Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual page 230

Examples and tips
Drive Parameter value Description
Pn202=1 Gear ratio numerator
Pn203=1 Gear ratio denominator
/i
Motion Parameter values Description
UNITS =1 Working in encoder counts
SPEED=200000 Speed setting
ACCEL=1000000 Acceleration setting
DECEL=1000000 Deceleration setting
MOVEMENT=81920 10 Turns
Speed mode examples
In this mode the position loop is closed in Trajexia and the Speed
loop is closed in the Servo Driver. The Speed axis parameter is
sent through the MECHATROLINK-II network to the Servo Driver,
and reads the position feedback.
BASE(0)
ATYPE=41 'MECHATROLINK Speed mode
SERVO=1
WDOG=1
DEFPOS(0)
loop:
MOVE(81920)
WAIT IDLE
WA(100)
DEFPOS(0)
GOTO loop
Example 1
PROGRAMMING MANUAL
fig. 3
TJ1-MC16
SERVO
Profile generator
Position
+
_
Demanded Following
Position Error
Measured
Position
TJ1-ML16 SERVO
S_REF
SERVO
ML-II
Speed Loop
Speed
Command
Torque Loop
Speed
Command
E M
230