Mitsubishi Electric MR-J5-G User Manual page 77

Control mode
• The control mode is set to the cyclic synchronous position mode as a default. When using the cyclic
synchronous position mode, perform position follow-up with the controller at servo-on.
• To use the profile mode, switch to the mode in the servo-off state. After the control mode is switched, turn on
the servo-on.
• If the control mode is switched without performing position follow-up, unexpected movements such as
sudden acceleration of the servo motor may occur.
■Motion mode
For the list of control modes, refer to the "Function explanation" in the following manual.
MR-J5 User's Manual (Function)
■Selecting control mode (Modes of operation)
Specify a control mode with [Modes of operation (Obj. 6060h)]. [Modes of operation (Obj. 6060h)] can be rewritten with a PDO
or an SDO. The available control modes are limited as follows depending on the setting value of [Pr. PT01.2].
: Supported, : Not supported
[Pr. PA01.0] [Pr. PT01.2] pp
*6

0 0 (mm)
*6
1 (inch) 
*3

2 (degree)

3 (pulse)

6 0 (mm)
1 (inch)
2 (degree)
3 (pulse)
*1 Available on servo amplifiers with firmware version A5 or later.
*2 Available on servo amplifiers with firmware version B0 or later.
*3 Available on servo amplifiers with firmware version B6 or later.
*4 Available on servo amplifiers with firmware version B8 or later.
*5 To switch to continuous operation to the torque control mode (ct), the switching must be performed from the cyclic synchronous position
mode (csp) or cyclic synchronous velocity mode (csv).
*6 Setting "0" or "1" in [Pr. PT01.2] triggers [AL. 037 Parameter error].
*7 The slave axis torque mode (slt) is a control mode for slave axes in the master-slave operation function. The mode switches
automatically depending on the servo parameter setting. Refer to the following for details.
Page 20 Master-slave operation function
• Related objects
Index Sub Object
Index
6060h 0 VAR
6061h 0 VAR
6502h 0 VAR
*1 *1 *1
pv tq hm csp
   
   
   
   
   
Name
Modes of operation
Modes of operation display
Supported drive mode
*4
csv cst jg pt
   
   
   
   
   
Data Access Default
Type value
I8 rw 0h

I8 ro
U32 ro 000003A0h
*4 *2 *7
ct slt 6061h
Initial value
 
8 (csp)
 
 
1 (pp)
*5
  8 (csp)
 
-101 (pt)
Description
MR-J5-G/MR-J5W-G User's
Manual (Object Dictionary)
1 CC-Link IE TSN
1.4 APPENDIX
1
75