operation Display; Modes Of Operation; Modes Of Operation Display; Fx -Can User's Manual - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
8.11

Modes of operation/Modes of operation display

When BFM #3436 to #3443 and #12436 to 12443 are read, the Modes of operation display is read from
BFMs. When BFM #13436 to #13443 are read, the Modes of operation is read from BFMs. And when BFM
#3436 to #3443 and #13436 to #13443 are written to, the Modes of operation is written to BFMs.

8.11.1 Modes of operation

This Car drive mode of operation is equivalent to object H6060 in the CiA
Bits 8 to 15 are fixed to OFF (0). Even if set to ON (1), these bits will remain OFF (0).
Low byte
Value (Dec)
-128 to -1 Manufacturer-specific operation modes
0 No mode change or no mode assigned
+1 Profile position mode
+2 Velocity mode
+3 Profile velocity mode
+4 Torque profile mode
+5 Reserved
+6 Homing mode
+7 Interpolated position mode
+8 Cyclic sync position mode
+9 Cyclic sync velocity mode
+10 Cyclic sync torque mode
+11 to +127 Reserved

8.11.2 Modes of operation display

This Car drive mode of operation display is equivalent to object H6061 in the CiA
This object provides the actual operation mode. Bits 8 to 15 are fixed to OFF (0) in these BFMs.
The value description can be shown in the Modes of operation.
8.12

Control Effort

This Car drive control effort shall contain the breaking point or breaking distance depending on the target
position given respectively as absolute value or relative value.
The value (32 bit data) shall be given in user-defined position units. It is necessary to read position value by
32 bit instructions.
8.13

Position Actual Value/Target Position

When BFM #3460 to #3475 and #12460 to 12475 are read, the Position actual value is read from BFMs.
When BFM #13460 to #13475 are read, the Target position is read from BFMs. And when BFM #3460 to
#3475 and #13460 to #13475 are written to, the Target position is written to BFMs.

8.13.1 Position actual value

This Car drive position actual value is equivalent to object H6064 in the CiA
shall contain the position of the drive shaft. This information is used to calculate the slippage of the position
unit. The value (32 bit data) shall be given in user-defined position units. This value needs to be handled by
32 bit instructions.
Description
8 CANopen
8.11 Modes of operation/Modes of operation display
®
402-2 V3.0 specifications.
®
402-2 V3.0 specifications.
→ Refer to Subsection 8.11.1
®
402-2 V3.0 specification and
®
417 Mode
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