6 - 5
6 Basic Control Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6-2 C
yclic Synch
ron
ous
V
e
locity Mod
e
6
6-2
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.
The following diagram shows the configuration of the Cyclic synchronous velocity mode.
The following diagram shows the control function configuration of the Cyclic synchronous velocity
mode.
Cyclic Synchronous Velocity Mode Configuration
Target velocity (60FF hex)
S
M
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
+
+
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Velocity actual value (606C hex)
Speed
Control
Force
Control
Target velocity (60FF hex)
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
Velocity actual value (606C hex)
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)
Control
Function
