Omron R88D-KN20F-ECT-R User Manual

6-5
6-3 Cyclic Synchronous Position Mode
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
6-3 Cyclic Synchronous Position Mode
In this mode of operation, the controller has a path generation function (an operation profile
calculation function) and it gives the target position to the Servo Drive using cyclic
synchronization. Position control, speed control, and torque control are performed by the
Servo Drive.
The Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as speed feed-
forward and torque feed-forward amounts.
Cyclic Synchronous Position Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous position mode.
The following diagram shows the configuration of the control function of the Cyclic
synchronous position mode.
Target position (607A hex)
Position
Control
Speed
Control
Torque
Control
S
M
Following error actual value (60F4 hex)
Position actual value (6064 hex)
Torque actual value (6077 hex)
(=Torque demand)
+
+
Position offset (60B0 hex)
+
+
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Velocity actual value (606C hex)
Target position (607A hex)
Following error window (6065 hex)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Torque actual value (6077 hex) (=Torque demand)
Velocity actual value (606C hex)
Control
function
Limit
function
Software position limit (607D hex)
+
+
Position offset (60B0 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)

Omron R88D-KN20F-ECT-R Specifications

General

Brand	Omron
Model	R88D-KN20F-ECT-R
Category	Servo Drives
Language	English