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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-5 Changing the Mode of Operation
The operation mode of the G5-series Servo Drives with built-in EtherCAT communications is changed
as described below.
By setting a mode of operation from the controller, the motor can be operated while switching the
control mode of the Servo Drive.
The mode of operation is changed by changing the set value of Modes of operation (6060 hex).
When changing the mode of operation, also change the command value of the object mapped to the
RxPDO.
For example, in the Cyclic synchronous position mode (csp), which is a position control mode, the
Target position (607A hex) is enabled as the command value. However, in the Cyclic synchronous
velocity mode (csv), which is a speed control mode, the Target velocity (60FF hex) is enabled as the
command value.
Therefore, when the Mode of operation is changed from the position control mode to the speed control
mode, the enabled command value must be set to the Target velocity (60FF hex) at the same time.
The actual mode of operation of the Servo Drive can be checked from the Modes of operation display
(6061 hex).
Precautions for Correct UsePrecautions for Correct Use
• Change the operation mode while the motor is stopped.
If you change the operation mode while the motor is running, shock may occur in the operation
of the motor.
• Wait at least 2 ms before changing the mode of operation again. If you change the mode of
operation again within 2 ms, a Command Error (Error No. 91.1) will occur.
• If Modes of operation (6060 hex) is set to a value other than 0 (nma), 1 (pp), 6 (hm), 8 (csp), 9 (csv),
or 10 (cst), a Command Error (Error No. 91.1) will occur.
• If 6060 hex is set to 6 (hm) when the communications cycle is set to 250 or 500 µs, a Function
Setting Error (Error No. 93.4) will occur.
A-1-5 Changing the Mode of Operation
Changing the Mode of Operation
Changing to an Unsupported Control Mode
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