Omron TJ2-MC02 Hardware Reference Manual page 50

System philosophy
EtherCAT Cyclic Synchronous Position (CSP) ATYPE=65
With SERVO = ON, the position loop is closed in the Servo Drive. Gain
settings in the TJ2-MC__ have no effect. The position reference is sent to
the Servo Drive.
Note
Although MPOS and FE are updated, the real value is the value in
the Servo Drive. The real Following Error can be monitored by the
DRIVE_MONITOR parameter by setting DRIVE_CONTROL = 5.
Note
The EtherCAT position ATYPE = 65 is the recommended setting to
obtain a higher performance of the servo motor.
EtherCAT Cyclic Synchronous Speed (CSV) ATYPE=66
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 and
is specified in units/s.This is the recommended setting.
HARDWARE REFERENCE MANUAL
TJ2-MC__
SERVO = OFF
Profile generator
Position loop
Trajexia
+
Position Loop is
_
deactivated
(Gains are not
Demanded Following
used!)
position error
Measured
position
TJ2-MC__
Position loop
SERVO = OFF
+
_
Profile generator
Demanded Following Speed
error command
position
Measured
position
fig. 36
TJ2-KS02
TJ2-ECT__
TJ1-ML__ SERVO
SERVO = OFF
Position
Position Loop
command
Speed Loop
Torque Loop
Speed
command
E
fig. 37
TJ2-KS02
TJ2-ECT__
TJ1-ML__ SERVO
SERVO = OFF
Speed
Speed Loop
command
Torque Loop
E M
M
45