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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.
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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