Looking at page 4-19 of the Omnuc-w series drives manual, if found out that the drive can be configured for either torque or velocity mode. You are right when you say that the 7344 can only send either a +/-10V torque command through its analog output or a CW/CCW step or position command through the step and direction lines. It sees that what you would have to do if you want to use the +/-10v command together with the 7344's internal PID loop would be to connect the Analog Output and Analog Ground of the 7344 to pins 9 and 10 on connector CN1 on the Omoron drive, which correspond to Torque Command Input and Torque Command Ground (page 2-38 of the Omnuc-w manual). And the encoder from your motor to the 7344 terminals. Next you will need to use the Omnuc's front panel (p
age 4-8 of the Omnuc manual)to program the drive to work in Torque mode (I think it is Parameter Number 000, value of 0210 but I would confirm this with Omron). The drive should now be able to work in torque mode,and shouldn't need the speed signal to be connected to it. The 7344 can be configured for Position or Velocity Mode from the Measurement and Automation Explorer and will generate the adequate torques for the motor to servo at a position or to move at a determined speed. You can also elect to use the drive in position mode through the CW/CCW lines of the 7344 by configuring the Omnuc for Position Mode by pulse train command (page 4-18), and then connection the 7344's CW and CCW lines to pins 8 and 12 of the Omnuc respectively, and connect pins 11 and 12 of the Omnuc to pins 3 and 13 of the same drive because the CW/CCW ouputs on the 7344 outputs are open collector. It this case I am not sure whether the deviation counter would be needed or not but you might want to contact Omr
on for this.
You can get the manual at:
http://oeiwcsnts1.omron.com/pdfcatal.nsf/PDFLookupByUniqueID/D907413BD400A75E8625692F004BA7D5/$File/M28I531E110600.pdf?OpenElement
