Omron GRT1-ML2 Hardware Reference Manual page 44

System philosophy
ATYPE SERVO Mode
41 ON Position
(MECHATROLINK-II)
42 OFF Torque
(MECHATROLINK-II)
42 ON Position via torque
(MECHATROLINK-II)
44, 46, OFF Speed
47, 48 (Flexible Axis)
44, 46, ON Position
47, 48 (Flexible Axis)
49 OFF Speed
49 ON Position
HARDWARE REFERENCE MANUAL
Comment
The position loop is closed in Trajexia. This
gives lower performance than closing the posi-
tion loop in the Servo Driver.
Recommended mode for torque control with
MECHATROLINK-II axes. Set the torque with
T_REF.
The position loop is closed in Trajexia. The out-
put of the position loop is sent as the torque ref-
erence to the Servo Driver.
Recommended mode for speed control with
Flexible Axis.
The position loop is closed in Trajexia. Recom-
mended mode for position control with Flexible
Axis.
Inverter (with built-in encoder interface) control-
led on the MECHATROLINK-II bus as a servo
axis. Set the speed with S_REF.
Inverter (with built-in encoder interface) control-
led on the MECHATROLINK-II bus as a servo
axis. The position loop is closed in Trajexia.
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