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

6 Basic Control Functions
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 (force) to the Servo Drive using cyclic synchronization. Force
control is performed by the Servo Drive.
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 Torque Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous torque mode.
Torque offset (60B2 hex)
Target torque (6071 hex)
Torque actual value (6077 hex) (=Torque demand)
Velocity actual value (606C hex)
Position actual value (6064 hex)
The following diagram shows the configuration of the Cyclic synchronous torque mode.
Torque offset (60B2 hex)
Target torque (6071 hex)
Max torque (6072 hex)
Max profile velocity (607F hex)
6-8
+
+
Control
function
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
+
+
Force
control
Position actual value (6064 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
(=Torque demand)
M
S