Chapter 2 Control Mode; Control Mode [G] [Wg]; Control Switching - Mitsubishi Electric MELSERVO-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 characteristics of each control mode are
shown in the following.
Category Control mode
CiA 402 control mode Cyclic synchronous position
mode
Cyclic synchronous velocity
mode
Cyclic synchronous torque mode
Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
Thrust/torque control Continuous operation to torque
control mode
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.

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), profile modes (pp, pv, and tq), homing
mode (hm), and continuous operation to torque control mode (ct).
Symbol Description
csp This is a control mode to drive servo motors by receiving a position
command at a constant period in the synchronous communication with a
controller.
Use an absolute position address for the command.
csv This is a control mode to drive servo motors by receiving a speed
command at a constant period in the synchronous communication with a
controller.
cst This is a control mode to drive servo motors by receiving a torque
command at a constant period in the synchronous communication with a
controller.
*1
pp This is a positioning mode to drive servo motors by receiving an end
position command via either synchronous or asynchronous
communication with a controller.
Use an absolute position address or a relative position address for the
command.
*1
pv This is a control mode to drive servo motors by receiving a target speed
command via either synchronous or asynchronous communication with a
controller.
*1
tq This is a control mode to drive servo motors by receiving a target torque
command via either synchronous or asynchronous communication with a
controller.
hm This is a control mode to perform homing with the method specified by the
controller.
ct This function enables smooth switching to torque control from the position
*2
control mode or speed control mode without stopping the servo motor.
This eliminates rapid change of speed and torque, contributing to
reduction in load to the machine and high-quality product molding.
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
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