Download 3 - Omron

6-3 Cyclic Synchronous Position Mode
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 using cyclic
synchronization. Position control, speed control, and torque control are performed by the
Servo Drive.
The Velocity offset (60B1 hex) and Torque offset (60B2 hex) can be used as speed feedforward and torque feed-forward amounts.
Cyclic Synchronous Position Mode Configuration
The following diagram shows the configuration of the Cyclic synchronous position mode.
Torque offset (60B2 hex)
Velocity offset (60B1 hex)
Position offset (60B0 hex)
+
+
+
Position
Control
Target position (607A hex)
+
+
Speed
Control
+
Torque
Control
S
Following error actual value (60F4 hex)
6
M
Velocity actual value (606C hex)
Drive Profile
Torque actual value (6077 hex)
(=Torque demand)
Position actual value (6064 hex)
The following diagram shows the configuration of the control function of the Cyclic
synchronous position mode.
Position offset (60B0 hex)
+
Target position (607A hex)
+
Position actual value (6064 hex)
Limit
function
Following error actual value (60F4 hex)
Software position limit (607D hex)
Following error window (6065 hex)
Velocity offset (60B1 hex)
Control
function
Velocity actual value (606C hex)
Torque actual value (6077 hex) (=Torque demand)
Torque offset (60B2 hex)
Max torque (6072 hex)
6-5
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)