Omron TJ1-DRT Hardware Reference Manual page 43

System philosophy
Virtual axis ATYPE=0
You can split a complex profile into two or more simple movements,
each assigned to a virtual axis. These movements can be added
together with the BASIC command ADDAX then assigned to a real
axis.
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 rec-
ommended setting to obtain a higher performance of the
servo motor.
HARDWARE REFERENCE MANUAL
fig. 31
fig. 32
TJ1-MC16
OFF
Profile generator Profile generator
SERVO
Position loop Position loop
Trajexia
+ +
Position Loop is
- -
desactivated.
Following Following
Demanded
(Gains are not error error
position
used!)
Measured
position
Profile generator
MEASURED DEMAND
=
POSITION
POSITION
TJ1-ML16 SERVO
NOP
SERVO
OFF
ML-II
Position Loop
Positon
command
Speed Loop
Torque Loop
Speed Speed
command command
E E M M
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