Omron R88D-1SN01H-ECT, Руководство пользователя

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6 Basic Control Functions
6 - 10 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-3 Cyclic Synchronous Position Mode
In this mode of operation, the controller has a path generation function (an operation profile calculation
function) and it gives the target position to the Servo Drive in cyclic synchronization.
Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as the velocity feed-forward
and torque feed-forward amounts respectively.
The following diagram shows the configuration of the Cyclic synchronous position mode.
The following diagram shows the configuration of the control function of the Cyclic synchronous posi-
tion mode.
Cyclic Synchronous Position Mode Configuration
E
M
+
+
+
+
+
+
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Position offset (60B0 hex)
Target position (607A hex)
Following error actual value (60F4 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
(= Torque demand)
Position actual value (6064 hex)
Position
control
Velocity
control
Torque
control
Velocity
detection
Target position (607A hex)
Following error window (6065 hex)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Control
function
+
+
Position offset (60B0 hex)
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)