Communications Error Period Command Correction Function; Operating Conditions; Operation Example - Omron R88M-1M Series User Manual

7 Applied Functions
7-14 Communications Error Period Com-
mand Correction Function
If a target position is lost because of a communications error, this function corrects the next target posi-
tion on the basis of the previous target position.

7-14-1 Operating Conditions

The communications error period command correction function is always enabled under the following
conditions.
• The mode of operation is Cyclic synchronous position mode (csp)
• The synchronous mode is Distributed Clock (DC) Mode
This function corrects a target position so that the Velocity of Position Command (3010-83 hex)
becomes equal to the previous velocity. When the mode of operation is Cyclic synchronous velocity
mode (csv) or Cyclic synchronous torque mode (cst), the previous command is retained.

7-14-2 Operation Example

The following is an operation example. The velocities corrected by this function are closer to the Veloc-
ity of Position Command (3010-83 hex), which is expected when no communications error occurs,
than the velocities not corrected.
Velocity of
Position Command
Communications
error occurs
7 - 50
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Communications
error occurs
When no communications
error occurs
When a communications
error occurs