Control Mode; Function Explanation; Related Object - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

5.2

Control mode

This section describes the control modes of the MR-J4-_GF_(-RJ) servo amplifier.

Function explanation

A control mode of the MR-J4-_GF_(-RJ) servo amplifier can be selected with the control mode (Modes of operation: 6060h).
Use [Pr. PA01] to switch the method between the point table method and the indexer method.
The following is the chart of control modes switchable from the current mode.

Control mode before Point table mode (pt)
switching
Indexer mode (idx)
Homing mode (hm)
Jog mode (jg)
: Switchable : Non-switchable

Related object

Index Sub Index
6060h 0
6061h 0
To switch the control mode, the master station (controller) sends the designated command value to the servo amplifier. The
master station must keep sending the command value until the mode is completely switched because there is a delay in
switching from one mode to another. When the master station confirms that the mode has been switched by using Modes of
operation display (6061h), the master station can stop sending the command value.
Make sure that the servo motor is at zero speed before switching to another mode. Zero speed state can be checked with Bit
3 (S_ZSP) of Status DO 2 (2D12h).
When the current mode is in the indexer mode (idx) or station jog operation mode, turn off Controlword bit4 (New set-point)
before switching to another mode. If Controlword bit4 (New set-point) is on, the control mode will not switch, and thus Modes
of operation display (6061h) will not change.
Initial value of Modes of operation display (6061h)
The initial value of Modes of operation display (6061h) varies depending on the setting value of [Pr. PA01].
[Pr. PA01] setting
_ _ _ 0
_ _ _ 8
Control mode after switching
Point table mode Indexer mode (idx)
(pt)
 
 
 
 
Access Name
rw Modes of operation
ro Modes of operation Display
Initial value
-101 (pt)
-103 (idx)
Homing mode (hm) Jog mode (jg)
 
 
 
 
Data Type Default
I8 0
Page 61 Initial value
I8
of Modes of operation
display (6061h)
5 CiA 402 DRIVE PROFILE
5.2 Control mode
5
61