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Motion sequence and axes
Section 1-8
27
1-8-4-3 MECHATROLINK-II speed ATYPE=41
With
SERVO = ON
, the position loop is closed in the CJ1W-MCH72.
Speed reference is sent to the Servo Driver. For Mechatrolink Servo Drivers,
this axis type 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.
0x40000000 means maximum speed of the servo motor. This is the
recommended setting.
1-8-4-4 MECHATROLINK-II torque ATYPE=42
With
SERVO = ON
, only the torque loop is closed in the Servo Driver. The
torque reference in the Servo Driver depends on the
FE
and the gain.
With
SERVO = OFF
, the torque reference is sent directly via the
T_REF
command. 0x40000000 is the maximum torque of the servo motor.
SERVO
+
_
M
E
SERVO = OFF
SERVO = OFF
CJ1W-MCH72
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
Speed
command
ML-II
Speed
command
Speed Loop
Torque Loop
SERVO
+
_
M
E
SERVO = OFF
SERVO = OFF
Position loop
Demanded
position
Measured
position
Profile generator
Following
error
CJ1W-MCH72
Torque Loop
ML-II
Torque
command
Torque
command
Note
To monitor the torque in the servo in
DRIVE_MONITOR
, set
DRIVE_CONTROL=11
.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
Страница 373: ...362...