Omron R88D-KN01H-ECT-L, Руководство пользователя

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6 Basic Control Functions
6 - 8
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
6-3 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 (force) to the Servo Drive using cyclic synchronization. Force
control is performed by the Servo Drive.
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 torque mode.
The following diagram shows the configuration of the Cyclic synchronous torque mode.
Cyclic Synchronous Torque Mode Configuration
Target torque (6071 hex)
Velocity actual value (606C hex)
S
M
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
+
+
Torque offset (60B2 hex)
Force
Control
Target torque (6071 hex) Velocity actual value (606C hex)
Position actual value (6064 hex)
Torque actual value (6077 hex) (=Torque demand)
+
+
Torque offset (60B2 hex)
Max torque (6072 hex)
Max profile velocity (607F hex)
Control
Function