Cyclic Synchronous Torque Mode - Omron R88M-K 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 to the Servo Drive using cyclic synchronization. Torque control is
performed by the Servo Drive.
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
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G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
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Torque
control
Position actual value (6064 hex)
Velocity actual value (606C hex)
Control
Torque actual value (6077 hex)
function
(=Torque demand)
M
S