Omron TJ1-DRT Hardware Reference Manual page 47

System philosophy
Summary of axis types and control modes
The following table lists the axis types and their recommended
modes for speed control, position control and torque control.
/i
ATYPE SERVO Mode
40 0 Position
(MECHATROLINK-II)
40 1 Position
(MECHATROLINK-II)
41 0 Speed
(MECHATROLINK-II)
41 1 Position
(MECHATROLINK-II)
42 0 Torque
(MECHATROLINK-II)
42 1 Postion via torque
(MECHATROLINK-II)
44, 46, 0 Speed
47, 48 (Flexible Axis)
44, 46, 1 Position
47, 48 (Flexible Axis)
HARDWARE REFERENCE MANUAL
Comment
The position loop is closed in the Servo Driver. No new
motion command is allowed.
Recommended mode for position control with MECHA-
TROLINK-II axes.
Recommended mode for speed control with MECHA-
TROLINK-II axes. Set the speed with S_REF.
The position loop is closed in Trajexia. This gives lower
performance than closing the position loop in the Servo
Driver.
Recommended mode for torque control with MECHA-
TROLINK-II axes. Set the torque with T_REF.
The position loop is closed in Trajexia. The output of
the position loop is sent as the torque reference to the
Servo Driver.
Recommended mode for speed control with Flexible
Axis.
The position loop is closed in Trajexia. Recommended
mode for position control with Flexible Axis.
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