Omron TJ2-MC02 Hardware Reference Manual page 54

System philosophy
Summary of axis types and control modes
The following table lists the axis types and their recommended modes for
speed control, position control and torque control.
/i
ATYPE SERVO Mode
40 OFF Position
(MECHATROLINK-II)
40 ON Position
(MECHATROLINK-II)
41 OFF Speed
(MECHATROLINK-II)
41 ON Position via speed
(MECHATROLINK-II)
42 OFF Torque
(MECHATROLINK-II)
42 ON Position via torque
(MECHATROLINK-II)
44, 46, OFF Speed
47, 48 (Flexible Axis)
44, 46, ON Position
47, 48 (Flexible Axis)
49 OFF Speed
(MECHATROLINK-II)
49 ON Position
(MECHATROLINK-II)
HARDWARE REFERENCE MANUAL
Comment
The position loop is closed in the Servo Drive.
No new motion command is allowed.
Recommended mode for position control with
MECHATROLINK-II axes.
Recommended mode for speed control with
MECHATROLINK-II axes. Set the speed with
S_REF.
The position loop is closed in Trajexia. This
gives lower performance than closing the posi-
tion loop in the Servo Drive.
Recommended mode for torque control with
MECHATROLINK-II axes. Set the torque with
T_REF.
The position loop is closed in Trajexia. The out-
put of the position loop is sent as the torque ref-
erence to the Servo Drive.
Recommended mode for speed control with
Flexible Axis.
The position loop is closed in Trajexia. Recom-
mended mode for position control with Flexible
Axis.
Inverter (with built-in encoder interface) con-
trolled on the MECHATROLINK-II bus as a
servo axis. Set the speed with S_REF.
Inverter (with built-in encoder interface) con-
trolled on the MECHATROLINK-II bus as a
servo axis. The position loop is closed in Tra-
jexia.
49