Cyclic Synchronous Velocity Mode - Omron R88D-KN01L-ECT-L User Manual

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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 force control are performed by the Servo Drive.
The Torque offset (60B2 hex) can be used as the force feed-forward amount.
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 this
function.
Cyclic Synchronous Velocity Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous velocity mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Target velocity (60FF hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex) (=Torque demand)
Position actual value (6064 hex)
The following diagram shows the control function configuration of the Cyclic synchronous velocity
mode.
Velocity offset (60B1 hex)
Target velocity (60FF hex)
Torque offset (60B2 hex)
Max torque (6072 hex)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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Control
Function
6 Basic Control Functions
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Force
Speed
Control
Control
Position actual value (6064 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex) (=Torque demand)
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