Omron SYSMAC CJ Operation Manual page 42

Motion sequence and axes
30
ATYPE SERVO
49 OFF Speed
49 ON Position
Mode
Inverter (with built-in encoder interface)
controlled on the MECHATROLINK-II bus
as a servo axis. Set the speed with
S_REF.
Inverter (with built-in encoder interface)
controlled on the MECHATROLINK-II bus
as a servo axis. The position loop is
closed in Trajexia.
Section 1-8
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