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Motion sequence and axes
Section 1-8
26
1-8-4-1 Virtual axis ATYPE=0
You can split a complex profile into two or more simple movements, each
assigned to a virtual axis. These movements can be added together with the
BASIC command
ADDAX
then assigned to a real axis.
1-8-4-2 MECHATROLINK-II position ATYPE=40
With
SERVO = ON
, the position loop is closed in the Servo Driver. Gain
settings in the CJ1W-MCH72 have no effect. The position reference is sent to
the Servo Driver.
Profile generator
MEASURED
POSITION
DEMAND
POSITION
=
Profile generator
M
E
CJ1W-MCH72
SERVO
+
_
SERVO = OFF
SERVO = OFF
Position Loop is
deactivated
(Gains are not
used!)
ML-II
Position
command
Demanded
position
Measured
position
Position loop
Following
error
Speed
command
Position Loop
Speed Loop
Torque Loop
Note
Although
MPOS
and
FE
are updated, the real value is the value in the Servo Driver.
The real Following Error can be monitored by the
DRIVE_MONITOR
parameter by set-
ting
DRIVE_CONTROL = 2
.
Note
The MECHATROLINK-II position
ATYPE = 40
is the recommended setting to obtain a
higher performance of the servo motor.
Содержание SYSMAC CJ Series
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Страница 70: ...Specifications Section 2 4 58...
Страница 84: ...FINS commands Section 3 4 72...
Страница 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...Section 265 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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