Omron TJ2-MC64 - PROGRAMMING Programming Manual page 256

Examples and tips
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 to the Servo
Driver, and reads the position feedback.
BASE(0)
ATYPE=44 'Servo axis encoder mode
SERVO=1
WDOG=1
DEFPOS(0)
loop:
MOVE(81920)
WAIT IDLE
WA(100)
DEFPOS(0)
GOTO loop
PROGRAMMING MANUAL
fig. 3
TJ1-MC__
Position loop
SERVO = OFF
+
_
Profile generator
Demanded Following
Position Error
Measured
Position
Encoder Signal
TJ1-FL02 DRIVE
+ _
10V
SERVO = OFF
Speed
Command
E M
250