YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

14.2 Modes of Operation14.2.1 Related Objects14-514 CiA402 Drive Profile14.2 Modes of OperationThe SERVOPACK supports the following modes of operation.• Profile Position Mode• Homing Mode• Interpolated Position Mode• Profile Velocity Mode• Torque Profile Velocity Mode• Cyclic Sync Position Mode• Cyclic Sync Velocity Mode• Cyclic Sync Torque Mode14.2.1 Related Objects14.2.2 Dynamic Mode ChangesYou can change the operation mode with modes of operation (6060h). The master must updateall operation mode-specific process data objects at the same time when it changes the opera-tion mode during motor operation. If the master selects a new operation mode, the SERVO-PACK will change to the new operation mode immediately. The following table describesoperation when the operation mode is changed to a new mode.Index Subindex Name Access PDOMapping Unit DataType6060h 0 Modes of operation RW Yes − SINT6061h 0 Modes of operation display RO Yes − SINT6502h 0 Supported drive modes RO No − UDINTNew Operation Mode Operation When Operation Mode Is ChangedProfile Position ModeControlword bit 4 = 0: The motor is stopped in the current position controlmode.Controlword bit 4 = 1: A new positioning operation is started immediately.Homing ModeControlword bit 4 = 0: The motor is stopped in the current position controlmode.Controlword bit 4 = 1: Homing is started immediately.Interpolated Position ModeControlword bit 4 = 0: The motor is stopped in the current position controlmode.Controlword bit 4 = 1: A new positioning operation is started immediately.Profile Velocity Mode The new operation mode is started immediately.Torque Profile Velocity Mode The new operation mode is started immediately.Cyclic Sync Position Mode The new operation mode is started immediately.Cyclic Sync Velocity Mode The new operation mode is started immediately.Cyclic Sync Torque Mode The new operation mode is started immediately.