Omron trajexia CJ1W-MCH72 Operation Manual page 36

Motion sequence and axes
1-8-4 Type of axis
more information on the BASE command and the definition of the axis
sequence in an axis array, refer to the Trajexia Programming Manual,
chapter 3 (BASIC commands).
• If SERVO=OFF for one axis, the motion commands for that axis are
ignored.
• If the Following Error (FE) in one axis exceeds the parameter value
FELIMIT, the next action occurs:
- WDOG is set to OFF and all axes stop.
- SERVO for the axis that causes the error goes to OFF.
- The current move is cancelled and removed from the buffer.
/i
ATYPE Applicable to
0 All axes
40 MECHATROLINK-II
Servo Drivers
41
42
43 External driver con-
nected to encoder
input
44
45
47
48
49 MECHATROLINK-II
Inverters
Name
Virtual axis Internal axis with no physical out-
put. It is the only valid setting for
non-allocated axes. That is, those
that are not MECHATROLINK-II
Servo Drivers.
MECHATROLINK-II Position loop in the Servo Driver.
Position (default) CJ1W-MCH72 sends position ref-
erence to the Servo Driver via
MECHATROLINK-II.
MECHATROLINK-II Position loop in the Trajexia.
Speed CJ1W-MCH72 sends speed refer-
ence to the Servo Driver via
MECHATROLINK-II.
MECHATROLINK-II Position loop in the Trajexia.
Torque CJ1W-MCH72 sends torque refer-
ence to the Servo Driver via
MECHATROLINK-II.
Stepper output Pulse and direction outputs. Posi-
tion loop is in the driver. CJ1W-
MCH72
receives no feed back.
Servo axis CJ1W-MCH72 receives position
(Default) from an incremental encoder.
Encoder
Encoder The same as stepper, but with the
output phase differential outputs emulat-
ing an incremental encoder.
Absolute EnDat Feedback is received from an
EnDat absolute encoder.
Absolute Feedback is received from an SSI
SSI absolute encoder.
Inverter as Inverters (with built-in encoder
axis interface) are controlled on the
MECHATROLINK-II bus as servo
axes.
Section 1-8
Description
sends pulses and
25