Omron TJ2-MC02 Hardware Reference Manual page 46

System philosophy
MECHATROLINK-II speed ATYPE=41
With SERVO = ON, the speed loop is closed in the TJ2-MC__.
Speed reference is sent to the Servo Drive. This setting is not
recommended, since there is one cycle delay in the loop (DPOS(n) is
compared with MPOS(n-1)).
With SERVO = OFF, the speed reference is sent via S_REF command.
0x40000000 means maximum speed of the servomotor. This is the
recommended setting.
MECHATROLINK-II torque ATYPE=42
With SERVO = ON, the torque loop is closed in the TJ2-MC__. The torque
reference in the Servo Drive 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.
HARDWARE REFERENCE MANUAL
TJ2-MC__
Position loop
SERVO = OFF
+
Profile generator _
Following Speed
Demanded
error command
position
Measured
position
TJ2-MC__
Position loop
SERVO = OFF
+
Profile generator
_
Demanded Following
position error command
Measured
position
fig. 30
TJ2-KS02
TJ2-ECT__
TJ1-ML__ SERVO
SERVO = OFF
Speed
Speed Loop
command
Torque Loop
E M
fig. 31
TJ2-KS02
TJ2-ECT__
TJ1-ML__
SERVO = OFF
Torque
command
Torque
SERVO
Torque Loop
E M
41