Omron TJ2-MC02 Hardware Reference Manual page 51

System philosophy
EtherCAT Cyclic Synchronous Torque (CST) ATYPE=67
With SERVO = ON, the torque loop is closed in the TJ2-MC__. The torque
reference in the Servo Drive depends on the FE and the gain.
With SERVO = OFF, the torque reference is sent directly via the T_REF
command. The units of the torque reference is 0.1%, so 1000 is equal to
100% rated torque.
Note
To monitor the torque in the Servo Drive in DRIVE_MONITOR, set
DRIVE_CONTROL=4
Note
Make sure object 3317h (Speed Limit Selection) is set to 0, and
set the speed limit in object 3321h (Speed Limit Value Setting).
EtherCAT Velocity (VL) ATYPE=68
With SERVO = OFF, the speed reference is sent via S_REF command.
HARDWARE REFERENCE MANUAL
TJ2-MC__
Position loop
SERVO = OFF
+
Profile generator
_
Demanded Following
position error command
Measured
position
TJ2-MC__
Position loop
SERVO = OFF
+
Profile generator _
Following Speed
error command
fig. 38
TJ2-KS02
TJ2-ECT__
TJ1-ML__
SERVO = OFF
Torque
command
Torque
fig. 39
TJ2-ECT__ INVERTER
SERVO = OFF
EtherCAT
Speed Loop
Speed
command
Torque Loop
SERVO
Torque Loop
E M
M
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