System philosophy
HARDWARE REFERENCE MANUAL
48
Revision 5.0
Accurax G5-A/P position ATYPE=81
fig. 41
With
SERVO = ON
, the speed loop is closed in the TJ2-MC__.
Speed reference is sent to the Servo Drive. This setting is not
recommended, since there is one cycle delay in the loop (DPOS(n) is
compared with MPOS(n-1)).
With
SERVO = OFF
, the speed reference is sent via
S_REF
command and
is specified in pulses/s.This is the recommended setting.
Accurax G5-A/P torque ATYPE=82
fig. 42
With
SERVO = ON
, the torque loop is closed in the TJ2-MC__. The torque
reference in the Servo Drive depends on the
FE
and the gain.
With
SERVO = OFF
, the torque reference is sent directly via the
T_REF
command. The units of the torque reference is 0.1%, so 1000 is equal to
100% rated torque.
SERVO
+
_
M
E
SERVO = OFF
SERVO = OFF
TJ2-MC__
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
Speed
command
Speed
command
Speed Loop
Torque Loop
TJ1-ML__
TJ2-ECT__
TJ2-KS02
SERVO
+
_
M
E
SERVO = OFF
SERVO = OFF
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
TJ2-MC__
Torque Loop
Torque
command
Torque
command
TJ1-ML__
TJ2-ECT__
TJ2-KS02