Specifications

Examples and tips
PROGRAMMING MANUAL 215
Revision 5.0
Speed mode examples
fig. 3
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
Following
Error
Demanded
Position
Measured
Position
Speed
Command
Encoder Signal
Position loop
10V
+
_
+_
TJ1-MC__ TJ1-FL02 DRIVE
SERVO = OFF SERVO = OFF
Profile generator
M
E