Omron R88D-1SN ECT Series, Руководство пользователя, Страница: 478 / 974

6 Basic Control Functions
6 - 14 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-5 Cyclic Synchronous Torque Mode
In this mode of operation, the controller has a path generation function (an operation profile calculation
function) and it gives the target torque to the Servo Drive in cyclic synchronization.
The following diagram shows the configuration of the Cyclic synchronous torque mode.
The following diagram shows the configuration of the control function of the Cyclic synchronous torque
mode.
Cyclic Synchronous Torque Mode Configuration
Target torque (6071 hex)
Velocity actual value (606C hex)
Torque
control
E
M
Position actual value (6064 hex)
Torque actual value (6077 hex) (= Torque demand)
+
+
Torque offset (60B2 hex)
Velocity
detection
Target torque (6071 hex) Velocity actual value (606C hex)
Position actual value (6064 hex)
Torque actual value (6077 hex)
Control
function
+
+
Torque offset (60B2 hex)
Max torque (6072 hex)
Max profile velocity (607F hex)