Omron trajexia CJ1W-MCH72 Operation Manual page 37

Motion sequence and axes
1-8-4-1 Virtual axis ATYPE=0
1-8-4-2 MECHATROLINK-II position ATYPE=40
Note
Note
26
Profile generator
You can split a complex profile into two or more simple movements, each
assigned to a virtual axis. These movements can be added together with the
BASIC command ADDAX then assigned to a real axis.
CJ1W-MCH72
SERVO = OFF
Profile generator
Position Loop is
deactivated
(Gains are not
used!)
Demanded
position
Measured
position
With SERVO = ON, the position loop is closed in the Servo Driver. Gain
settings in the CJ1W-MCH72 have no effect. The position reference is sent to
the Servo Driver.
Although MPOS and FE are updated, the real value is the value in the Servo Driver.
The real Following Error can be monitored by the DRIVE_MONITOR parameter by set-
ting DRIVE_CONTROL = 2.
The MECHATROLINK-II position ATYPE = 40 is the recommended setting to obtain a
higher performance of the servo motor.
MEASURED
DEMAND
=
POSITION POSITION
SERVO = OFF
Position loop
+
_
Following Speed
error command
Section 1-8
SERVO
ML-II
Position
Position Loop
command
Speed Loop
Torque Loop
E M