Omron trajexia CJ1W-MCH72 - Page 282

How-to’s Section 5-1
271
5-1-2-1 Speed mode examples
In this mode the position loop is closed in Trajexia and the Speed loop is
closed in the Servo Driver. The Speed axis parameter is sent to the Servo
Driver, and reads the position feedback.
BASE(0)
ATYPE=44 'Servo axis encoder mode
SERVO=1
WDOG=1
DEFPOS(0)
loop:
MOVE(81920)
WAIT IDLE
WA(100)
DEFPOS(0)
GOTO loop
DECEL=1000000 Deceleration setting
MOVEMENT=81920 10 Turns
Motion Parameter values Description
Following
Error
Demanded
Position
Measured
Position
Speed
Command
Encoder Signal
Position loop
10V
+
_
+_
CJ1W-MCH72 DRIVE
SERVO = OFF SERVO = OFF
Profile generator
M
E