Omron GRT1-ML2 Hardware Reference Manual page 40

System philosophy
MECHATROLINK-II torque ATYPE=42
With SERVO = ON, the torque loop is closed in the TJ1-MC__. 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 servomotor.
Note
To monitor the torque in the servo in DRIVE_MONITOR, set
DRIVE_CONTROL=11.
Stepper output ATYPE=43
The position profile is generated and the output from the system is a pulse
train and direction signal. This is useful to control a motor via pulses or as a
position reference for another motion controller.
HARDWARE REFERENCE MANUAL
fig. 34
TJ1-MC__
Position loop
SERVO = OFF
+
Profile generator
_
Demanded Following Torque
position error command
Measured
position
TJ1-ML__ SERVO
SERVO = OFF
ML-II
Torque Torque Loop
command
E M
35