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Motion sequence and axes
Section 1-8
29
1-8-4-10 Inverter axis ATYPE=49
This type allows Inverters (with built-in encoder interface) to be controlled on
the MECHATROLINK-II bus as servo axes.
From the controller point of view, Inverter axes are handled the same as servo
axes in MECHATROLINK-II Speed Mode (
ATYPE=44
).
Unlike the other axis types, this Inverter axis must be defined
programmatically with function 8 of the command
INVERTER_COMMAND
.
The Speed command to the Inverter and the feedback from the encoder is
refreshed in the Inverter with a few milliseconds delay. This is an inverter
limitation. This means that the use of the Inverter is similar to the use of a
Servo Driver, but the performance is lower.
1-8-4-11 Summary of axis types and control modes
The following table lists the axis types and their recommended modes for
speed control, position control and torque control.
/i
INVERTER
+
_
M
E
CJ1W-MCH72
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
Speed
command
DPRAM
REFRESH
EVERY 5ms
ML-II
Speed
command
Speed Loop
SERVO = OFF
SERVO = OFF
ATYPE SERVO
Mode
Comment
40
OFF
Position
(MECHATROLINK-II)
The position loop is closed in the Servo
Driver. No new motion command is
allowed.
40
ON
Position
(MECHATROLINK-II)
Recommended mode for position control
with MECHATROLINK-II axes.
41
OFF
Speed
(MECHATROLINK-II)
Recommended mode for speed control
with MECHATROLINK-II axes. Set the
speed with
S_REF
.
41
ON
Position
(MECHATROLINK-II)
The position loop is closed in Trajexia.
This gives lower performance than closing
the position loop in the Servo Driver.
42
OFF
Torque
(MECHATROLINK-II)
Recommended mode for torque control
with MECHATROLINK-II axes. Set the
torque with
T_REF
.
42
ON
Position via torque
(MECHATROLINK-II)
The position loop is closed in Trajexia.
The output of the position loop is sent as
the torque reference to the Servo Driver.
Summary of Contents for SYSMAC CJ Series
Page 2: ......
Page 70: ...Specifications Section 2 4 58...
Page 84: ...FINS commands Section 3 4 72...
Page 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Page 370: ...Section 358...