Cyclic Synchronous Position Mode - Omron R88D-KN series User Manual

6 Basic Control Functions
6-1

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 force 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
force feed-forward amounts.
Precautions for Correct Use Precautions for Correct Use
According to the CiA 402 Drive Profile, the object names between 6000 hex and 6999 hex may
be represented using the word "torque," instead of force. Read it as "force" when using these
objects.
Cyclic Synchronous Position Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous position mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Position offset (60B0 hex)
Target position (607A hex)
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
(=Torque demand)
Position actual value (6064 hex)
The following diagram shows the configuration of the control function of the Cyclic synchronous position
mode.
Position offset (60B0 hex)
Target position (607A hex)
Following error window (6065 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)
6-2
+
+
+
Position
Control
+
Limit
+
function
Software position limit (607D hex)
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
+ +
+
Speed
Control
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Control
function
Torque actual value (6077 hex) (=Torque demand)
Force
M
Control
S