Omron R88D-1SN01H-ECT, Руководство пользователя

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6 Basic Control Functions
6 - 16 AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
6-6 Profile Position Mode
In this mode of operation, the controller uses the path generation function (an operation profile calcula-
tion function) inside the Servo Drive to perform PTP positioning operation. It executes path generation
based on the target position, profile velocity, profile acceleration, profile deceleration, and other infor-
mation.
The Profile position mode can be used when the communications period is 250 μ s or more. If the com-
munications period is less than 250 μ s, a Command Error (Error No. 91.01) occurs.
The following diagram shows the configuration of the path generation function.
To use these objects, map them in the variable PDO mapping as appropriate.
The following diagram shows the configuration of Profile position mode.
The following diagram shows the control function configuration of Profile position mode.
Profile Position Mode Configuration
Target position (607A hex)
Profile acceleration (6083 hex)
Position demand value (6062 hex)
Position demand internal value (60FC hex)
Profile deceleration (6084 hex)
Profile velocity (6081 hex)
Max profile velocity (607F hex)
Path
generation
function
Limit
function
Limit
function
Limit
function
Position demand value (6062 hex)
E
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)
Position
control
Velocity
control
Torque
control
M
Velocity
detection
Position demand value (6062 hex)
Following error window (6065 hex)
Position actual value (6064 hex)
Following error actual value (60F4 hex)
Torque actual value (6077 hex) (= Torque demand)
Velocity actual value (606C hex)
Max torque (6072 hex)
Control effort (60FA hex)
Control
function