Mechatrolink - Omron TJ2-MC64 Hardware Reference Manual

System philosophy
2.7.4 Type of axis
/i
ATYPE Applicable to Name
0 All axes Virtual axis
40 MECHATRO- MECHATRO-
LINK-II Servo LINK-II Posi-
Drives con- tion
nected to a TJ1-
41 MECHATRO-
ML__
LINK-II Speed
(Default)
42 MECHATRO-
LINK-II Torque
43 External Drive Stepper output Pulse and direction outputs. Position loop is in
connected to a
TJ1-FL02
44 Servo axis
(Default)
Encoder
45 Encoder out-
put
46 Absolute Tam-
agawa
47 Absolute
EnDat
48 Absolute SSI
HARDWARE REFERENCE MANUAL
Description
Internal axis with no physical output. It is the
only valid setting for non-allocated axes. That
is, those that are not MECHATROLINK-II ser-
vos or a flexible axis.
Position loop in the Servo Drive. TJ2-MC64
sends position reference to the Servo Drive via
MECHATROLINK-II.
Position loop in the Trajexia. TJ2-MC64 sends
speed reference to the Servo Drive via
MECHATROLINK-II.
Position loop in the Trajexia. TJ2-MC64 sends
torque reference to the Servo Drive via
MECHATROLINK-II.
the Drive. TJ1-FL02 sends pulses and receives
no feed back.
Analogue servo. Position loop is in the TJ2-
MC64. The TJ1-FL02 sends speed reference
and receives position from an incremental
encoder.
The same as stepper, but with the phase differ-
ential outputs emulating an incremental
encoder.
The same as servo axis but the feed back is
received from a Tamagawa absolute encoder.
The same as servo axis but the feed back is
received from an EnDat absolute encoder.
The same as servo axis but the feed back is
received from an SSI absolute encoder.
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