Omron GRT1-ML2 Hardware Reference Manual page 39

System philosophy
MECHATROLINK-II position ATYPE=40
With SERVO = ON, the position loop is closed in the Servo Driver. Gain
settings in the TJ1-MC__ have no effect. The position reference is sent to
the Servo Driver.
Note
Although MPOS and FE are updated, the real value is the value in
the Servo Driver. The real Following Error can be monitored by the
DRIVE_MONITOR parameter by setting DRIVE_CONTROL = 2.
Note
The MECHATROLINK-II position ATYPE = 40 is the recom-
mended setting to obtain a higher performance of the servo motor.
MECHATROLINK-II speed ATYPE=41
With SERVO = ON, the speed loop is closed in the TJ1-MC__.
Speed reference is sent to the Servo Driver. 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.
HARDWARE REFERENCE MANUAL
fig. 32
TJ1-MC__
SERVO = OFF
Profile generator
Position loop
Trajexia
+
Position Loop is
_
deactivated
(Gains are not
Demanded Following
used!) position error
Measured
position
fig. 33
TJ1-MC__
Position loop
SERVO = OFF
+
Profile generator _
Following Speed
Demanded
error command
position
Measured
position
TJ1-ML__ SERVO
SERVO = OFF
ML-II
Position
Position Loop
command
Speed Loop
Torque Loop
Speed
command
E
TJ1-ML__ SERVO
SERVO = OFF
ML-II
Speed Loop
Speed
command
Torque Loop
E M
M
34