6 Basic Control Functions
6 - 2
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-1 Outline of Control Functions
This section explains the implemented control functions.
1S-series Servo Drives can use the following controls to control Servomotors.
• Position control
• Velocity control
• Torque control
The following control methods are available for position control and velocity control.
• Two-degree-of-freedom (TDF) control
• One-degree-of-freedom (ODF) control
Each control corresponds to the following modes of operation defined by the CiA402 drive profile.
6-1-1 Basic Control and Control Methods
Basic control
Control
method
Modes of operation
Position control TDF
ODF
Cyclic synchronous position mode
Profile position mode
Homing mode
Velocity control TDF
ODF
Cyclic synchronous velocity mode
Profile velocity mode
Torque control --- Cyclic synchronous torque mode
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