Profile Position Mode - Omron R88L-EC Series User Manual

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Profile Position Mode

In this mode of operation, the controller uses the path generation function (an operation profile
calculation function) inside the G5-series Servo Drive to perform PTP positioning operation. It executes
path generation, position control, speed control, and torque control based on the target position, profile
velocity, profile acceleration, profile deceleration, and other information.
Target position
(607A hex)
The configuration of the path generation function is as follows:
Target position (607A hex)
Profile velocity (6081 hex)
Profile acceleration (6083 hex)
Profile deceleration (6084 hex)
Motion profile type (6086 hex)
Profile Position Mode Configuration
The configuration of Profile position mode is as follows:
Position demand value (6062 hex)
Following error actual value (60F4 hex)
Control effort (60FA hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
(=Torque demand)
Position actual value (6064 hex)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Path Generation
Position demand
Parameter
internal value
(60FC hex) or
Position demand
Value (6062 hex)
Path Generation
Function
Limit
Function
Limit
Function
Limit
Function
Position
Control
6 Basic Control Functions
Position Control
Parameter
Control effort
(60FA hex)
Position Control
Function
Position demand value (6062 hex)
Position demand internal value (60FC hex)
Path
Generation
Function
Force
Speed
Control
Control
6
M
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