System philosophy
HARDWARE REFERENCE MANUAL
50
Revision 5.0
65
OFF
Position
(EtherCAT)
The position loop is closed in the Servo Drive.
No new motion command is allowed.
65
ON
Position
(EtherCAT)
Recommended mode for position control with
EtherCAT Servo axes.
66
OFF
Speed
(EtherCAT)
Recommended mode for speed control with
EtherCAT Servo axes. Set the speed with
S_REF
.
66
ON
Position via speed
(EtherCAT)
The position loop is closed in Trajexia. This
gives lower performance than closing the posi-
tion loop in the Servo Drive.
67
OFF
Torque
(EtherCAT)
Recommended mode for torque control with
EtherCAT Servo axes. Set the torque with
T_REF
.
67
ON
Position via torque
(EtherCAT)
The position loop is closed in Trajexia. The out-
put of the position loop is sent as the torque ref-
erence to the Servo Drive.
68
OFF
Velocity
(EtherCAT)
Inverter controlled on the EtherCAT bus as an
axis. Set the speed with
S_REF
.
69
OFF
Position
(EtherCAT)
Position reference from an encoder connected
to the EtherCAT network.
80
OFF
Position
(Accurax G5)
The position loop is closed in the Servo Drive.
No new motion command is allowed.
80
ON
Position
(Accurax G5)
Recommended mode for position control with
axes controlled by the TJ2-KS02
81
OFF
Speed
(Accurax G5)
Recommended mode for speed control with
axes controlled by the TJ2-KS02. Set the speed
with
S_REF
.
81
ON
Position via speed
(Accurax G5)
The position loop is closed in Trajexia. This
gives lower performance than closing the posi-
tion loop in the Servo Drive.
82
OFF
Torque
(Accurax G5)
Recommended mode for torque control with
axes controlled by the TJ2-KS02. Set the torque
with
T_REF
.
ATYPE SERVO Mode
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