Omron R88M-K - 6-2 Cyclic Synchronous Velocity Mode

6-5
6 Basic Control Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-2 Cyclic Synchronous Velocity Mode
6
6-2 Cyclic Synchronous Velocity Mode
In this mode of operation, the controller has a path generation function (an operation profile calculation
function) and it gives the target speed to the Servo Drive using cyclic synchronization. Speed control
and torque control are performed by the Servo Drive.
The Torque offset (60B2 hex) can be used as the torque feed-forward amount.
The following diagram shows the configuration of the Cyclic synchronous velocity mode.
The following diagram shows the control function configuration of the Cyclic synchronous velocity
mode.
Cyclic Synchronous Velocity Mode Configuration
Target velocity (60FF hex)
S
M
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
+
+
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Velocity actual value (606C hex)
Speed
control
Torque
control
Target velocity (60FF hex) Position actual value (6064 hex)
Torque actual value (6077 hex)
(=Torque demand)
Velocity actual value (606C hex)
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)
Control
function