Omron TJ2-MC02 Hardware Reference Manual page 44

System philosophy
ATYPE Applicable to Name
49 TJ1-ML__ Inverter as
axis
60 External Drive Stepper input
connected to a
TJ1-FL02
65 EtherCAT Servo EtherCAT
Drives con- CoE CSP
nected to a
TJ2-ECT__
66 EtherCAT
CoE CSV
67 EtherCAT
CoE CST
68 EtherCAT Invert- EtherCAT
ers connected to CoE VL
a TJ2-ECT__
69 EtherCAT encod- EtherCAT
ers connected to encoder
a TJ2-ECT__
80 Servo Drives Accurax G5
connected to a Position
TJ2-KS02 (Default)
81 Accurax G5
Speed
82 Accurax G5
Torque
HARDWARE REFERENCE MANUAL
Description
Inverters (with built-in encoder interface) are
controlled on the MECHATROLINK-II bus as
servo axes.
Feedback through pulse and direction inputs.
Position loop in the Servo Drive. TJ2-MC__
sends position reference to the Servo Drive via
EtherCAT.
Position loop in the Servo Drive. TJ2-MC__
sends velocity reference to the Servo Drive via
EtherCAT.
Position loop in the Servo Drive. TJ2-MC__
sends torque reference to the Servo Drive via
EtherCAT.
Open-loop velocity control of Inverters con-
nected through EtherCAT, according Velocity
mode of CiA402.
Feedback from encoder connected to Ether-
CAT
Position loop in the Servo Drive. TJ2-MC__
sends position reference to the Servo Drive via
the TJ2-KS02.
Position loop in the Trajexia. TJ2-MC__ sends
speed reference to the Servo Drive via the TJ2-
KS02
Position loop in the Trajexia. TJ2-MC__ sends
torque reference to the Servo Drive via the
TJ2-KS02
39