Omron trajexia CJ1W-MCH72 Operation Manual page 38

Motion sequence and axes
1-8-4-3 MECHATROLINK-II speed ATYPE=41
1-8-4-4 MECHATROLINK-II torque ATYPE=42
Note
CJ1W-MCH72
Position loop
SERVO = OFF
+
Profile generator
Demanded
position
Measured
position
With SERVO = ON, the position loop is closed in the CJ1W-MCH72.
Speed reference is sent to the Servo Driver. For Mechatrolink Servo Drivers,
this axis type is not recommended, since there is one cycle delay in the loop
(DPOS(n) is compared with MPOS(n-1)).
With SERVO = OFF, the speed reference is sent via S_REF command.
0x40000000 means maximum speed of the servo motor. This is the
recommended setting.
CJ1W-MCH72
SERVO = OFF
Profile generator
Demanded
position
Measured
position
With SERVO = ON, only the torque loop is closed in the Servo Driver. The
torque reference in the Servo Driver depends on the FE and the gain.
With SERVO = OFF, the torque reference is sent directly via the T_REF
command. 0x40000000 is the maximum torque of the servo motor.
To monitor the torque in the servo in DRIVE_MONITOR, set DRIVE_CONTROL=11.
SERVO = OFF
_
Following Speed
error command
Position loop
SERVO = OFF
+
_
Following Torque
error command
Section 1-8
SERVO
ML-II
Speed Loop
Speed
command
Torque Loop
E M
SERVO
ML-II
Torque
Torque Loop
command
E M
27