Omron TJ2-MC64 - PROGRAMMING Programming Manual page 262

Examples and tips
Example 1
The Following Error is proportional to the speed. There is a "soft profile" due
to the low rigidity setting (low gain).
Note
The colours and scale of the oscilloscope for position mode are as
follows:
Red: MSPEED (Measured Axis speed). Units is 50 units/ms/divi-
sion
Blue: DRIVE_MONITOR (set as Following Error in the Servo
Driver). Units is depending on the graph
Green: MPOS (Measured Axis position). 50000 units/division
The parameter values for the example are:
/i
Motion Parameter values
Fn001=4
Pn109=0
Example 2
The Following Error reduces as the rigidity increases.
The parameter values for the example are:
/i
Motion Parameter values
Fn001=6
Pn109=0
PROGRAMMING MANUAL
fig. 13
fig. 14
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