6 - 11
6 Basic Control Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6
-4 Profile Position
Mod
e
6
6-4
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.
The configuration of the path generation function is as follows:
The configuration of Profile position mode is as follows:
Profile Position Mode Configuration
Target position
(607A hex)
Position demand
internal value
(60FC hex) or
Position demand
Value (6062 hex)
Control effort
(60FA hex)
Path Generation
Function
Position Control
Function
Path Generation
Parameter
Position Control
Parameter
Profile velocity (6081 hex)
Motion profile type (6086 hex)
Profile deceleration (6084 hex)
Position demand internal value (60FC hex)
Position demand value (6062 hex)
Profile acceleration (6083 hex)
Target position (607A hex)
Path
Generation
Function
Limit
Function
Limit
Function
Limit
Function
Position demand value (6062 hex)
S
Following error actual value (60F4 hex)
Position actual value (6064 hex)
Torque actual value (6077 hex)
(=Torque demand)
Velocity actual value (606C hex)
Control effort (60FA hex)
M
Position
Control
Speed
Control
Force
Control
