Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual page 235

Examples and tips
Example 8
Opposite to the P_GAIN, where the higher, the better (the limit is
when the mechanical system starts vibrating), for the VFF_GAIN
there is an optimum value (the one in test 6), values higher than
this value has an error proportional to the speed/acceleration but
with different sign. The required correction is too large.
The parameter values for the example are:
/i
Motion Parameter values
P_Gain=131072
VFF_GAIN=1650000
Fn001=6
Position mode examples
In this mode the position and speed loop are closed in the Servo
Driver. The TJ1-ML__ sends the position command through the
MECHATROLINK-II network to the Servo Driver, and reads the
position feedback.
Note that this system has no sample delay as compared to the
position loop in the Servo Driver, the Demand_Position in cycle "n"
with the Measured_Position in cycle "n".
The Trajexia, for the internal handling, continues to use its own
position loop, so the Following Error that read in the Axis parameter
in Trajexia is not the real one in the Servo-drive. To read the correct
Following Error use DRIVE_MONITOR.
Adjust the rigidity of the servo, the speed loop gain and the position
loop gain at the same time using just proportional position gain.
The results are similar to the MECHATROLINK-II Speed mode with
the advantages:
PROGRAMMING MANUAL
fig. 11
fig. 12
TJ1-MC16
Profile generator
SERVO
Position
Trajexia Position +
Loop is
desactivated.
_
(Gains are not
Demanded Following
used!)
Position Error
Measured
Position
TJ1-ML16 SERVO
NOP
SERVO
ML-II
Position Loop
Position
Command
Speed Loop
Torque Loop
Speed
Command
E M
235