Profile Velocity Mode - Omron R88M-1M Series User Manual

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Profile Velocity Mode

In this mode of operation, the controller uses the path generation function (an operation profile calcula-
tion function) inside the 1S-series Servo Drive to control the velocity. It executes path generation based
on the target velocity, profile acceleration, profile deceleration, and other information.
The Profile velocity mode can be used when the communications period is 250 μs or more. If the com-
munications period is less than 250 μs, a Command Error (Error No. 91.01) occurs.
The following diagram shows the configuration of the path generation function.
Target velocity (60FF hex)
Max profile velocity (607F hex)
Profile acceleration (6083 hex)
Profile deceleration (6084 hex)
To use these objects, map them in the variable PDO mapping as appropriate.
Profile Velocity Mode Configuration
The following diagram shows the configuration of the Profile velocity mode.
Velocity demand value (606B hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
Position actual value (6064 hex)
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Limit
function
Path
generation
function
Velocity Torque
control control
Velocity
detection
6 Basic Control Functions
Velocity demand value (606B hex)
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