19．EtherNet/IP COMMUNICATION
19.5.4 Control mode
19.5.4.1 Selecting control mode (Modes of operation)
Specify a control mode with Modes of operation (Class ID: 64h, Ins ID: 6060h, Attr ID: 0). Modes of operation
(Class ID: 64h, Ins ID: 6060h, Attr ID: 0) can be rewritten with the I/O communication or the Explicit Message
communication.
6060h/6061h
Default value
_ _ _ 0: Automatic selection by each
network
_ _ _ 2: Profile mode
The following table shows the objects selected for control modes.
Differs
depending
on
[Pr. PA01].
Refer to section 7.3.8 (6).
Modes of
operation display
Differs
depending
on
[Pr. PA01].
Refer to section 7.3.8 (7).
Refer to
section
7.3.8 (8).
Refer to section 7.3.8 (8).
19.5.4.2 Control switching
Changes to the OMS bit of Controlword (Class ID: 64h, Ins ID: 6040h, Attr ID: 0)
are not accepted until control switching is completed. Before inputting
commands, check that the control mode has been switched referring to Modes
of operation display (Class ID: 64h, Ins ID: 6061h, Attr ID: 0).
Because control switching has a delay, the upper side must keep sending command values corresponding to
the control mode before and after the switching. After the completion of control switching has been checked
with Modes of operation display (Class ID: 64h, Ins ID: 6061h, Attr ID: 0), update of the command value
before the switching can be stopped.
Before switching the mode from or to the position mode, check that the servo motor speed is zero speed.
Zero speed can be obtained with Bit 3 (S_ZSP) of Status DO 2 (Class ID: 64h, Ins ID: 2D12h, Attr ID: 0). If
the servo motor speed is not zero speed, the control will not be switched and Modes of operation display
(Class ID: 64h, Ins ID: 6061h, Attr ID: 0) will not change.
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