Omron GRT1-ML2 Hardware Reference Manual page 37

System philosophy
move, the axes are taken from the array in the order defined by the
BASE command. For more information on the BASE command and the
definition of the axis sequence in an axis array, refer to the Trajexia
Programming Manual, chapter 3 (BASIC commands).
• If SERVO=OFF for one axis, the motion commands for that axis are
ignored.
• If the Following Error (FE) in one axis exceeds the parameter value
FELIMIT, the next action occurs:
- WDOG is set to OFF and all axes stop.
- SERVO for the axis that causes the error goes to OFF.
- The current move is cancelled and removed from the buffer.
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-
Drivers con- tion
nected to a TJ1-
41 MECHATRO-
ML__
LINK-II Speed
(Default)
42 MECHATRO-
LINK-II Torque
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 Driver. TJ1-MC__
sends position reference to the Servo Driver
via MECHATROLINK-II.
Position loop in the Trajexia. TJ1-MC__ sends
speed reference to the Servo Driver via
MECHATROLINK-II.
Position loop in the Trajexia. TJ1-MC__ sends
torque reference to the Servo Driver via
MECHATROLINK-II.
32