Omron R88M-K - 6-3 Cyclic Synchronous Torque Mode

6 Basic Control Functions
6-8
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6-3 Cyclic Synchronous Torque Mode
In this mode of operation, the controller has a path generation function (an operation profile calculation
function) and it gives the target torque to the Servo Drive using cyclic synchronization. Torque control is
performed by the Servo Drive.
The following diagram shows the configuration of the Cyclic synchronous torque mode.
The following diagram shows the configuration of the Cyclic synchronous torque mode.
Cyclic Synchronous Torque Mode Configuration
Target torque (6071 hex)
V
elocity actual value (606C hex)
S
M
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
+
+
Torque offset (60B2 hex)
Torque
control
Target torque (6071 hex) Velocity actual value (606C hex)
Position actual value (6064 hex)
Torque actual value (6077 hex)
(=Torque demand)
+
+
Torque offset (60B2 hex)
Max torque (6072 hex)
Max profile velocity (607F hex)
Control
function