Criteria for Changing the Control Mode
When you stop an axis for an OMRON 1S-series Servo Drive or G5-series Servo Drive, the MC Func-
tion Module sets the V
elocity Limit Value (607F hex) to 0. The Control Mode is changed to CSP Mode
when the following criterion is met for three consecutive periodic tasks after that.
Actual current velocity ≤ Maximum velocity × 0.1
With a servo drive from another manufacturer, the Control Mode of the Servo Drive changes from CST
to CSP Mode and the Servo is turned ON at the actual current position when the mode changes.
Precautions for Correct Use
Here, the task period is the primary period.
Failure to Change the Control Mode
If the Servo Drive does not complete switching the Control Mode within 1 second after a Control Mode
switch command is sent from the MC Function Module, an Error in Changing Servo Drive Control
Mode (error code: 7439 hex) occurs and the Servo is turned OFF
, i.e., a free-run stop occurs.
For details on the Error in Changing Servo Drive Control Mode (error code: 7439 hex), refer to the NY-
series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (Cat. No. W559).
If the criteria for changing is not met within 10 seconds after the Velocity Limit Value is set to 0, the
Servo is turned OFF in the same was as given above.
Operation Examples for Changing the Control Mode
The relationship between the command torque and command velocity until the Control Mode changes
is described in the following examples where the Control Mode is changed during axis operation.
Precautions for Correct Use
An error will occur in some Servo Drives if the Control Mode in the Servo Drive changes during
axis motion.
Changing from Position Control to Torque Control
3 Axis Command Instructions
3-344
NY-series Motion Control Instructions Reference Manual (W561)
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