Omron R88D-1SN01H-ECT, Руководство пользователя

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6 Basic Control Functions
6 - 12 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-4 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 velocity to the Servo Drive in cyclic synchronization.
The Torque offset (60B2 hex) can be used as the torque feed-forward amount.
The following diagram shows the configuration of the Cyclic synchronous velocity mode.
The following diagram shows the configuration of the control function of the Cyclic synchronous velocity
mode.
Cyclic Synchronous Velocity Mode Configuration
Target velocity (60FF hex)
Velocity
control
Torque
control
E
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)
Velocity
detection
Target velocity (60FF hex) Position actual value (6064 hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Control
function
+
+
Velocity offset (60B1 hex)
Torque offset (60B2 hex)
Max torque (6072 hex)