Omron SYSMAC CJ Operation Manual page 281

How-to's
5-1-2-1 Speed mode examples
Motion Parameter values
DECEL=1000000
MOVEMENT=81920
SERVO = OFF
Profile generator
Demanded
Position
Measured
Position
In this mode the position loop is closed in Trajexia and the Speed loop is
closed in the Servo Driver. The Speed axis parameter is sent to the Servo
Driver, and reads the position feedback.
BASE(0)
ATYPE=44 'Servo axis encoder mode
SERVO=1
WDOG=1
DEFPOS(0)
loop:
MOVE(81920)
WAIT IDLE
WA(100)
DEFPOS(0)
GOTO loop
Deceleration setting
10 Turns
CJ1W-MCH72
Position loop
SERVO = OFF
+
_
Following Speed
Error Command
Encoder Signal
Section 5-1
Description
DRIVE
+ _
10V
E M
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